Modes and Jobs
9-12
FM 351 Positioning Module
C79000-G7076-C351-02
3. Enter the start speed.
– Rapid (REFPT_SPD=0)
– Creep (REFPT_SPD=1)
4. Write and activate the machine data.
5. Set the control signal for the “reference point approach” mode (MODE_IN=3).
6. Set the control signal for drive enable (DRV_EN=1).
7. Set the function switch for “do not evaluate enable input”
(EI_OFF=1) or wire up the enable input for the relevant channel.
8. Set the control signal for the travel direction plus or minus or the start signal
(DIR_P=1, DIR_M=1 or START=1)
9. Call FC ABS_CTRL.
Table 9-2 Start Commands for a Reference Point Approach
Start
Command
Task Remark
DIR_P The drive starts in the direction of
more positive values; in other words,
it moves in the direction of the end of
the travel range.
If a negative direction is entered in
the machine data, the FM 351
signals an operating error. No
reference point approach is carried
out.
DIR_M The drive starts in the direction of
more negative values; in other
words, it moves in the direction of the
start of the travel range.
If a positive direction is entered in the
machine data, the FM 351 signals an
operating error. No reference point
approach is carried out.
START The drive starts in the direction
entered in the machine data.
Note
The following applies for a rotary axis: The reproducibility of the reference point is
only guaranteed if an integral ratio exists between the value end of rotary axis
and the value distance per encoder revolution.
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