Controlling the anti-sway control
INFORMATION
Since the inPosition bit is linked to xBusy (anti-sway control active) and thus the compensating movement of the anti-sway control is not yet complete, the InPositions bit does come with a delay when using anti-sway control in certain cases.
In addition to the configuration parameters in MOVISUITE, the following process data is available via the fieldbus interface for controlling anti-sway control:
- PO 29 Enable anti-sway control: Switch the function on or off
- PO 25 X: Payload (optional)
When the lifting position from the axis for anti-sway control is used, the lifting axis must be enabled once when the MOVI-C® CONTROLLER is restarted because the setpoint position of the profile generator has not yet been added to the actual position of the lifting axis. Otherwise, error 120.24 (7818hex | 30744dec) is the result.
