Process sequence and 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 "Touchprobe positioning mode" target application mode

PO 6

420 (decimal)

Dynamics parameters are applied (also during ongoing movement)

PO 2

PO 3

PO 4

Setpoint speed

Acceleration

Deceleration

[1]

Start/stop of the axis

Different cases are distinguished depending on whether the additional function "Touchprobe" is activated and whether a trigger is detected. See also Case distinction.

PO 1:7

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

[2]

Activate touchprobe

When activated, the acknowledgment "Wait for trigger" (TP PI 0:0) is set.

TP
PO 1:0

• "0": No trigger event is evaluated
• "1": The system waits for a trigger event.

[2] to [3]

Relative target position
Acceptance also during travel and after reaching the target position

TP

PO 3

PO 4

"Relative position"
(high word)

"Relative position"
(low word)

[3] to [4] and from [7]

Trigger

When the trigger has occurred, the new target position results from the actual position at the trigger time (recorded value) and the relative position specified via TP PO 3, PO 4. The value of the relative position is added if the direction of travel is positive and subtracted if the direction of travel is negative.

The feedback "Trigger active" (TP PI 1:1) is set, and the trigger counter is increased by 1 (TP PI 2).
The detected relative position is output via TP PI 3, PI 4.

The acquisition of the trigger signal is set in the configuration.

[5] to [6]

To move to a new setpoint position after a trigger event has occurred, "Activate Touchprobe" must first be set to "0" and then back to "1", and then "Start" must have a rising edge.

[4] 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. The signal is revoked when the target application mode is activated.

PI 1:7

• "1": "In position" signal active