04/08 Application manual Positioning 3
4.4.2 Motion block data ................................................................................................ 54
4.4.2.1 Target position.............................................................................................. 54
4.4.2.2 Speed ..........................................................................................................54
4.4.2.3 Acceleration and Deceleration ........................................................................ 55
4.4.2.4 Automatic sequence of motion blocks (next motion block) ................................ 55
4.4.2.5 Single motion................................................................................................62
4.4.3 Control of motion................................................................................................. 63
4.4.3.1 Selection of motion block via digital signals (motion block change-over)............. 63
4.4.3.2 Motion block selection via parameter (starting-record number) ......................... 65
4.4.4 Input and output signals for motion blocks ............................................................ 66
4.4.5 Starting, stopping and resuming ........................................................................... 67
4.4.5.1 Starting and stopping positioning.................................................................... 68
4.4.5.2 Resuming interrupted motion blocks ............................................................... 72
4.4.6 Digital signals for indication of status of motion orders............................................ 73
4.5 JOG Mode............................................................................................................. 76
4.5.1 Fixed speed in JOG mode ..................................................................................... 79
4.5.2 Acceleration and Deceleration in JOG Mode............................................................ 81
4.6 Teach-In (Saving Actual Position as Target Position)......................................... 81
4.7 Electronic gear..................................................................................................... 85
4.7.1 Master position source ......................................................................................... 85
4.7.2 Gear factor..........................................................................................................87
4.7.3 Resynchronization................................................................................................87
4.7.4 Phasing function..................................................................................................87
4.8 Monitoring Functions........................................................................................... 90
4.8.1 Travel limits ........................................................................................................90
4.8.2 Hardware limit switches ....................................................................................... 90
4.8.2.1 Hysteresis for hardware limit switch................................................................ 93
4.8.2.2 Fault reaction................................................................................................94
4.8.2.3 Move away from HW limit switches................................................................. 95
4.8.3 Software limit switches......................................................................................... 95
4.8.3.1 Move away from SW limit switches ................................................................. 98
4.8.4 Target window .................................................................................................... 99
4.8.5 Contouring error supervision............................................................................... 100
4.8.6 Warning mask Application .................................................................................. 102
4.9 Speed Override .................................................................................................. 104
4.10 Position Comparator .......................................................................................... 105
4.11 Rotary Table Application ................................................................................... 107
4.12 Position Controller ............................................................................................. 110
4.13 Store the actual position value (latching function)........................................... 112
4.14 Wiring Example.................................................................................................. 113
5 List of homing modes............................................................................................... 115
5.1 Brief Description Homing .................................................................................. 115
5.2 Overview Table of Homing Types ...................................................................... 117
5.3 Graphic Overview of Homing Modes ................................................................. 118
5.4 Terminology....................................................................................................... 119
5.5 Description of Homing Modes............................................................................ 120
5.5.1 Homing Modes with Ref. Signal........................................................................... 121
5.5.2 Homing modes without reference signal .............................................................. 137
5.5.3 Homing modes, only ref. signal and actual position............................................... 150
6 Output Signals and fault messages.......................................................................... 151
6.1 Actual positioning values................................................................................... 151
Application manual Positioning 304/08
