Commissioning – Lenze ECSCPxxx User Manual
Page 199

Commissioning
Setting the positioning profile
Direct positioning
l
199
EDBCSXP064 EN 8.0
6.17.7.3
Continuous constant travel (direct)
C3095/x = 112
ƒ
The drive performs a constant travel as long as the function is active.
ƒ
The target position selection is ignored.
ƒ
The speed selection is effected in the process data telegram via "VelDirect" in
percent [%] of the maximum speed (v
max
) from C3060.
(VelDirect = 16384 = 100 % v
max
.)
ƒ
The other positioning parameters (
^ 201) are defined in the positioning profile.
ƒ
Abortion with control bit Ctrl1.ProfEnable = 0.
ƒ
When status bit Stat1.HomePosAvailable = 1, the software limit positions are
monitored.
Preconditions
ƒ
No homing required!
ƒ
Control bit Ctrl1.PosDirect = 1 (selection of direct positioning)
Special feature with the "Continuous constant travel (direct)" mode and active
override−PDO:
When the positioning profile with "Continuous constant travel (direct)" starts, the sign of
the PDO data word "rx_par1" determines the direction of rotation of the constant travel.
The override influence itself continues to be effected according to amount.
6.17.7.4
Relative positioning with absolute reference (direct)
C3095/x = 113
ƒ
Positioning is executed the same way as it is the case with relative positioning with
absolute reference (
¶ 194), with the following differences:
ƒ
The target position is defined as a relative distance with regard to the current
position.
ƒ
The position selection is carried out in the process data telegram via "PosDirect" in
increments (65536 incr. = 1 motor revolution).
ƒ
The speed selection is effected in the process data telegram via "VelDirect" in
percent [%] of the maximum speed (v
max
) from C3060.
(VelDirect = 16384 = 100 % v
max
.)
ƒ
The other positioning parameters (
^ 201) are defined in the positioning profile.
Preconditions
– Status bit Stat1.HomePosAvailable = 1
– Control bit Ctrl1.PosDirect = 1 (selection of direct positioning)