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7-34
Operating Modes
Reaction to New Target Position
Processing in Modulo Format
Special Cases
Via bit 5 of S-0-0346 it is possible to determine the time of the reaction to
a new target position preset:
Preset
• bit 5= 0:
The drive travels to the last preset target before positioning at the new
target. The target is considered to have been reached when the
following applies:
target position – actual position value < positioning window
• bit 5 =1:
The previous target is rejected and the drive immediately travels to the
new target.
→ immediate block change
See also Parameter Description "S-0-0346, Positioning control
word"
The S-0-0393, Command value mode parameter controls the drive
behavior in the case of position processing in modulo format. For
S-0-0393 the following definition applies:
• bit 1/0 = 00: positive direction of rotation
• bit 1/0 = 01: negative direction of rotation
• bit 1/0 = 10: shortest distance
See also Parameter Description "S-0-0393, Command value
mode"
The following special cases apply for evaluating the settings for S-0-0393,
Command value mode:
• If the absolute value of the current actual velocity is greater than the
velocity threshold for positioning (S-0-0417, Velocity threshold for
positioning in modulo format), the drive always moves in the last
active direction of rotation.
• If the target position is within the target position window (S-0-0418),
positioning is always carried out according to the "shortest distance"
mode.
Note:
If the velocity threshold for positioning behavior was
parameterized with very low values that are within the noise
level of the actual velocity value, this can cause unpredictable
behavior.
See also Parameter Description "S-0-0417, Velocity threshold for
positioning in modulo format" and "S-0-0418, Target position window in
modulo format" and "S-0-0430, Effective target position"
Positioning Generator
The drive generates the position command value profile necessary to
move to the target position, considering the conditions defined in the
following parameters:
• S-0-0108, Feedrate override
• S-0-0193, Positioning Jerk
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0359, Positioning Deceleration
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
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