Lenze 931K - Manual (Page 33)

Commissioning
"Positioning" mode
Positioning
6
l
33 KHB 13.0004−EN 2.1
Adjustment
ƒ Simple travel task
– Select position data set (0 63) under PNU 1002. (
¶ 35)
– Activation: Control word 1, set bit 6 from 0
® 1.
– The controller stops when the target position has been reached. Bit 10 of status
word 1 is used to signal the reaching of the target position to the master.
v
1
v
2
t
0
t
1
t
2
t
3
t
v
931e_407
Fig. 5 Simple travel task
ƒ Sequence of travel tasks
– Select position data set (0 63) under PNU 1002. (
¶ 35)
– Activation: Control word 1, set bit 13 = 0.
– When a target position has been reached, the controller immediately starts to
approach the next target position.
v
1
v
2
t
0
t
1
t
2
t
3
t
v
931e_408
Fig. 6 Sequence of travel tasks
)
Note!
It is possible to interrupt the running travel task and immediately start the
next travel task:
ƒ Select PROFIBUS position data set (68) under PNU 1002. ( ¶ 36)
ƒ Activation: Control word 1, set bit 13 = 1.
– Interruption of the positioning process. Start of next travel task.