Lenze 8400 - Page 508

8 Basic drive functions (MCK)
8.2 Internal interfaces | System block "LS_MotionControlKernel"
508
Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23
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MCK status word 2 (wMotionState2)
Bit Designation Description
16 DwellTime "1" ≡ Dwell time after reaching the setpoint position is active.
Target position monitoring (status "drive in target")
17 InTarget "1" ≡ Dwell time has expired and current actual position is in the set target window.
Target position monitoring (status "drive in target")
18 PosDone "1" ≡ Positioning profile has been completed in the "Positioning" or "Homing" mode.
Setpoint position of a profile data set is in target.
19 Reserved -
20
...
23
ActPosMode_Bit00
...
ActPosMode_Bit03
Active positioning mode Bit 3 Bit 2 Bit 1 Bit 0
Absolute (shortest path) 0 0 0 1
Continuous 0 0 1 0
Relative 0011
Absolute (Cw) * 0100
Absolute (Ccw) * 0101
Absolute (shortest path) to TP * 1000
Continuous to TP * 1001
Relative to TP * 1010
Absolute (Cw) to TP * 1011
Absolute (Ccw) to TP * 1100
* From version 06.00.00
Note: The display of the active positioning mode depends on further factors. See
subchapter "Override of the parameterised positioning mode
".
24
...
31
ActProfileNo_Bit00
...
ActProfileNo_Bit07
Active profile Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Profile 0 00000000
Profile 1 00000001
Profile 2 00000010
... ...
Profile 15 00001111
 Note!
The effective positioning mode is generated via the MCK control word (bit 20 ... 23)
and/or the parameters C01300/1...15
for defining the positioning mode in the profile
data. Here, the setting in the MCK control word superimposes the mode selection via the
corresponding parameter. This means that the mode selection and the touch probe
enable are possible via process data.
For generating the effective positioning mode, the following applies:
• Valid PosMode in the MCK control word:
 Use positioning mode of the MCK control word
• PosMode in the MCK control word = 0:
 Use positioning mode set in C01300/x
• Invalid PosMode in the MCK control word:
 Error message "Ck09: Positioning mode invalid"