Positioning mode
In positioning mode, you can specify a target position.
The operating behavior in the open loop corresponds to the Velocity mode
In positioning mode, you also have the option of using the pseudo-closed loop operating behavior.
The module performs an actual value/setpoint comparison of the position in the pseudo-closed loop. If the setpoint position is not reached, the motor attempts to adjust the actual position. The number of adjustments can be defined. If the setpoint position is not reached after the specified number of adjustment tasks, the I/O module switches to the fault state.
The most important parameters in positioning mode, in pseudo-closed loop, are:
Parameter | Meaning |
|---|---|
stConfig.eEncoderFeedbackConfiguration | Operating behavior, e.g. pseudo-closed loop. |
stConfig.uiPositionControllerPseudoClosedLoopMaxRetries | The number of adjustment attempts by the motor to reach the actual position. |
stBasic.stIn.diPosition | Specification of the setpoint position. |
Bit 12 of the status word provides feedback in the pseudo-closed loop as to whether it has been corrected.
For further information, refer to chapter stUserInterface.stPositioning.
