POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
44 BU 0210 en-3117
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4.8 Remaining path positioning
Remaining path positioning is a variant of position control. With this, the drive unit changes from
normal speed regulation to position control on receipt of a trigger pulse and then moves for a defined
distance before coming to a standstill.
Relevant parameters for remaining path positioning
Parameter Value Meaning
P420… or P480 78 Remaining path trigger
Remaining path positioning
Remaining path if the drive is enabled with "Enable right"
Remaining path if the drive is enabled with "Enable left"
Se
quence for remaining path positioning
After enabling, the drive unit first moves with the setpoint frequency until there is a positive flank 0 1
from the sensor at the input with function "Trigger remaining path". The drive unit then switches to
position control and then moves for the distance which has been programmed in parameter P613 [-01]
or [-02]. If a position setpoint is sent to the inverter via the bus, this is added to the value in P613 [-01]
or [-02]. If no value is entered in P613 [-01] or [-02] the bus setpoint represents the relative remaining
path.
After reaching the target position the drive unit remains in this position.
A new pulse at the input with the function "Trigger remaining path" triggers the function again. The
drive unit then moves for a further remaining distance. It does not matter whether the drive unit is
already stationary in its target position or is still running.
The f
ollowing options are available for starting a new remaining path positioning (start in setpoint
mode):
• Stop the drive (cancel enabling) and re-enable the drive, or
• Trigger Digital In function 62 "Sync. position array" (via digital input P420…, or BUS IO In Bit P480)
The status message "Position reached" only appears after completion of the remaining path
positioning. During constant movement with the setpoint frequency, the status message "Position
reached" is disabled.
The precision of remaining path positioning depends on the jitter of the response time, the speed, as
well as on the initiator which is used. The jitter of the response time of a digital input is typically
1 - 2 ms. The position error therefore corresponds to the distance which is travelled at the particular
speed during the jitter time.
Remaining path positioning is always carried out with a linear ramp. Any S ramps which are set do not
have an effect. If a position limit is enabled (P615 / P616), this is taken into account in the constant
running.
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