Lenze PM94P01C Bedienungsanleitung PDF herunterladen (Seite 4)

PM94P01C2

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

1 2 3 4 5 6 7 8 9 ... 133 134

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