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PD6-E/-EB CANopen Online Manual

Positioning

This mode is used to approach positions relative to the last target position or absolutely to the last reference position. During the movement, limit values ​​for the speed, acceleration and deceleration and, if necessary, jerks are taken into account.

To activate the mode, set the parameter 930 Operating Mode to the value "2". In this mode you can use the Telegrams 7,9,207 or 209.

The Positioning mode comprises the two submodes Program and Manual Data Input (MDI)

Program Mode

Motion programs are stored as 32 motion records in the program storage. A motion record consists of the new :

for the calculation of the path from the actual axis position to the new target position (relative).

The start of a motion program or the change to a new program while a program is still running, is done by selecting the first motion record of the new program via SATZANW (while SATZANW Bit15 = 0) and a positive edge of STW1 Bit6. The motion program is then executed by the program interpreter motion record for motion record as long as there is no stop or terminate condition in a motion record and the program is not terminated by STW1 Bit4 = 0. The motion of the axis may also be stopped intermediately by STW1 Bit5=0 (intermediate stop).

Manual Data Input

The Manual Data Input (MDI) enables the direct access to the motion command interface from the DO IO Data without using the program interpreter.

Changeover from the program execution to the MDI interface and vice versa is controlled by Bit15 of SATZANW. If MDI submode is active, the input for the motion command interface of the path interpolator will be taken from the signals:

The new target position is set with the rising edge of STW1 Bit6.

Control Word

Listed in the following table are the bits in 967 Control Word 1 (STW1) that result in the corresponding state transitions of the general PROFIdrive state machine.

Bit Name Description
0 OFF/ON

Set this Bit to "1" to switch on the drive voltage.

Power-down (OFF1) by setting this bit to "0"; the drive returns to the "Ready For Switching On" condition. The drive is ramped-down along the ramp . If/once in standstill, the main voltage is switched off.

1 Coast Stop Set this bt to "1" to withdraw all "Coast Stop (OFF2)" commands.

Set this bit to "0" to switch the voltage off. The drive goes into the "Switching On Inhibited" condition; the motor coasts down to a standstill.
2 Quick Stop Set this bit to "1" to withdraw all "Quick Stop (OFF3)" commands.

Set this bit to "0" to command a Quick stop. The drive is decelerated as fast as possible and´goes into the "Switching On Inhibited" condition. A Quick Stop command is not interruptible.
3 Enable Operaton

Set this bit to "1" to enable electronics and operation.

Set this bit to "0" to disable operation. The drive coasts down to a standstill and goes into the "Switched on" condition.
7

Fault Acknowledge

(0 -> 1)

The fault is acknowledged with a positive edge. If the fault reaction has switched off the voltage, the drive then goes into the "Switching On Inhibited" condition.
15 Enable Autosetup Mode Activates the mode Auto setup. If set, the bit has higher priority as the setting in 930 Operating Mode .

Following bits in the parameter 967 Control Word 1 (STW1) have a special function in this mode:

Bit Name Description
4 Reject Traversing Task (1> 0) On a negative signal edge (1> 0), the drive brakes from an active Traversing Task with maximum deceleration and remains then stationary with the holding torque.The current Traversing Task is rejected.
5 Intermediate Stop This bit shall reman continually set when executing a Traversing Task.

On a negative signal edge (1> 0), the drive brakes from an active Traversing Task along a ramp, and remains stationary with the holding torque. The Traversing Task is not rejected and is continued when this bit changes to 1 again.
6 Activate Traversing Task (0 -> 1) A positive signal edge enables a Traversing Task or a new MDI setpoint.
11 Start Homing Procedure Set this Bit to "1" to start a Homing Procedure. Prerequisite: Operation is enabled.

Set this bit from "1" to "0" to abort a Homing Procedure in progress., The drive stops along a ramp.
12 Change Set Not Immediately The default behavior in PROFIdrive is that with the the next Bit 6 after a set point, a travel shall beginn again. By setting this bit to "1" you can send two travel commands the one after the other.
13 Change On Setpoint If the first set point is not reached yet and this bit is set to "1", the travel is continued at the same velocity to the second set point.
14 Enable Slow Speed Set this bit to "1" to activate the Slow Speed mode. If the bit is set, bit 7 in 3202h is ignored,

Status Word

Listed in the following table are the bits in 968 Status Word 1 (ZSW1) that break down the state of the general PROFIdrive state machine.

Bit Name Description
0 Ready To Switch On Power supply is switched on, electronics initialised,,pulses are inhibited.
1 Ready To Operate Refer to bit 0 of controword 1.

This bit remains set during deceleration following an OFF-command.
2 Operation Enabled Electronic and pulses are enabled, drive follows setpoint (refer to controlword 1, bit 3).
3 Fault Present Unacknowledged faults or currently not acknowledgeable faults (fault messages) are present (in the fault buffer).
4 Coast Stop (OFF 2) If this bit is 0, a coast stop is active.
5 Quick Stop (OFF 3) If this bit is 0, a quick stop is active.
6 Switching On Inhibited This bit is set back to zero and the drive goes again in the "Switched On" condition only with "No Coast Stop AND "No Quick Stop" followed by an "ON-command".
7 Warning Present Not acknowledged warning present in the buffer.
9 Control Requested The PROFINET controller has the control and manages the PROFIdrive state machine.

The value of the Bits is always "1" , except if the special drive modes are activated.
15 Closed Loop Active Bit set: Closed Loop is active

Following bits in the parameter 968 Status Word 1 (ZSW1) have a special function in this mode:

Bit Name Description
8 Following Error Within Tolerance Range If this bit is "1", the dynamic comparison of the demand and actual position value is within the defined following error window.
10 Target Position Reached If this bit is "1", the position actual value at the end of a Traversing Task is within the position window.
11 Home Position Set If this bit is "1", a Homing was executed and Home Position is valid.

Else, no valid Home Position is available.
12 Traversing Task Acknowledgment (0 -> 1) Using the positive edge, it is acknowledged that a new Traversing Task or MDI setpoint was accepted.
13 Drive Stopped/Moving Signals that a Traversing Task has been completed or a standstill for i(ntermediate) stop.

If the bit is "0", a Traversing Task is executed and the actual speed is not zero.
14 Position Limit Bit set: The drive is outside the set position limits (607Dh Software Position Limit).

Homing

The purpose of the homing is to align the position zero point of the controller with an encoder index or position switch. In 6098h Homing Method you define which of the available methodes is used.

To start a homing:

  1. Set the PROFIdrive state machine via the Control Word in the state Operation Enabled or Coast Stop .
  2. Set Bit 11 of the Control Word to "1".

When the homing is finished, Bit 11 of the Status Word is set to "1" and the state is automatically reset to the initial state.

Parameters used in this mode

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