3 positioning modes, 9400 highline | parameter setting & configuration – Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) User Manual
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Firmware 1.37 - 09/2006
395
9400 HighLine | Parameter setting & configuration
TAs for positioning tasks
TA "Multi-purpose positioning" | Profile data management
13.2.5.3
Positioning modes
According to the traversing range/application, different position modes are available for a
positioning function which are described in the following table.
Note!
For absolute positioning the home position must be known!
If an absolute positioning (positioning modes 1 ... 2 and 11 ... 16) is started
although the home position is not known, an error message is output.
• In this case a programming error has occurred and the program flow must be
reset.
• If the error only occurs in a sequence profile, the last valid deceleration is used
to decelerate the drive to standstill.
Positioning mode
1 Absolute
The axis travels to an absolute position.
• Reference for the absolute position is zero position.
• The home position must be known.
• The traversing range is limited:
–to 214748.3647 [unit]
–by the internal display area (±2
31
increments)
• Not possible with "modulo" traversing range.
2 Absolute TP
Like mode 1, but with profile change when a touch probe is detected.
5 Relative
The axis is traversed by a distance.
• Reference for the distance is the target position of the profile executed before.
• The feed per positioning is limited:
–to 214748.3647 [unit]
–by the internal display area (±2
31
increments)
6 Relative TP
Like mode 5, but with profile change when a touch probe is detected.
7 Speed
Continuous constant travel.
• Only possible with "unlimited" and "limited" traversing range
• This mode does not approach a defined position, but follows the profile.
• Acceleration and deceleration are based on profile values.
• The traversing direction is defined by the sign of the traversing speed.
• Stopped through break signal.
8 Speed TP
Like mode 7, but with profile change when a touch probe is detected.
11 Absolute CW
The axis travels in CW direction to an absolute position.
• Only possible with "modulo" traversing range
• Reference for the absolute position is zero position.
• In this direction the zero position of the axis can be overtravelled.
12 Absolute CW TP
Like mode 11, but with profile change when a touch probe is detected.