Fig. 2-102 3612 – Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal)
- 3612 -
Function diagram
87654321
fp_3612_98_eng.vsd
DO: SERVO
SINAMICS S110
04.04.08 V04.04.00
EPOS - Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0 signal)
[3630.1]
p2612
(0)
Ref_cam
p2604
(0)
Srch for ref dir
Motion variables in “referencing/
reference point approach“ mode
a_over act
-a_over act
Position
Approach direction
AB
Reversing cam
Reversing cam
v_appr ref_cam
1...40000000 [1000 LU/min]
p2605 (5000)
v_appr ref_ZM
1...40000000 [1000 LU/min]
p2608 (300)
v_appr ref_pt
1...40000000 [1000 LU/min]
p2611 (300)
|v|
s
Ref_pt coord val
-2147483648...2147483647 [LU]
p2599 (0)
p2599
Ref_pt coord S_src
(p2599)
p2598[0]
p2613
(1)
Rev cam minus
p2614
(1)
Rev cam plus
Ref_pt offset
-2147483648...2147483647 [LU]
p2600 (0)
p2659
(r2526.1)
Ref act fdbk
p2661
(r2526.2)
MeasVal valid fdbk
100 %
100 %
p2595
(0)
Ref start
p2596
(0)
Set ref_pt
p2597
(0)
Ref_typ select
Feedback
signals
Meas val ref
(r2523[0])
p2660
Ref_cam pres
p2607 (1)
<1>
<1>
<1>
4000.00 μs
r2680
Clearance cam/ZM
<2>
<2>
[3614.2]
[3614.2]
[3614.2]
Reference point set
r2684.11
Search for reference active
r2684.0
F07458
"Reference cam not found"
F07459
"No zero mark"<1>
F07460
"End of reference cam not found"
<3>
<3>
<3>
[3614.1]
[3614.1]
Zero marks (ZM)
<1> If no reference cam exists, the axis directly moves to the zero mark (in the defined start direction). Without a reference cam, the tolerance bandwidth is not evaluated.
<2> When "flying referencing" is selected (passive referencing, p2597 = 1 signal), this function diagram is of no significance => refer to [3614].
<3> The connector outputs are only supplied with values from here if the “referencing“ mode is active.
<4> The reversing cams are low active. When a cam is actuated, motion (reference cam search) is continued in the opposite direction.
<5> Reference point setting is only effective in the initial state [3625].
[3646.3]
[3646.1]
[4010.8]
[4010.8]
[4010.8]
<4>
<4>
I
II
III
Zero mark evaluation
activated
r2674
r2673
r2672
v_set act
Velocity
<5>
1 = Negative
0 = Positive
Max s ref_cam ZM
0...2147483647 [LU]
p2609 (10000)
Tol_band to ZM
0...2147483647 [LU]
p2610 (2147483647)
Ref_cam max s
0...2147483647 [LU]
p2606 (2147483647)
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