Baumuller b maXX BM5800 - Control by Means of the Start Positioning Method

Operating Modes
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
542
of 814
3.8
Figure 145: Comparison of the curves (trapezoidal profile and S-Curve profile)
3.8.2.15 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– 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– 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 Target mode parameter
(Parameters
Z118.10– Target mode for positioning Set 0, Z118.19– Target mode for po-
sitioning 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
Sampling rate
Trapezoidal profile
optimum time
Trapezoidal profile
with smoothing
S-Curve profile
(jerk-free)
Duration [sampling
steps]
188 230 207 or 257
Commissioning behav-
ior
- o +
Driving into the target - + +
Acceleration profile Rectangular Filter characteristic Trapezoidal-shaped
Tendency to vibration - o +