Baumuller b maXX BM5800 - Error Reaction Return Motion; Parameter Overview

Set Value Generators
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
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of 814
3.6
3.6.4 Error Reaction Return Motion
In addition to the error reactions „Stop“ and „Pulse inhibit“ the reaction „Return motion“ is
settable for some errors. It concerns an easy positioning with trapezoid profile, whose tar
-
get position can be set absolutely or relatively to the current position.
For many errors in addition to the standard error reaction as „Pulse inhibit“ and „Stop“ also
the error reaction „Return motion“ is settable. At initiation of an error with the „Return mo
-
tion“ reaction the drive goes to a therefor parameterized target position. The speed profile
during the positioning to the return motion target is preset by a parameterized trapezoid
(maximum speed, maximum acceleration). The maximum speed must not be greater
than the maximum speed of the drive.

The return motion target can be preset absolute or relatively in relation to the Z106.12–
Position actual value. If the return motion target is not reached, then this will be registered
in
Z148.2– Status and the corresponding error message no. 2703 is transmitted. For this
purpose the position error of return motion is monitored. The return motion target is con-
sidered as not reached, if a position error is recognized according to the limit in Z148.6–
Position Error Limit and Z148.7– Position Error Time.
The return motion positioning is not an operating mode of its own. During positioning to
the return motion target the drive remains in the „error reaction active“ status (see
ZState
Machine for the Device Controller of the axis units– on page 292).
3.6.4.1 Parameter Overview
Functional block: Return Motion[148]
NOTE!
If the error reaction „Reset“ is set for the error mains failure, then also the motor-driv-
en operation at mains failure must be set (Z130.10– Supply mode bit 1 = 1).
Number Name Type Min Max Default Value Unit Factor
Read only Storage DS Support Cyclic Write Axis-independent
148.1 Mode DWORD 0 0xFFFFFFFF 0 1:1 X
148.2 Status UDINT 0 0xFFFFFFFF 0 1:1 X
148.3 Target position UDINT 0 0xFFFFFFFF 0 Inc 1:1 X X
148.4 Speed limit UDINT 0 13200 1000 Inc/ms 1:1 X
148.5 Acceleration limit UDINT 25 45000 200 Inc/
ms
2
1:100 X
148.6 Position error limit UDINT 0 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X
148.7 Position error time UINT 0 65535 65535 ms 1:1 X