Operating Mode Selection; Positioning Mode; State Machine Of The Operating Mode "Positioning; Table 9: Encotrive Operating Modes (Values For Parameter 930) - TR-Electronic MP-Series Benutzerhandbuch

Drive-specific functions

6.1.2 Operating mode selection

Actions which are dependent on the selected operating mode can be executed after
state transition TA4. The operating mode must be selected beforehand in parameter
930. A special state machine enables operation in the activated operating mode.
encoTRive supports the following operating modes:
Coding
0x0001
0x0002

Table 9: encoTRive operating modes (values for Parameter 930)

6.2 Positioning mode

In "Positioning" operating mode you can move to a parameterized target position with
a parameterized acceleration, speed and deceleration. The encoTRive indicates that
the target position has been reached. When stationary, the encoTRive adjusts to the
target position last reached.
The positioning can be interrupted and then continued.
An additional jog mode enables direct travel depending on two direction bits in the
control word.
The internal position encoder can also be referenced in "Positioning" operating mode.

6.2.1 State machine of the operating mode "Positioning"

Various internal states are assumed (SCx). These states and the transitions (TCx)
between these states are defined in the PROFIDrive profile. The same conventions
apply in the following
Figure 9 as in the general state machine Figure 8. In positioning mode, state SC1 is
assumed after state transition TA4. State transition TA5 leads to state SA5 from any
of the states in
Figure 9.
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Description
Speed control
Positioning
TR - EMO - BA - DGB - 0019 - 08
Printed in the Federal Republic of Germany
06/06/2019