Open loop motion control
12.11 Understanding the RP Seek modes of the Axis of Motion
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
559
Understanding the RP Seek modes of the Axis of Motion
The following figures provide diagrams of the different options for each RP Seek mode:
● RP Seek: Mode 1 shows two of the options for RP Seek mode 1. This mode locates the
RP where the RPS input goes active on the approach from the work zone side.
● RP Seek: Mode 2 shows two of the options for RP Seek mode 2. This mode locates the
RP in the center within the active region of the RPS input.
● RP Seek: Mode 3 shows two of the options for RP Seek mode 3. This mode locates the
RP a specified number of zero pulses (ZP) outside the active region of the RPS input.
● RP Seek: Mode 4 shows two of the options for RP Seek mode 4. This mode locates the
RP a specified number of zero pulses (ZP) within the active region of the RPS input.
For each mode, there are four combinations of RP Seek direction and RP Approach
direction. (Only two of the combinations are shown.) These combinations determine the
pattern for the RP Seek operation. For each of the combinations, there are also four different
starting points:
The work zones for each diagram have been located so that moving from the reference point
to the work zone requires movement in the same direction as the RP Approach Direction. By
selecting the location of the work zone in this way, all the backlash of the mechanical gearing
system is removed for the first move to the work zone after a reference point seek.
Note
The RPS input must be enabled to use the RP Seek functionality. The ZP input must also be
enabled if RP Seek modes 3 or 4 are to be used, unles
s you configure the number of ZP
pulses to be received after entering the RPS active region to a value of "0".
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