Operating Modes
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
562
of 820
4.8
Figure 186: Comparison of the curves (trapezoidal profile and S-Curve profile)
4.8.2.15 Control by Means of the "Start Positioning" Method
Positioning control by means of the "Start Positioning" method is described in the follow-
ing.
This mode can be activated via Z118.2– Positioning Mode Bit 8 = 1.
Sequence of events
The controller has 16 positioning records (1..16) and one active positioning set (0).
At the start of the positioning task, one of the 16 positioning records (1...16) is selected
with
Z118.6– Positioning Record Number Actual or a positioning set is transferred e.g.
via a Fieldbus. The positioning task is started with the Start Positioning command (Bit 11
of the Control Word).
The Start bit must always be set to start a positioning task. The positioning task then runs
to the end regardless of the Start bit.
The following differences for this Start bit arise depending on the Positioning Target Mode
parameter (Parameters
Z118.10– Target Mode for Positioning Set 0, Z118.19– Target
Mode for Positioning Records 1 to 16):
m With absolute limited target setting (Target Mode = 0, limited to maximum travel ampli-
tude), the Start bit can remain permanently set; positioning is then always based on the
current, absolute target position. This means that when the Start bit is set, only further
new (absolute) target positions need to be written.
Trapezoidal profile
optimum time
Trapezoidal profile
with smoothing
S-Curve profile
(jerk-free)
Duration [sampling steps] 188 230 207 or 257
Commissioning behavior - o +
Driving into the target - + +
Acceleration profile Rectangular Filter characteristic Trapezoidal-
shaped
Tendency to vibration - o +
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