Operating mode 1 must be selected
• co01 = 1
value 6 "speed reference" must be entered in ps43 index mode [ ]
• ps43 index mode [1] = 6
• ps43 index mode [2] = 6
• ps43 index mode [3] = 6
• ps43 index mode [4] = 6
• ps43 index mode [5] = 6
The setpoint speed must be entered in ps40 index speed [ ]
• ps40 index speed [1] = -1000
• ps40 index speed [2] = -500
• ps40 index speed [3] = 0
• ps40 index speed [4] = 500
• ps40 index speed [5] = 1000
If, for example, input I2 is now set ru58 actual Index will have the value 2. The ar-
ray index is always actual index +1, = 3
Thus the setpoint speed ps40 index speed [3] = 0 is selected.
If no input is set, ru58 actual Index has the value 0. The array index is then 1, thus
the setpoint speed ps40 index speed [1] = -1000 is selected.
4.8.1.11 Following error
The following error (st36 following error) can be monitored in all operating modes
with active position controller. The description of the following error monitoring is
described in chapter 6.5.4 Following error.
4.8.1.12 Target reached
Bit 10 in the status word "target reached" is only managed in the profile positioning
mode. The "target reached" bit is only set when an (intermediate) target is reached
if:
• in profile positioning mode with FIFO there is no further position set in the
FIFO (i.e. a subsequent positioning is not started immediately)
• in auto-index mode (ps38 positioning module Bit 1 index mode = 0 "auto
index mode“) the last position is reached (ps42 next index [ ] = -1 "off“). If a
loop is programmed (last index points to start index), bit 10 target reached
is never set.
• in stop-after-each-index-mode the current target position has been
reached.
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