TR-Electronic MP-200 - Transfer of New Movement Records; Termination of a Positioning Movement; Relevant Parameters; Table 10: Positioning Parameter

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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 39 of 153
5.2.3.2 Transfer of new movement records
A new movement record (target position, speed, acceleration, deceleration) can be
transferred to the drive while the previous positioning movement is still being
performed. The movement record is activated with a positive edge in STW.4.
Depending on STW.5 ("Accept parameter immediately"), the new movement record is
acknowledged (ZSW.12 = 1) and executed immediately, or only after the current
positioning movement is complete:
If STW.5 = 1, the new movement record is accepted "on-the-fly". The current
positioning movement is not completed. If STW.5 = 0, the current positioning
movement is performed first. The new positioning movement is then acknowledged
(ZSW.12 = 1) and executed; whether or not the drive must stop depends on the
current circumstances:
If the new target position requires travel in the other direction, or if the current speed is
too high, the drive is stopped and a new ramp is started in the opposite direction.
Otherwise, the current speed is compared with the required speed. If the travel is
sufficient, the drive is accelerated or braked accordingly.
5.2.3.3 Termination of a positioning movement
If STW.8 ("Stop") is set during the movement, the current ramp is terminated and the
drive stops. The deceleration at which this occurs can be specified in object 0x605D
(Halt Option Code). Depending on the value of this parameter, deceleration occurs
with the ramp for the quick stop or with the currently set deceleration. In order to then
continue, STW.8 must be deleted and a new positioning movement started.
5.2.3.4 Relevant parameters
Index
Meaning
0x6040
Control word: Commands to the drive
0x6041
Status word: Return messages from the drive
0x6064
Current position
0x6067
Position window
0x6068
Position window time interval
0x607A
Target position
0x607D
Position range
0x607F
Maximum speed
0x6081
Speed (limited by object 0x607F)
0x6083
Acceleration (limited by object 0x60C5)
0x6084
Deceleration (limited by object 0x60C6)
0x60C5
Maximum acceleration
0x60C6
Maximum deceleration
0x605A
Quick Stop Option Code: Quick stop behavior
0x605D
Halt Option Code: Behavior in the event of termination of a ramp
Table 10: Positioning parameter