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7-40
Operating Modes
7.7
Positioning Block Mode
Base package of all variants in closed-loop characteristic
Brief Description
positioning
positioning
block
generator
The result is the following time diagram:
v
0
x
target position
starting position
x
lag error
(drawing
magnified)
S-0-0013, bit 12
1
target position
0
attained
1
S-0-0437, bit 1
0
in target position
1
S-0-0437, bit 2
0
IZP
Fig. 7-23:
Generating the status bits of the operating modes with drive-internal
interpolation
In the "positioning block mode" it is possible to run up to 64 programmed
positioning blocks. The drive moves to the target position in position
control, while maintaining velocity, acceleration, deceleration and jerk
limits as defined in the respective positioning block.
position
cmd value
interpolation
controller
target
effective
position
pos. cmd value
Fig. 7-24:
"Positioning block mode" block diagram
MPH-02, MPB-02, MPD-02
pos. cmd val.
act. pos. val.
velocity
controller
velocity cmd
torque/force
value
cmd value
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
actual velocity
value
standstill
window
t
positioning
window
t
positioning
window
t
positioning
window
t
t
t
t
DK000056v01_en.fh7
current
M
controller
DF000087v01_en.fh7
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