Positioning - TR-Electronic MP-Series Benutzerhandbuch

14.1.3 Positioning

For positioning, the setpoint parameters mapped in the PZD telegram must be written
according to the PZD configuration P915 and P916. In detail, these are:
P200[0] = Target position in mm C4 (=*10000)
P201[0] = Speed in % N2 (100 % = Value 16384)
P202[0] = Acceleration in % N2
P302
The following bits must first be preset before starting the positioning process:
1. Presetting for positioning bits
STW = 0000_0100_0011_1111
 Bit4 (STW) = 1 => Operating condition for positioning
 Bit5 (STW) = 1 => Operating condition for positioning
2. Start positioning
STW = 0000_0100_01/011_1111
 Bit6 (STW) = Edge => Start positioning
Feedback:
ZSW = 0001/0_0010_0011_0100
 Bit12 (ZSW) = Edge => Setpoint acknowledged (level STW Bit6)
 Bit13 (ZSW) = 0 => encoTRive running
Positioning complete, i.e. target position reached:
ZSW = 0010_0110_0011_0100
 Bit10 (ZSW) = 1 => Target position reached
 Bit13 (ZSW) = 1 => encoTRive stopped
To restart a positioning movement, it is only necessary to specify a new target position
and then toggle Bit 6 in the control word. The encoTRive will then move to the
specified target position.
It is even possible to change a drive command on the fly:
1. Write new target position, speed or acceleration PZD telegram
2. Bit6 (STW) = Edge => Enable new setpoints
3. Drive runs according to new movement parameters.
A positioning movement can be interrupted by setting Bit5=0 in the control word. The
movement can be resumed by resetting the same bit.
Printed in the Federal Republic of Germany
06/06/2019
= Current setpoint in Ampere C4 (=*10000)
TR - EMO - BA - DGB - 0019 - 08
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