Overview
INFORMATION
Make sure that the module is always supplied with the appropriate parameters for the selected operating mode! Pay particular attention to the current values used in the output area!
With synchronous positioning, the head station specifies a target position via a sync signal at a fixed interval with a minimum period of 1 ms.
The function module can be operated synchronously with periods of 1 ms, 2 ms, 4 ms, 8 ms, 16 ms and 32 ms. If a different period is detected, the function module switches to the error state with the error code 0xF044 "SYNC period invalid". As the function module performs positioning at 125 µs intervals for a period of 1 ms, for example, this is interpolated to 8 sub-steps for approaching the target position. This smooths the path to the target position. The PtP position profile generator is deactivated. The limit values for speed and maximum travel position are taken into account.
- With synchronous positioning, you can specify the position directly via "0x8480-03 – Target position" or via the dynamically assigned word 4 in the output area.
- Deceleration and reversal of direction are executed automatically if a new setpoint position requires a reversal of direction. It is not necessary to separately activate the new value in the control word at the start of the operation.
- If a limit is activated during the travel operation, this is indicated by the status word: "0x8100-02 – Status word"
- Depending on the set encoder feedback, the function module operates in open-loop or closed-loop positioning mode. A distinction is made between the following encoder configurations:
- Open loop
- Closed loop
