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MPH-02, MPB-02, MPD-02
Positioning Block Control Word
Position Feedback
Interrupting a Positioning Block
Positioning Block Modes
Command Value Mode
(S-0-0393)
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
With parameter P-0-4060, Positioning block control word (bit 1) the
positioning velocity can be limited to the value defined in parameter S-0-
0259, Positioning Velocity.
When a positioning block is completed, bit 4 (end position reached) is set
in parameter P-0-4061, Positioning block status word.
→ |S-0-0430 – S-0-0051/53| < S-0-0057 && no sequential block
The positioning block mode can be interrupted by:
• removing drive enable
• activating "Drive Halt"
• changing the operating mode
• jogging
• positioning stop or operational stop (S-0-0346, bit 1 and bit 2 = 1)
• a drive error occurring
Parameter P-0-4019, Positioning block mode is used to define the way
in which the target position is processed in parameter P-0-4006,
Positioning block target position. There are the following options:
• absolute Positioning
• relative positioning
• relative positioning with residual path storage
• infinite travel in positive/negative direction
• sequential block processing
See Parameter Description "P-0-4019, Positioning block mode"
Note:
It is possible to define an individual positioning mode for each
positioning block.
The parameter S-0-0393, Command value mode controls the drive
behavior in case "modulo format" was determined as processing format of
the position data.
See also Parameter Description "S-0-0393, Command value
mode"
The following modes are distinguished:
• shortest distance
• positive direction
• negative direction
The following limiting conditions have to be taken into account:
• If the absolute value of the current actual velocity is greater than the
velocity threshold for positioning in modulo format (S-0-0417), the
drive always moves in the last active direction of rotation.
• If the target position is within the target position window in modulo
format (S-0-0418), positioning is always carried out according to the
"shortest distance" mode.
7-45
Operating Modes
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