Printed in the Federal Republic of Germany
TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020
TR-EMO-BA-GB-0022 v03
Page 39 of 153
5.2.3.2 Transfer of new movement records
A new movement record (target position, speed, acceleration, deceleration) can be
transferred to the drive while the previous positioning movement is still being
performed. The movement record is activated with a positive edge in STW.4.
Depending on STW.5 ("Accept parameter immediately"), the new movement record is
acknowledged (ZSW.12 = 1) and executed immediately, or only after the current
positioning movement is complete:
If STW.5 = 1, the new movement record is accepted "on-the-fly". The current
positioning movement is not completed. If STW.5 = 0, the current positioning
movement is performed first. The new positioning movement is then acknowledged
(ZSW.12 = 1) and executed; whether or not the drive must stop depends on the
current circumstances:
If the new target position requires travel in the other direction, or if the current speed is
too high, the drive is stopped and a new ramp is started in the opposite direction.
Otherwise, the current speed is compared with the required speed. If the travel is
sufficient, the drive is accelerated or braked accordingly.
5.2.3.3 Termination of a positioning movement
If STW.8 ("Stop") is set during the movement, the current ramp is terminated and the
drive stops. The deceleration at which this occurs can be specified in object 0x605D
(Halt Option Code). Depending on the value of this parameter, deceleration occurs
with the ramp for the quick stop or with the currently set deceleration. In order to then
continue, STW.8 must be deleted and a new positioning movement started.
5.2.3.4 Relevant parameters
Index
Meaning
0x6040 Control word: Commands to the drive
0x6041 Status word: Return messages from the drive
0x6064 Current position
0x6067 Position window
0x6068 Position window time interval
0x607A Target position
0x607D Position range
0x607F Maximum speed
0x6081 Speed (limited by object 0x607F)
0x6083 Acceleration (limited by object 0x60C5)
0x6084 Deceleration (limited by object 0x60C6)
0x60C5 Maximum acceleration
0x60C6 Maximum deceleration
0x605A Quick Stop Option Code: Quick stop behavior
0x605D Halt Option Code: Behavior in the event of termination of a ramp
Table 10: Positioning parameter
