Operating Instructions ACU
13.6 Positioning
Positioning is done in operation mode "Reference positioning" via the definition of the positioning
distance or in operation mode "Axis positioning" via the definition of the position angle.
Reference positioning uses a digital reference signal from a selectable signal source for positioning
the drive independent of the speed.
Axis positioning uses a digital reference signal from a speed sensor.
The function "Reference positioning" is available in configurations 110, 210, 410, 510 and 610 and is
activated by selecting operation mode 1 for parameter Operation Mode 458 .
The function "Axis positioning" is available in configurations 210 and 510 (Parameter Configuration
30) and is activated by selecting operation mode 2 for parameter Operation Mode 458.
Positioning switched off.
Positioning from reference point via definition of positioning
distance (rotations). The reference point is acquired via a Signal
source 459
Available in configurations 110, 210, 410, 510, 610.
Reference positioning via definition of the positioning angle,
reference signal from speed sensor
Available in configurations 210, 510.
13.6.1 Reference Positioning
The feedback of the current position is referred to the revolutions of the motors relative to the time
of the reference signal. The accuracy of the positioning for the application to be realized is
dependent on the current Actual Frequency 241, Deceleration (Clockwise) 421, the No. of Pole
Pairs 373, the selected Positioning distance 460 and the parameterized control behavior.
The distance between the reference point and the required position is to be defined in motor
revolutions. The calculation of the distance covered is done with the selected Positioning distance
460 according to the application.
The setting 0.000 U for Positioning distance 460 causes an immediate stop of the drive according to
the selected stopping behavior for Operation Mode 630.
The actual value parameter Rotations 470facilitates the setting and optimization of the function.
The revolutions of the motor displayed should correspond to the Positioning distance 460 at the
required position.
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