Stober FDS 4000, Installation And Commissioning Instructions

POSIDRIVE

®

 FDS 4000

STÖBER

ANTRIEBSTECHNIK

10. Positioning Control

14

10.4

Absolute / relative positioning

One of 4 possible traversing methods (parameters 

J11

, 

J21

,

J31

 and so on) can be assigned to each process block.

•

 Relative

•

 Absolute

•

 Continuous, positive

•

 Continuous, negative

A 

relative

 path always refers to the current location (chain

dimensions).
An 

absolute

 position refers to a fixed reference point (i.e.,

machine zero point) which is determined with 

reference

traversing

. See chapter 10.6. For this reason, an absolute

position always requires reference traversing. Any start
commands given without reference traversing are answered
by the inverter with "

51:refused

".

When a process block is defined as 

continuous

 and a start

command is given, the axis continues to move in the specified
direction until a signal arrives from the outside (e.g., 

posi.next

or 

posi.start

). The speed can be adjusted via an analog input

(e.g., set the AE2 function 

F20

=

5:Override

 for this.)

Successful conclusion of a movement is signaled via the out-
put signal 

reference value-reached

 (

F00

=3 and 

F80

=3). This

signal appears when the actual position lands in the

position

window

 (destination ±

I22

) for the first time. The signal is not

withdrawn until the next traversing command is given.

10.5

Commissioning

This section only covers the drive with encoder feedback
(

B20

=2).

Important

: Before positioning control is activated, speed

control must be commissioned (chapter 9.6) and, if necessary,
optimized with FDS Scope.
Positioning control is activated with

C60

=

2:Position

The 

status indicator

 changes and displays the actual position

in the first line.

If 

B20

≠

2, the first line continues to show speed and current.

While process blocks are being processed, the lower line also
indicates the number of the active process block.

Important:

 If you want to change the location of the decimal

point in the position display via 

I06

 (

I06

=decimal point shift),

do this at the beginning of commissioning since the
significance of all positions is changed.

10.5.1

Limited traversing range

Limited position range (I00=0)

M

Limited traversing range means that the permissible area of
movement is restricted by end stops or similar. Safety requires
that 

limit switches

 be provided. If the inverter is not equipped

with a sufficient number of free inputs (i.e., operation without
an option board), the limit switches must be evaluated by a
higher level controller. The primary parameters are listed
below:

•

I00

=0  Limited traversing range

•

I05:

Unit of measurement

 (e.g., mm, degree (°) and inch,

user

•

I06:

 Number of decimal places

•

I07:

Distance per encoder revolution

 (e.g., mm/U)

•

I10:

 Maximum speed (e.g., mm/sec)

•

I11:

 Maximum acceleration (e.g., mm/sec

2

)

•

I12:

 Tip mode speed

Important:

 Since some parameters in groups 

I

 and 

J

 (e.g.,

paths or accelerations) may assume very large values, the

 keys can be used to directly select the tens exponent to be

changed. Only the individual digit flashes and not the entire
number. The

 keys can be used to increment/decrement

the value by the selected tens exponent:

Ö

Before starting testing, check the limit switches, and
decouple the drive from the machine if necessary.

The enable can now be activated as the first test. The display
indicates

17: posi.active  .

The position control loop functions, and the current position is
maintained. During the next step, the drive is moved via

 tip

mode (i.e., inching mode)

. Set parameter 

J03

=1 for this. The

 keys can be used to traverse the drive.

Ö

The speed can also be changed during traversing via
analog input AE2 (

F20

=5).

The next step is the commissioning of reference traversing.
See chap. 10.6. 

Software limit switches

I50

 and 

I51

 can be

programmed with a reference axis (

I86

=1). The software limit

switches prevent movement to positions outside 

I50

 and 

I51

.

A short relative movement (

J11

=0) can be specified for testing

purposes in 

J10

 (destination position process block 1). The

speed is entered in 

J12

, while the ramps are entered in 

J13

and 

J14

. 

J00

=1 can be used to start and monitor the

movement. Do not forget the enable.

ready

Act. position

Oper. status
(See chap. 16)

Brake chopper active

Single digit flashing

Changes with

Digit selection with

position

Position

Oper. status
(See chap. 16)

Process block no.

travers