08.2012 Technology Option F01
Siemens AG 6SE7087-6QX70 (Version AN)
SIMOVERT MASTERDRIVES Compendium Motion Control 9-79
Differences : Synchronization as a mode ↔ as a free block
Synchronization as a
Positioning Mode
Synchronization as a
Free Block
Parameter
settings for
nesting in
sampling time
U953.32 = 4
U953.33 = 20
U953.32 = 20
U953.33 = 4
Relevant
machine data
MD11
MD49
MD12 *) Software limit switches ...
MD13 *) ... for linear axis
MD15 *) Following error
monitoring - in motion
MD23
MD11
Linear axis/rotary
axis length [836.4]
MD49
Precontrol -
speed [836.7]
MD23 (for precontrol)
Relevant
positioning
control signals
from sheet
[809]
STA] Start (0 → 1 edge must be
activated after power on!) **)
[MODE_IN] Mode selection
---
Relevant
positioning
status signals
from sheet
[811]
[ARFD] Axis referenced
[FUR_M] Virtual master running
[OTR] Overtravel
(with linear axis)
[FWD] Axis moves forwards
[BWD] Axis moves backwards
[MODE_OUT] Mode
checkback signal
[FUR] Function running
[ST_EN] Start enable
---
*) The following warnings are triggered during synchronization as a positioning mode
and the axis is brought to a standstill in speed control mode via the ramp configured
in MD43:
A141 = Following error - in motion (MD15)
A195 = Overtravel negative (MD12)
A196 = Overtravel positive (MD11)
**) If the start command goes to "0" during travel, the axis is brought to a standstill via
the ramp configured in MD42.
The nesting of the synchronization block is independent of whether the
call was made as a free block or from the mode manager of the
positioning system. In the following example circuit, position sensing is
performed using the motor encoder.
Only the signals related to synchronization are shown.
See section 9.4.41 "Continue synchronism".
Nesting the
synchronization in
the basic unit
CAUTION
NOTE
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