6.2.1
Positioning (operating mode 2)
PZD 1
PZD 2
PZD 3
PZD 4
PZD 5
PZD 6
STW
motion task no.
or v
setp
*
-
-
-
-
ZSW
n
act
(16-bit)
actual position (32-bit)
manufacturer-
specific status
-
*: for jogging/homing
Deviating assignment of the process-data sections with STW Bit 14=1:
PZD 1
PZD 2
PZD 3
PZD 4
PZD 5
PZD 6
STW
direct motion task: V
setp
(32-bit)
position setpoint (32-bit)
motion block type
ZSW
n
act
(16-bit)
actual position (32-bit)
manufacturer-
specific status
-
Motion task number
The motion task number of the motion task to be started can lie in the range 1 to 180
(motion tasks in EEPROM) or 192 to 255 (motion tasks in RAM).
Actual speed (16-bit)
The representation of the 16-bit actual speed value is normalized to the parameter for
overspeed VOSPD
n
n
VOSPD
act
act
16
15
2
=
´
Actual position (32-bit)
The range for the incremental position covers values from -2
31
to (2
31
-1), whereby one
turn corresponds to 2
PRBASE
increments.
Manufacturer-specific status
In the process data, the upper 16 bits of the manufacturer-specific status register
(PNU 1002) are made available. The numbering starts again from 0.
The significance of the status register bits can be seen in the table in Chapter 5.2.3.3.
Speed setpoint for a direct motion task
The usable range for the speed is not limited by the available data area. It is limited by
the maximum achievable speed nmax, which is given by the speed parameter VLIM as
the final limit speed for the motor.
The maximum speed is derived from the following formula:
v
n
PGEARI
PGEARO
SI
PRBASE
, max
max
=
´
´
2
or, as an incremental value, from:
v
n
s
sec
n
incr
PRBASE
PRBASE
. max.
max
max
=
´
´
m
=
´
2
250
1
4000
2
, in each case with n
max
in revs/sec
Position setpoint for a direct motion task
The PMCtendo DD4 calculates all positioning operations internally only on an incremental basis, so
there are limitations on the usable range of values for distances that are
given in SI units.
The range for the incremental position covers the values from -2
31
to (2
31
-1).
The resolution that is determined by the PGEARO (PNU1258) and PGEARI (PNU1259) parameters
and the variable PRBASE fix the sensibly usable range for positioning operations.
The variable PRBASE determines, through the equation
n
PRBASE
=
2
, the number of increments per
motor turn. The value of PRBASE can only be 16 or 20.
PGEARO contains the number of increments that must be traversed when the distance to be
moved is PGEARI. The default values for PGEARO are 1048576 (PRBASE = 20)
or 65536 (PRBASE = 16) and correspond to one turn.
The number of turns that can be covered are given as follows:
-2048..+2047 for PRBASE=16 and -32768..+32767 for PRBASE=20
The sensibly usable position range is derived as follows:
-
-
2
2
1
31
31
*
...(
) *
PGEARI
PGEARO
PGEARI
PGEARO
for PGEARI <= PGEARO, or
-
-
2
2
1
31
31
...(
)
for PGEARI > PGEARO
Motion block type
The various types of motion block are described in Chapter 5.2.5.3.
Page 40
User manual PROFIBUS DP PMCtendo DD4
6 Process data channel
