5
Position control program
features
What this chapter contains
This chapter describes some of the important functions within the control program
that are specific to position control applications, how to use them and how to
program them to operate.
Overview of the position control program
The control program is implemented with PLC Open motion control function blocks.
The motion states also follow the PLC Open motion state machine guidelines. The
main states and transitions are shown in the diagram below.
The actual position control status is visible in parameter 74.10. When the drive is
not in a positioning operating mode, the status shown is Disabled. When the drive
is powered up, the first status is Initialization. The status will then move to Disabled
until the enable signal is activated.
To activate any position control states, the status shown by parameter 19.1 must
be Position. See section Operating modes of the drive (page 26).
Position control program features 33
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