POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
36 BU 0210 en-3117
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4.3 Setpoint specification
Setpoints can be specified as follows:
• Digital inputs or Bus IO In Bits as absolute position by means of the position array
• Digital inputs or Bus IO In Bits as relative position by means of the position increment array
• Bus setpoint value
It is irrelevant whether an incremental or an absolute encoder is used for position detection, i.e. for
determination of the actual position.
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4.3.1 Absolute set position (position array) via digital inputs / BUS IO Bits
Positioning with absolute set positions is primarily used if certain fixed positions exist, which are
approached by the drive unit ("move to position x"). This includes e.g. shelf picking equipment.
In parameter P610 "Setpoint Mode", positions stored in parameter P613can be selected via the digital
inputs of the frequency inverter or Bus IO In Bits using Function 0 = "Position Array".
The position numbers result from the binary value. A position setpoint value (P613) can be
parameterised for each position number. The position setpoint can be determined and entered either
via a control panel (ControlBox or ParameterBox) or with the "NORD CON" PC parameterisation and
diagnostic software. Alternatively, a digital input or BUS IO In Bit must be parameterised to function 24
"Teach-In". Triggering of this digital function results in the adoption of the actual position in the arrays
of parameter P613 ( Section 4.4 ""Teach - In“ – Function for saving positions")
With function 62 "Sync. position array" (digital inputs or BUS I/O In Bits) it is possible to preselect a
saved position without immediate movement to this position. The preselected position is only adopted
as a setpoint and moved to after the input is set to "1" ( Section 4.3.3.2 "Relative set position
(position increment array) via field bus").
If the absolute setpoint position is specified via Bus IO In Bits, the position number results from bits
0...5 of the serial interface. For this, a bus setpoint value (P546…, "Function Bus - Setpoints") must be
set in the setting 20 "Bus IO In Bits 0-7" and the functions assigned to the corresponding bits under
P480 "Function Bus I/O In Bits".
Position setpoints from different sources are added to each other. I.e. the frequency inverter adds all of the
individual setpoints which are specified for it to form a resulting setpoint and moves to this target (e.g.: setpoint
via digital input + setpoint via bus).
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