Lenze 931M Series, Руководство по связи, Страница: 115 / 158

Operating modes
Positioning
Functional description
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KHB 13.0003-EN 2.0
In Fig. 16 a new positioning is only started if the last positioning has been completed
completely. For this purpose, the master evaluates the target_reached bit in the status
word object.
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t
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t
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Fig. 16 Simple travel task
If the new_set_point bit as well as the change_set_immediately bitof the control word are
set to ”1”, the master instructs the drive controller to start the new travel task
immediately.
A travel task already being processed in interrupted in this case as shown in Fig. 17.
For this purpose, the master transfers the next target to the drive controller after the
controller has signalled by deleting the set_point_acknowledge bit that it has read the
buffer and started the corresponding positioning. Here it is important that the new travel
task is transferred to the drive controller in time.
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v
2
t
0
t
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t
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t
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t
v
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Fig. 17 Sequence of travel tasks