Modes and Jobs
9-27
FM 351 Positioning Module
C79000-G7076-C351-02
9.7 Loop Traverse
Definition
With “loop traverse”, you specify the direction in which a target will be approached
with force contact. You can use the loop traverse when force contact between the
motor and the axis can only be ensured in one direction.
A target which is approached against the specified direction is first overshot. The
FM 351 then reverses the direction and approaches the target in the specified
direction.
Requirements
• You have set the parameters for the axis.
• The axis must be synchronized.
• In a loop traverse in a direction opposite to the direction to the target, the
maximum target position is as follows:
– in the plus travel direction
target SLE –
1
/
2
target range – switch-off difference plus –
switchover difference minus
– in the minus travel direction
target SLS +
1
/
2
target range + switch-off difference minus +
switchover difference plus
• A loop traverse is not executed if the target is approached in the direction of
the loop traverse. In this case, an incremental approach without direction
reversal is executed.
• The sequence of the “incremental approach” mode must be familiar (see
Section 9.4, page 9-17).
Sequence of Loop Traverse
1. Set the control signal for the “absolute/relative incremental approach” mode
(MODE_IN=4/5).
2. Set the control signal for drive enable (DRV_EN=1).
3. Set the function switch for “do not evaluate enable input”
(EI_OFF=1) or wire up the enable input for the relevant channel.
4. Enter the incremental dimension number (MODE_TYPE=1...100, 254, 255).
5. Set the function switch (PLOOP_ON / MLOOP_ON=1).
6. Start the incremental approach
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