Modes and Jobs
9-7
FM 351 Positioning Module
C79000-G7076-C351-02
Aborting
Aborting means that the positioning operation is stopped immediately changing
from rapid or creep speed to stationary ignoring the switchover and switch-off
differences. All the relevant outputs of the control mode are deactivated
immediately and the following settings made:
• Incremental dimension = actual value
• Remaining distance = zero
Positioning is aborted in the following situations:
• The drive enable signal is cleared (DRV_EN=0)
• The CPU changes to STOP
• Diagnostic errors or any operating errors except for operating error “target
range passed” (error number 9) occur.
The “PEH (POS_RCD)” return signal is not set in the “incremental approach”
mode.
If you have set the stationary speed parameter, the stationary monitoring becomes
active once the speed falls below the stationary speed. If you have not set the
stationary speed parameter, the stationary monitoring becomes active when the
outputs are deactivated.
v
rapid
v
creep
Abort
Figure 9-6 Aborting a Positioning Operation
Data Used in the Parameter DB
Address Name Type Initial Value Comment
76.0 TRG_RANGE DINT L#1000 Target range
80.0 MON_TIME DINT L#2000 Monitoring time
84.0 ZSPEED_R DINT L#1000 Stationary range
88.0 ZSPEED_L DINT L#30000 Stationary speed
Return signals in the Channel DB
Address Name Type Initial Value Comment
23.1 WORKING BOOL FALSE 1 = positioning active
25.7 POS_RCD BOOL FALSE 1 = position reached
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