S1: Spindles
16.2 Operating modes
Basic Functions
1268 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Phase 1
Positioning from phase 1a:
The spindle is rotating at a higher speed than the encoder limit frequency. The spindle is not synchronized.
Positioning from phase 1b:
The spindle is rotating at a lower speed than the encoder limit frequency. The spindle is synchronized.
Positioning from phase 1c:
The spindle rotates at the programmed spindle speed whereby the speed is lower than the configured position-
control activation speed:
MD35300 $MA_SPIND_POSCTRL_VELO
The spindle is synchronized.
Phase 2
Spindle speed > Position-control activation speed
When the SPOS, M19 or SPOSA command is activated, the spindle begins to slow down to the position-control
activation speed with the configured acceleration:
MD35200 $MA_GEAR_STEP_SPEEDCTL_ACCEL
The spindle is synchronized once the encoder limit frequency threshold is crossed.
Spindle speed < Position-control activation speed
SPOS, M19 or SPOSA are programmed to switch the spindle to position control mode (if it is not already in that
mode).
The configured acceleration in position control mode is activated:
MD35210 $MA_GEAR_STEP_POSCTRL_ACCEL
The travel path to the target point is calculated.
The spindle travels to the programmed end point optimally in terms of time. This means that the end point is
approached at the highest possible speed (maximum MD35300 $MA_SPIND_POSCTRL_VELO). Depending on
the appropriate secondary conditions, phases 2 - 3 - 4 - 5 or 4a - 5a are executed.
Note
If the position control is active, the speed can only amount to 90% of the maximum speed of
the spindle or the encoder limit frequency (10% control reserve required).
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