Process sequence and signal states

No.

Procedure

PD

Signal states

[1]

General enable

  • PO 1:0 = "1"
  • Enable/emergency stop

PO 1:0

  • "1": Enable
  • "0": Deceleration with emergency stop ramp
  • PO 1:1 = "1"
  • Enable/application stop

PO 1:1

  • "1": Enable
  • "0": Deceleration according to application limit
  • PO 1:13 = "0"
  • Output stage inhibit (signal with highest priority)

PO 1:13

  • "0": Output stage enabled
  • "1": Output stage inhibited (the drive coasts to a stop or the brake is applied).

[1]

Activation of "relative positioning" application mode

PO 6

401 (decimal)

[2]

Feedback of the "relative positioning" application mode

PI 6

401 (decimal)

[3]

Dynamic parameters are applied (also during ongoing movement)

PO 2

PO 3

PO 4

Setpoint speed

Acceleration

Deceleration

[3]

Start/stop of the axis. If the "Start" signal is revoked during movement to the first target, the drive is stopped and continues to move to the original target if this signal is set again.

PI 1:7

  • "1": Acceleration to the setpoint speed specified via PO 2 using the value specified via PO 3.
  • "0": The drive is held at speed 0 subject to position control.

[3]

Specification of the distance

(relative position)

PO 7

PO 8

"Setpoint position" (high word)

"Setpoint position" (low word)

[3] to [4]

and

[6] to [7]

Apply relative position

INFORMATION: The relative position is calculated once with the rising edge of the signal, and is saved. With the next positive edge (also during movement to the first target), the travel section can be extended or shortened by the specified relative position.

PO 1:6

  • "1": Apply relative position

Up to [3],

[5] to [6]

and from [8]

If the actual position lies within the configured window width, the feedback "in position" is issued. The drive stops subject to position control.

PI 1:7

  • "1": "In position" signal active

INFORMATION

If the motion sequence is interrupted by revoking the enable signals PO 1:0, PO 1:1 or PO 1:13, the movement must be restarted by setting "Apply relative position". The target position is calculated again and saved. The drive moves to another target position than originally requested. If the travel is not intended to be canceled, but merely interrupted (while maintaining the original target position), the drive can be stopped by removing the PO 1:7 "Start/stop" signal.