X20 system modules • Motor controllers • X20SM1436
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X20 system User's Manual 3.10
Mode -122: Set the actual position
The position setpoint set in the "Position/speed" register is accepted as the current actual position in the internal
position counter when the state machine is in the "Operation Enable" state.
Before this mode is started, the motor must be at a standstill and physically located at the point for which the
position being set should be applied.
Mode -123: Move to the position setpoint when the external input is set
The set position defined in the "Position/speed" is moved to when a rising edge occurs on the corresponding digital
input.
A new position setpoint is not accepted until another rising edge occurs on the corresponding digital input. This
can also occur during the active positioning procedure and will be applied immediately.
Mode -124: Two position mode
The positions "Fixed position A" and "Fixed position B" are defined in the non-cyclic registers.
The value 1 on digital input 3 moves to fixed position A. The value 0 moves to fixed position B. It is also possible
to switch between the two during an active positioning movement.
Mode -125/-126: Move to fixed position X
The purpose of these modes is to enable a virtual switch from speed mode to position mode, which otherwise isn't
possible because of the double use of the register for position and speed setpoints.
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Mode -127/-128: Homing (positive/negative)
Mode -127 and -128 are used to select which direction to move in.
The motor must be at a standstill before switching from another mode to one of the homing modes.
If the homing condition occurs, then the motor stops and the values of the position counter and ABR counter valid
at the moment when the homing condition occurs are written to the Homed zero position register.
You must specify in the Homing configuration whether homing should occur at low/high level on the digital input,
during stall or unconditionally.
Homing via digital input
Case 1
: Active homing level not yet reached → Motor not yet at end position:
Movement continues at homing speed in the homing direction until the active level for "homing-stop" is on the
digital input.
Case 2:
Active homing level already reached → Motor at end position:
Movement continues at the homing speed, counter to the homing direction, until the active level for "homing-stop"
is no longer on the digital input. Movement continues at homing speed in the homing direction until the active level
for "homing-stop" is on the digital input again.
Homing during stall
Movement continues in the homing direction until a stall is detected. When a stall is detected, the value of the
position counter is entered in the Homed zero position register within one millisecond. The motor is then stopped
abruptly (not using the deceleration ramp). However, it can take up to 25 ms to stop the motor because the ramp
generator runs with a configurable internal cycle of up to 25 ms.
In this mode, the rated current is always used instead of the maximum current, even in acceleration phases.
To test the response behavior of this homing mode, the motor load value used for identifying a stall can be made
visible in the status word (see "Mixed decay / Stall detection configuration").
Homing unconditional (immediate)
Immediate homing: The current values of the position counter and ABR counter are immediately entered in the
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