Lenze PM94P01C User Manual
Page 4
PM94P01C
2
Contents
2.11
Motion ......................................................................................................................................................48
2.11.1
How Moves Work ...................................................................................................................48
2.11.2
Incremental (MOVED) and Absolute (MOVEP) Motion .........................................................48
2.11.3
Incremental (MOVED) Motion ................................................................................................49
2.11.4
Absolute (MOVEP) Move .......................................................................................................49
2.11.5
Registration (MOVEDR MOVEPR) Moves ............................................................................50
2.11.6
Segment Moves .....................................................................................................................50
2.11.7
MDV Segments ......................................................................................................................50
2.11.8
S-curve Acceleration ..............................................................................................................52
2.11.9
Motion SUSPEND/RESUME .................................................................................................52
2.11.10
Conditional Moves (MOVE WHILE/UNTIL) ...........................................................................52
2.11.11
Motion Queue and Statement Execution while in Motion ......................................................53
2.12
System Status Register (DSTATUS register) ..........................................................................................55
2.13
Fault Codes (DFAULTS register) .............................................................................................................56
2.14
Limitations and Restrictions .....................................................................................................................57
2.15
Homing ....................................................................................................................................................58
2.15.1
What is Homing? ...................................................................................................................58
2.15.2
The Homing Function ............................................................................................................58
2.15.3
Home Offset ...........................................................................................................................59
2.15.4
Homing Velocity .....................................................................................................................59
2.15.5
Homing Acceleration ..............................................................................................................59
2.15.6
Homing Switch .......................................................................................................................59
2.15.7
Homing Start ..........................................................................................................................59
2.15.8
Homing Method .....................................................................................................................60
2.15.9
Homing Methods ....................................................................................................................61
2.15.9.1 Homing Method 1: Homing on the Negative Limit Switch ......................................................62
2.15.9.2 Homing Method 2: Homing on the Positive Limit Switch .......................................................62
2.15.9.3 Homing Method 3: Homing on the Positive Home Switch & Index Pulse ..............................63
2.15.9.4 Homing Method 4: Homing on the Positive Home Switch & Index Pulse ..............................63
2.15.9.5 Homing Method 5: Homing on the Negative Home Switch & Index Pulse ............................64
2.15.9.6 Homing Method 6: Homing on the Negative Home Switch & Index Pulse ............................64
2.15.9.7 Homing Method 7: Homing on the Home Switch & Index Pulse ............................................65
2.15.9.8 Homing Method 8: Homing on the Home Switch & Index Pulse ............................................66
2.15.9.9 Homing Method 9: Homing on the Home Switch & Index Pulse ............................................67
2.15.9.10 Homing Method 10: Homing on the Home Switch & Index Pulse ..........................................68
2.15.9.11 Homing Method 11: Homing on the Home Switch & Index Pulse ..........................................69
2.15.9.12 Homing Method 12: Homing on the Home Switch & Index Pulse ..........................................70
2.15.9.13 Homing Method 13: Homing on the Home Switch & Index Pulse ..........................................71
2.15.9.14 Homing Method 14: Homing on the Home Switch & Index Pulse ..........................................72
2.15.9.15 Homing Method 17: Homing without an Index Pulse .............................................................73
2.15.9.16 Homing Method 18: Homing without an Index Pulse .............................................................74
2.15.9.17 Homing Method 19: Homing without an Index Pulse .............................................................75
2.15.9.18 Homing Method 21: Homing without an Index Pulse .............................................................76
2.15.9.19 Homing Method 23: Homing without an Index Pulse .............................................................77
2.15.9.20 Homing Method 25: Homing without an Index Pulse .............................................................78
2.15.9.21 Homing Method 27: Homing without an Index Pulse .............................................................79
2.15.9.22 Homing Method 29: Homing without an Index Pulse .............................................................80
2.15.9.23 Homing Method 33: Homing to an Index Pulse .....................................................................81
2.15.9.24 Homing Method 34: Homing to an Index Pulse .....................................................................81
2.15.9.25 Homing Method 35: Using Current Position as Home ...........................................................81
2.15.10
Homing Mode Operation example .........................................................................................82
3.
Reference ............................................................................................................................. 83
3.1
Program Statement Glossary ..................................................................................................................83
3.2
Variable List ...........................................................................................................................................103
3.3
Quick Start Examples ............................................................................................................................117
3.3.1
Quick Start - External Torque/Velocity .................................................................................117
3.3.2
Quick Start - External Positioning ........................................................................................119
3.3.3
Quick Start - Internal Torque/Velocity ..................................................................................121
3.3.4
Quick Start - Internal Positioning .........................................................................................123
3.4
PositionServo Reference Diagrams .......................................................................................................124