TR-Electronic MP Series - Positionings Via Travel Command Table; Standstill Monitoring; Function; Table 12: Parameters Affecting a Positioning Movement

Drive-specific functions
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The end of the positioning movement is signaled by the drive in ZSW.10=1 (“Set
position reached”). This bit is set internally when the actual value is within the defined
target range (P304).
The maximum tracking distance (P305) defines the maximum permissible difference
between the dynamically internal calculated setpoint and the current actual value. If
this value is exceeded, then Error 700 “Tracking error” is generated (see Error list,
Page 192), and the drive switches to the fault state (SA11). In addition, in the status
word ZSW.8=0 (“Tracking error”) the error will be displayed directly.
6.2.4 Positionings via Travel command table
For positionings max. 32 parameter sets can be stored in the drive. This is managed
about the indices of parameter 200 to 203.
Each index number from 1 to 31 corresponds one travel command number, which can
be called about P400 (STW2) or P402 (command set selection).
P401 (ZSW2) and P403 (current command set) indicate the current set of travel
commands. If no set of travel commands has been selected, Set 0 is processed
automatically.
The following parameters affect a positioning order:
Parameter
Significance
200
Target position
201
Speed
202
Acceleration
203
Deceleration
304
Target range
305
Tracking distance
400
Control word 2
401
Status word 2
402
Command set selection
403
Current command set
Table 12: Parameters affecting a positioning movement
6.2.5 Standstill monitoring
The "Standstill monitoring" described below is only available for drives in which the
index of the firmware number at the penultimate position is ≥ 2.
Example: 0141x-xx2x
Standstill monitoring identifies leaving the target position at standstill.
6.2.5.1 Function
The monitoring can be parameterized with parameters P309 “Standstill range” and
P310 “Monitoring time”. The monitoring time is started after a positioning has been
completed. Only after the monitoring time has elapsed is it cyclically monitored
whether the actual value of position (P100) is still in the standstill range (P309),
otherwise a warning (P953, Bit 5) Standstill monitoring is signaled. Standstill
monitoring is only effective when the controller is activated.