Advanced commissioning
7.6 Basic positioner and position control
Converter with control units CU250D-2
214
Operating Instructions, 04/2015, FW V4.7.3, A5E34261542B AB
Fixed stop has been reached
You have two options to define when the fixed stop is reached:
1.
Fixed stop via an external sensor:
At the fixed stop, the load actuates an external sensor. The sensor signals the converter
that the fixed stop has been reached. Depending on the advance condition, the converter
maintains the axis at the position with the set torque or goes to the next traversing block.
2.
Fixed stop using maximum following error:
If the axis comes into contact with the mechanical fixed stop, then the actual position
value remains stationary. However, the converter still increases its position setpoint. The
converter detects the fixed stop from a settable difference between the position setpoint
and position actual value. Depending on the advance condition, the converter maintains
the axis at the position with the set torque or goes to the next traversing block.
Example: Fixed stop using maximum following error
Table 7- 21 Traversing blocks
Ind. No. Job
Par. Mode
s
v
a
-a
Advance
1
1
TRAVEL TO FIXED
STOP
5
RELATIVE
10,000 10
100
100
CONTINUE WITH STOP
2
2
POSITIONING
0
ABSOLUTE
0
500
100
100
END
Figure 7-43 Converter detects the fixed stop using the following error
