Referencing; Positionings; Figure 10: Ramp Settings - TR-Electronic MP-Series Benutzerhandbuch

6.2.2 Referencing

The internal position measuring system must be calibrated to the machine's reference
point during installation and initial commissioning. As the encoTRive is fitted with an
absolute multi-turn encoder, re-referencing is not required following a supply failure or
emergency stop.
In states SC1 (Run enabled) and SC4 (Intermediate stop), referencing is initiated by
setting bit 11 "Start referencing" of the STW. When referencing is complete, the
system reverts automatically to the initial state SC1 or SC4 and indicates one-time
successful referencing in status word bit 11=1. The value saved in P003 "Reference
point coordinates" is adopted in parameter P100 "Actual value of position".
The information, that the encoTRive has been referenced, is retentively stored in P805
"Reference point set". This information is retained until factory settings are loaded or
P805 itself is reset.

6.2.3 Positionings

A positioning movement can be carried out in state SC1.
Positioning is started by a change of the edge of Bit 6 ("Activate move order") in the
STW. The positioning movement is carried out on a ramp, which is derived from the
current settings for the speed P201, acceleration P202 and deceleration P203:

Figure 10: Ramp settings

The acceleration is initially constant according to P202 until the required speed P201
is reached. This is then followed by a phase at constant speed. Finally, the drive
brakes to rest in accordance with P203. The distance to be covered is given by the
actual value of position P100 at the start of positioning and the target position P200. If
these values lie close together, it may be that the constant speed phase is omitted, i.e.
the speed demanded by P201 is not reached.
Printed in the Federal Republic of Germany
06/06/2019 TR - EMO - BA - DGB - 0019 - 08
 TR-Electronic GmbH 2008, All Rights Reserved
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