Operating instructions

72 Application manual Positioning 04/08
4.4.5.2 Resuming interrupted motion blocks
The resume function enables continuing motion blocks after an interruption by an
error or by resetting of the "Start Positioning" signal.
Resumption is effected as follows:
1. Set signal on the input assigned to parameter
Resume Motion Block 1230.
2. Set Signal
Start Positioning 1222
The resumed motion block is indicated by parameter Motion Block to Resume 1249.
Note: The resume is deactivated while the teach-in function is being carried
out. In this case,
Motion Block to Resume 1249 has the value -1.
In the case of an absolute positioning operation, the target position for resumption is
taken over from the interrupted motion block directly.
In the case of a relative positioning operation, the target position for resumption is
calculated from the target position saved in the motion block and the current posi-
tion at the time the motion block is started.
Example: Resumption in the case of relative positioning operation
The current position is 10000 u. A distance of 20000 u is to be covered. After the
start of the motion block, an error occurs and the drive stops at position 15000. To
resume this motion block, the absolute target position of 30000 u is calculated, i.e.
10000 u (actual position at start of motion block) + 20000 u (distance from motion
block. Positioning is started in absolute motion mode.
10000 u 15000 u
20000 u
30000 u
Position
t
v
Actual position
at the start of
the m
o
ti
o
n
b
l
o
ck.
Actual position at
the time of interruption
o
f the m
o
ti
o
n
b
l
o
ck.
Calculated absolute
target position
When the power supply is turned off, the last actual position of the drive is saved.
Except for the settings of
Operation Mode 1220 = “2 - automatic” (automatic start
of homing) and additional
Homing Mode 1130 = “35 - Current Position” (current
position is home position).
Application manual Positioning 04/0872