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06/06/2019 TR - EMO - BA - DGB - 0019 - 08 Page 237 of 252
14.1.3 Positioning
For positioning, the setpoint parameters mapped in the PZD telegram must be written
according to the PZD configuration P915 and P916. In detail, these are:
P200[0] = Target position in mm C4 (=*10000)
P201[0] = Speed in % N2 (100 % = Value 16384)
P202[0] = Acceleration in % N2
P302 = Current setpoint in Ampere C4 (=*10000)
The following bits must first be preset before starting the positioning process:
1. Presetting for positioning bits
STW = 0000_0100_0011_1111
Bit4 (STW) = 1 => Operating condition for positioning
Bit5 (STW) = 1 => Operating condition for positioning
2. Start positioning
STW = 0000_0100_01/011_1111
Bit6 (STW) = Edge => Start positioning
Feedback:
ZSW = 0001/0_0010_0011_0100
Bit12 (ZSW) = Edge => Setpoint acknowledged (level STW Bit6)
Bit13 (ZSW) = 0 => encoTRive running
Positioning complete, i.e. target position reached:
ZSW = 0010_0110_0011_0100
Bit10 (ZSW) = 1 => Target position reached
Bit13 (ZSW) = 1 => encoTRive stopped
To restart a positioning movement, it is only necessary to specify a new target position
and then toggle Bit 6 in the control word. The encoTRive will then move to the
specified target position.
It is even possible to change a drive command on the fly:
1. Write new target position, speed or acceleration PZD telegram
2. Bit6 (STW) = Edge => Enable new setpoints
3. Drive runs according to new movement parameters.
A positioning movement can be interrupted by setting Bit5=0 in the control word. The
movement can be resumed by resetting the same bit.
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