TR-Electronic MP Series - Page 130

Contents
 TR-Electronic GmbH 2008, All Rights Reserved Printed in the Federal Republic of Germany
Page 130 of 252 TR - EMO - BA - DGB - 0019 - 08 06/06/2019
6 Drive-specific functions ................................................................................................................ 166
6.1 General state machine .................................................................................................... 166
6.1.1 Control word and status word .......................................................................... 168
6.1.2 Operating mode selection ................................................................................ 170
6.2 Positioning mode ............................................................................................................. 170
6.2.1 State machine of the operating mode "Positioning" ........................................ 170
6.2.2 Referencing ..................................................................................................... 173
6.2.3 Positionings ..................................................................................................... 173
6.2.4 Positionings via Travel command table ........................................................... 174
6.2.5 Standstill monitoring ........................................................................................ 174
6.2.5.1 Function ........................................................................................... 174
6.3 Speed control mode ........................................................................................................ 175
6.3.1 State machine of the operating mode "Speed control" .................................... 175
6.4 Conversion into physical units ......................................................................................... 179
6.4.1 Conversion of position units ............................................................................ 179
6.4.2 Conversion of speed- and acceleration units .................................................. 181
6.4.3 Standard signals according to PROFIdrive ..................................................... 182
6.5 Travel range and reference point coordinates ................................................................ 183
6.5.1 Definition of the real travel range ..................................................................... 184
6.5.2 Definition of the reference point coordinate ..................................................... 185
6.5.2.1 Real Travel Range Z = Max. Travel Range X.................................. 185
6.5.2.2 Real Travel Range < Max. Travel Range/2 ..................................... 185
6.5.2.3 Real Travel Range > Max. Travel Range/2 ..................................... 186
6.6 Rotary axis with modulo correction ................................................................................. 187
6.6.1 Description ....................................................................................................... 187
6.6.2 Definition of the reference point coordinate ..................................................... 188
6.6.3 Referencing ..................................................................................................... 189
6.6.4 Operating modes with parameterized rotary axis ............................................ 189
6.6.4.1 Positioning mode ............................................................................. 189
6.6.4.2 Speed mode ..................................................................................... 189
6.6.4.3 Example of flying mode change ....................................................... 190
6.6.4.4 Special instructions .......................................................................... 190
7 Faults and warnings ...................................................................................................................... 191
7.1 Faults ............................................................................................................................... 191
7.2 Warnings .......................................................................................................................... 193
8 The object directory ...................................................................................................................... 194
8.1 Types of parameter ......................................................................................................... 194
8.2 Data types ........................................................................................................................ 194
8.3 Description of parameters ............................................................................................... 196
8.4 Saving the object directory in flash / Factory settings ..................................................... 197
8.5 List of encoTRive parameters ......................................................................................... 198
8.5.1 Manufacturer-specific parameters ................................................................... 199
8.5.1.1 PNU 001, Gearbox factor ................................................................ 199
8.5.1.2 PNU 002, Pitch ................................................................................ 199
8.5.1.3 PNU 003, Reference point coordinate ............................................. 199
8.5.1.4 PNU 004, Inversion .......................................................................... 199
8.5.1.5 PNU 006, Travel range .................................................................... 200