Referencing; Operating Modes With Parameterized Rotary Axis; Positioning Mode; Speed Mode - TR-Electronic MP-Series Benutzerhandbuch

After writing the parameters, they must be retentively stored in the drive via a positive
edge (0->1) of parameter P971. After the first restart the drive must be referenced
(see chapter: 6.6.3) and only after that, the actual value of position P100 is valid.
Procedure for the parameterization of a rotary axis (Example 1):
1. Travel range P006
2. Gear ratio numerator P001[0]
3. Gear ratio denominator P001[1] => 17
4. Save to flash memory P971
5. Restart the drive
6. Referencing the drive

6.6.3 Referencing

Referencing must be carried out with the controller active in Positioning mode. To do
this, bit 11 = 1 in control word P967. The drive then takes over the parameterized
"Reference point coordinate" P003 as the new actual value of position P100.
The "Reference point coordinate" must be smaller than the permissible Travel range
P006.
Because the encoTRive possesses an absolute position sensor, the motor shaft can
be rotated after the referencing in a de-energized state. The maximum number of
revolutions depends on the number of revolutions that the drive has been rotated after
the referencing. This value must be subtracted from 65536, and this results the
maximum number of revolutions allowed in de-energized state.

6.6.4 Operating modes with parameterized rotary axis

Furthermore, both operating modes "Positioning mode" and "Speed mode" with
parameterized rotary axis are possible and the flying mode change is permissible.
This means that it is possible to switch between the two modes while the controller is
active.

6.6.4.1 Positioning mode

In the positioning mode, it is possible to move in the positive and negative directions
relatively within the travel range P006 (control word P967, bit 12 = 1). The direction is
defined by the sign of the target position P200.
However, it is still possible to approach the parameterized target position P200
absolutely (control word P967 bit 12 = 0). In addition, bit 13 = 1 in control word P967
can be used to determine whether the shortest path (passing through zero position)
should be traversed directly.

6.6.4.2 Speed mode

In the speed mode, the drive travels according to the speed set in P201 as standard. It
is also possible to move in jog mode via bits 8 and 9 in the control word P967 with
speed control.
Printed in the Federal Republic of Germany
06/06/2019
=> 3600
=> 39
=> 0->1
TR - EMO - BA - DGB - 0019 - 08
 TR-Electronic GmbH 2008, All Rights Reserved
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