Operating instructions

Rexroth IndraDrive Commissioning and Parameterization 7-137
DOK-INDRV*-FU*********-IB01-EN-P
• oscillation movement/unipolar movement
• absolute travel limits/relative movement around the starting position
7.7 Positioning Block Mode
In the "positioning block mode" it is possible to run up to 64 programmed
positioning blocks. The drive moves to the target position in position
control, while maintaining velocity, acceleration, deceleration and jerk
limits as defined in the respective positioning block.
torque/force
cmd value
velocity cmd
value
effective
pos. cmd value
positioning
block
positioning
generator
position
controller
current
controller
target
position
DF000087v01_en.fh7
M
velocity
controller
cmd value
interpolation
Fig. 7-65: "Positioning block mode" block diagram
• parameterization of up to 64 positioning blocks; each with target
position/travel distance, velocity, acceleration, deceleration and jerk
• defined block acceptance by toggling bit 0 in S-0-0346 with reaction
time t
_R_Strobe
= t
_
position
Note: With field bus drives, the I/O mode and control via the parallel
interface are exceptions. In these cases acceptance takes place by a
0-1 edge of bit 0 in P-0-4060.
• block selection and acknowledgment via separate parameters
(→ handshake principle)
• positioning modes to be freely parameterized
• relative positioning
• absolute Positioning
• infinite travel (positive or negative)
• single-block or sequential block mode with different conditions for
advance:
• block advance with switch cams
• block advance at defined position value
• block transition with "old" or "new" positioning velocity
• positioning block transition with freely definable delay time (P-0-4018)
• positioning while taking command value mode into account
(shortest distance, positive direction, ...)
• residual path processing can be activated (→ no loss of incremental
dimension)
• "slow travel" mode can be activated
• velocity override to be set
Fields of Application
Sequential block processing allows executing several positioning blocks
processed in direct sequence without having to give a new start signal
each time. Typical fields of application are:
• There is none or only a very simple higher-level control unit available
and control is realized via digital I/Os only or a field bus control word
(I/O mode with field bus interface).
Features