Motion control C3F_T40
182 192-121102 N04 June 2008
5.6.2.1 Position mode in reset operation
In this chapter you can read about:
Setting the positioning mode in reset mode..................................................................... 182
Examples in the help file.................................................................................................. 182
In reset operation (activated by the configured reset distance), additional
positioning functions are possible for absolute positionings:
All directions Standard positioning mode
Positive direction Positioning only in positive direction
Shortest path Positioning on the shortest path
Negative direction Positioning only in negative direction
Actual direction Positioning by keeping the actual direction of travel
Dynamic positioning
In dynamic positioning, a decision concerning the positioning travel is not taken on
the basis of the actual position, but on the basis of the braking position resulting
from the motion parameters.
In the event of positioning specifications below zero and higher than or equal to
the reset distance, this function is deactivated.
The positioning functions are neither effective in test movements nor in a
positioning after homing travel.
In the event of ”shortest path” the motion is not defined for a positioning by half
the reset distance.
Setting the positioning mode in reset mode
The positioning modes in reset operation are configured via object 1111.13
[=C3Plus.POSITION_direction:=MC_Direction_Positive]:
Mode Value IEC constant
All directions 0 C3_all_direction
Positive direction 1 MC_positive_direction
Shortest path 2 MC_shortest_way
Negative direction 3 MC_negative_direction
Actual direction 4 MC_current_direction
Setting the desired value must take place in the IEC initialization routine, as a
configuration download by the C3 ServoManager would reset the value to 0 (due to
downwards compatibility).
Examples in the help file
In the help file you can find here examples for the functioning of the individual
positioning modes.
Please observe:
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