Functions
7100.006434_Bus description_PSD4xx_IO_J_ENG
36
2022-09-13
3.2.
Types of positioning
3.2.1. Positioning run with loop
The PSD4xx distinguishes between the following steps of a positioning sequence
(Assumption: the target position is always approached through forward motion):
1)
New position value is larger than the current value:
position approached directly.
2)
New position value is smaller than the current value: the drive reverses an additional
5/8 of one rotation (2a) and approaches the exact position after resuming forward
motion (2b)
3)
New position value after reverse run (no loop): the drive always approaches by moving
forward (3b), if necessary, it will first reverse by 5/8 of a rotation (3a).
After reaching the target position, this position is compared with the internal absolute encoder
position. If the deviation is more than 0.9° (at the motor shaft) a second positioning is
automatically started and the drive will move to the target position again. After the positioning is
terminated (first positioning and, if necessary, second positioning), the reached position is
compared with the target position. If the reached position is outside the positioning window
(ISDU
123), the status bit “Positioning error (block)” is set.
Note:
It is not possible to perform a positioning run to the upper limit (ISDU 121) with a
loop length < 0 because the drive would have to run past the upper limit in order to do so.
The same applies to the lower limit (ISDU 122) with loop length > 0.
Actual
Actual
Actual
Target
Target
Target
