Lenze 8400 TopLine - Manual (Page 650)

9 Basic drive functions (MCK)
9.10 Position follower
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Lenze · 8400 TopLine · Reference manual · DMS 6.0 EN · 06/2014 · TD05/TD14
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Position controller off
If this function is activated via bit 7 in
C01218 , the position controller is deactivated in this operating
mode. Hence, following error control is switched-off.
9.10.2 Requesting the operating mode
Requesting the "position follower" operating mode by means of the MCK control word :
If the MCKInterface is connected upstream to the Motion Control Kernel and if the operating mode
is requested at the L_MckCtrlInterface FB, the wOperationMode and bOperationMode_1...8 process
inputs are available.
9.10.3 Setpoint selection
The absolute position setpoint is stipulated via the dnPosSetValue_p process input.
Compensating following errors
If the bDeltaPosOn process input is set to TRUE, a position difference (following error) is
compensated for which is not internally generated from setpoint/actual positions but must be
defined via the dnDeltaPos_p process input instead.
MCK control word
Bit 31 ... Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
OpMode_Bit3 OpMode_Bit2 OpMode_Bit1 OpMode_Bit0
X ... X 0 1 0 1
X = Status not significant
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Note!
The bPosCtrlOn process input must be set to TRUE so that position/angle control is active
within motor control.