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8-82
Drive Functions
Spindle Positioning with Non-
Homed Control Encoder
S-0-0403,
Pos. feedback val. status
(bit "status of reference encoder")
S-0-0336,
Message In position
Message "Target Position
Reached"
Note:
In the case of a mechanical system with slip (e.g. V-belt)
between motor and spindle, an optional encoder is obligatory!
The encoder used for spindle positioning is defined by the bit for encoder
selection in S-0-0147, Homing parameter.
If the encoder selected for spindle positioning doesn't yet have the
position data reference to the spindle (see S-0-0403, Position feedback
value status), the position data reference is automatically established
during the execution of spindle positioning!
See also section "Establishing the Position Data Reference"
The figure below illustrates the basic sequence of the drive function
"spindle positioning".
v
start of command
"position spindle"
decelerating
with ramp (P-0-1201 to P-0-1203)
or filter (P-0-1222), if necessary
S-0-0041,
Homing velocity
S-0-0042,
Homing acceleration
0
1
reference encoder without position data reference
0
1
0
Fig. 8-69:
Basic sequence of spindle positioning (including establishing the
position data reference)
The following parameters signal that the target position for spindle
positioning has been reached:
• S-0-0336, Message In position and
• S-0-0013, Class 3 diagnostics
The target position is signaled to have been reached when
• velocity command value and actual velocity value are lower than the
threshold value in parameter S-0-0124, Standstill window
- and -
• the distance to target position is smaller than the value in parameter
S-0-0057, Position window.
See also Parameter Description "S-0-0013, Class 3 diagnostics"
MPH-02, MPB-02, MPD-02
detecting the spindle
reference signal
S-0-0222,
Spindle positioning speed
accelerating and decelerating
with
S-0-0372, Drive Halt acceleration bipolar
reference encoder has
position data reference
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
target position
t
t
t
DK000047v01_en.fh7
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