Modes and Jobs
9-6
FM 351 Positioning Module
C79000-G7076-C351-02
5. You have set the following parameters:
– Target range (TRG_RANGE) ≥ 0
– Stationary speed (ZSPEED_L) ≥ 0
– Monitoring time (MON_TIME) = 0
In this situation, if the axis becomes stationary during positioning before the
target range is reached, the end of positioning is not detected. PEH is not
generated and the WORKING return signal remains set. You can abort the
positioning operation only by clearing the drive enable signal (DRV_EN = 0).
Terminating without a Specified Target
Terminating means that the positioning operation is stopped after changing from
rapid to creep speed while maintaining the differences.
Positioning is terminated when
• The FM 351 receives a STOP signal (STOP=1)
• The “jogging” and “reference point approach” modes are exited
• Operator error occurred
The “PEH (POS_RCD)” return signal is not set. The sequences are analogous to
target approach.
–1000 mm 1000 mm0
Switchover diff. plus Switch-off diff. plus
1
2
3
1 2 3
v
rapid
v
creep
End of
positioning
Target range
e.g. STOP
Figure 9-5 End of Positioning
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