Owner's manual
Table Of Contents
- KHB 13.0003-EN
- Document history
- Contents
- 1 Preface
- 2 Safety instructions
- 3 Technical data
- 4 Electrical installation
- 5 CANopen communication
- 6 Commissioning
- 7 Parameter setting
- 7.1 Loading and saving of parameter sets
- 7.2 Conversion factors ( factor group)
- 7.3 Power stage parameters
- 7.4 Motor adaptation
- 7.5 Speed controller
- 7.6 Position controller ( position control function)
- 7.7 Digital inputs and outputs
- 7.8 Device information
- 7.9 Manufacturer-specific information parameters
- 7.10 Manufacturer-specific driving records
- 8 Device control
- 9 Operating modes
- 10 Appendix
- 11 Index
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.
v
1
v
2
t
0
t
1
t
2
t
3
t
v
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Fig. 16 Simple travel task
If the new_set_point bitaswellasthechange_set_immediatelybitof thecontrol wordare
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 bitthatithasreadthe
buffer and started the corresponding positioning. Here it is important that the new travel
task is transferred to the drive controller i n time.
v
1
v
2
t
0
t
1
t
2
t
3
t
v
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Fig. 17 Sequence of travel tasks