Lenze E94AxPExxxx - Manual (Page 517)

Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
517
12 Basic drive functions
12.7 Positioning
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12.7.3 Carrying out positioning
Preconditions
• The controller is in the "Operation" device state.
• The basic function "Positioning" is part of the active application.
• No other basic function is active.
Activation
To request the control via the basic function, the POS_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Positioning active" function state is
effected and positioning can be carried out via the control inputs.
• A successful change to the function state "Positioning active" is displayed by a TRUE signal at the
POS_bEnabled status output.
Deactivation
When the POS_bEnable enable input is reset to FALSE, an active positioning is stopped, i.e. the
control inputs for positioning are inhibited and the drive is braked to standstill within the
deceleration time for stop.
• The status output POS_bEnabled is reset to FALSE and a change-over from the active
"Positioning active" function state via the "Drive is stopped" function state back to the basic
state "Drive at standstill" is carried out.
12.7.3.1 Starting positioning
By setting the control input POS_bStart to TRUE, the positioning process is started.
• The (travel) profile that has been transferred to the basic function via the input POS_ProfileData
is traversed.
12.7.3.2 Aborting/interrupting positioning
By setting the control input POS_bAbort to TRUE, the active positioning can be aborted or
interrupted.
• The current profile is not completed but braked to standstill with the deceleration defined in the
profile data.
• If the control input POS_bAbort remains on TRUE, a restart or the continuation of an interrupted
positioning is inhibited.
• After resetting the control input POS_bAbort to FALSE, a restart or the continuation of an
interrupted positioning process is possible again.