MPH-02, MPB-02, MPD-02 Operating Modes 7-33
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
(k)
(k+1)
(k+2)
drive-internal
position cmd value
(k+3)
target
position preset memory
positioning command acknowledge
S-0-0282, Positioning
command value
S-0-0346, Positioning control
word
Fig. 7-21: Acknowledgment with error "Overflow of target position preset
memory"
Apart from bit 0 for mere block acceptance, the S-0-0346, Positioning
control word parameter contains further control bits which are explained
below.
Different positioning modes can be defined via bit 1 and bit 2 of S-0-0346:
• "infinite travel" (jogging positive or negative → jog mode) when:
• bit 2/1 = 01: "infinite travel" positive
• bit 2/1 = 10: "infinite travel" negative
• "stopping" (with S-0-0359, Positioning Deceleration) when:
• bit 2/1 = 11
Via bit 4 of S-0-0346 it is possible to determine the reference of the active
target position.
• bit 4 = 0:
reference for positioning is the "old target position", i.e. a residual path
that possibly hasn’t been traveled yet is traveled before the drive
moves to the new target
→ incremental dimension is maintained in the case of successive
positioning procedures
• bit 4 = 1:
reference for positioning is the current actual position value, a possibly
existing residual path is not traveled
→ incremental dimension reference is maintained
Note: Bit 4 takes effect with every new travel job (edge on bit 0).
Residual path processing is only carried out, during the first
positioning process after the operating mode was activated,
when the position status has been set and bit 2 = 1 in
parameter P-0-4060. In this case the residual path, after the
operating mode was activated, is traveled without start edge.
Positioning Modes to be
Selected
Reference of Active Target
Position
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com
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