Example Of Flying Mode Change; Special Instructions - TR-Electronic MP-Series Benutzerhandbuch

Drive-specific functions

6.6.4.3 Example of flying mode change

An endlessly rotating rotary axis in the speed mode is positioned after a condition
calculated at runtime to a defined angle.
1. Set speed operating mode P930 = 1
2. Perform the start sequence for "Enable controller" (s.6.3.1)
3. Set speed value P201
4. Perform the start sequence in control word P967 (s.6.2.1) => Drive is turning
5. Set positioning operating mode P930 = 2
6. Set target position P200
7. Toggle the start bit of control word bit 6
Then it can be switched back to the speed mode and the program sequence can be
repeated as often as you like. The function "Drive shortest path" is not possible after a
flying mode change and during positioning.

6.6.4.4 Special instructions

In general, the following points must be observed in comparison with standard
parameterization without rotary axis functionality:
 The software limit switches P300 and P301 are generally not active.
 "Jog operation" is only possible in the "Speed mode".
 Referencing is only possible in the "Positioning mode".
 The parameterized reference point coordinate P003 is only applied after
referencing.
 Parameter P001 is executed as an array parameter and the "Order
identification" must be taken into account at parameterizing via PKW.
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Page 190 of 252 TR - EMO - BA - DGB - 0019 - 08
Printed in the Federal Republic of Germany
06/06/2019