Lenze 931M-931W - Manual (Page 115)

Operating modes
Positioning
Functional description
9

115 KHB 13.0003-EN 2.0
In Fig. 16 a new positioning is only started if the last positioning has been completed
completely. For this purpose, the master evaluates the target_reached bit in the status
word object.
v
1
v
2
t
0
t
1
t
2
t
3
t
v
931e_407
Fig. 16 Simple travel task
If the new_set_point bit as well as thechange_set_immediately bitof thecontrol wordare
set to ”1”, the master instructs the drive controller to start the new travel task
immediately.
A travel task already being processed in interrupted in this case as shown in Fig. 17.
For this purpose, the master transfers the next target to the drive controller after the
controller has signalled by deleting the set_point_acknowledge bit that it has read the
buffer and started the corresponding positioning. Here it is important that the new travel
task is transferred to the drive controller in time.
v
1
v
2
t
0
t
1
t
2
t
3
t
v
931e_408
Fig. 17 Sequence of travel tasks