Efficient Networks S120 manual Function modules Basic positioner

Function modules

7.9Basic positioner

●Limits

–Traversing profile limits

–Traversing range limits

–Jerk limitation

●Referencing or adjusting

–Set reference point (for an axis at standstill that has reached its target position)

–Reference point approach

(autonomous mode including reversing cam functionality, automatic direction of rotation reversal, referencing to "cams and encoder zero mark" or only "encoder zero mark" or "external equivalent zero mark (BERO)")

–Flying referencing

(during the "normal" traversing motion, it is possible to reference, superimposed, using the measuring probe evaluation; generally, evaluating e.g. a BERO. Higher-level (superimposed) function for the modes "jog", direct setpoint input/MDI and "traversing blocks")

–Referencing with incremental measuring systems

–Absolute encoder adjustment

●Traversing blocks mode (64 traversing blocks)

–Positioning using traversing blocks that can be saved in the drive unit including block change enable conditions and specific tasks for an axis that was previously referenced

–Traversing block editor using STARTER

–A traversing block contains the following information: traversing block number

job (e.g. positioning, wait, GOTO block step, setting of binary outputs)

motion parameters (target position, velocity override for acceleration and deceleration) mode (e.g: Skip block, block change enable conditions such as "Continue_with_stop" and "Continue_flying")

Task parameters (e.g. delay time, block step conditions)

●Direct setpoint input (MDI) mode

–Positioning (absolute, relative) and setting-up (endless closed-loop position control) using direct setpoint inputs (e.g. via the PLC or process data)

–It is always possible to influence the motion parameters during traversing (on-the-fly setpoint acceptance) as well as on-the-fly change between the Setup and Positioning modes.

●Jog mode

–Closed-loop position controlled traversing of the axis with the "endless position controlled" or "jog incremental" modes that can be toggled between (traverse through a "step width")

●Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the selection of which automatically establishes the internal "connection" to the basic positioner.

●Control using PROFIdrive telegrams 7 and 110

(for additional information, see the Commissioning Manual.)

252	Drive Functions
	Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4