Operating Modes
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
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of 820
4.8
Bit 5 = 0:
Hardware end switch monitoring will not trigger a error. The drive will brake to speed
0. New drive requests will only be carried out when the direction of travel from the
end switch leads away to the permitted range.
Bit 5 = 1:
When the hardware end switch is overridden, braking to speed 0 will occur and a
error will be triggered. Errors 906 "Negative hardware end switch active" or 907
"Positive hardware end switch active" will not result in a pulse block when the stan-
dard response is set. They must be acknowledged before a new drive request start
is accepted. New drive requests will only be carried out when the direction of travel
from the end switch leads away to the permitted range.
m Bit 6 (starting response with controller release for relative positioning)
Bit 6 = 0:
A positive edge will be required in the Start bit after the controller is enabled so that
the values from the positioning set X are transferred to positioning set 0 and relative
positioning will start.
Bit 6 = 1:
If the Start bit is set at the time of controller activation, the data will be transferred
immediately during the controller release and relative positioning will start immedi-
ately.
m Bit 7 (homing required)
This bit defines whether the drive will allow positioning prior to successful homing.
Bit 7 = 1:
Error message 900 is set and the drive stops position-controlled at the present po-
sition, if the drive was enabled in operating mode Target position mode and homing
wasn't executed prior to that. Positioning tasks are not executed.
Positioning tasks are executed not until homing was completed successfully
(Z120.1– State bit 1).
m Bit 8 (controlling positioning)
This bit is used to adjust the handshake procedure for positioning.
Bit 8 = 0: Method "New set value" (standard method after CANopen)
Here, Bit 4 "New set value" is used in the control word of the drive manager. The
positioning set data are copied on each rising edge of this bit (Set X to Set 0), ad-
opted internally and the positioning procedure started.
Bit 8 = 1: Method "Start positioning"
Positioning is started with Bit 11 "Start Positioning" of the drive manager control
word. "Change set immediately" ("Set of set values") cannot be used with this meth-
od.
m Bit 11 (interpretation of the control word with control through "New set value")
This bit is effective when the method "New set value" (Bit 8 = 0) is set.