Specifications

Positioning IP 240
10.19 Interrupting Positioning and Skipping of a Position
Positioning is interrupted when
• control bit FREI=0 is transferred.
In this case, the outputs are disabled but the old position number is retained. If the actual
value changes (e.g. due to transfer of a zero offset), the status bits are matched to this
position number and any pending interrupts generated in dependence on the actual value.
You can enable the outputs by transferring FREI=1. The position number must be reselected.
• an error occurs during signal acquisition (overrange, wirebreak/short-circuit in a symmetrical
encoder or a zero mark error).
When an error occurs,
- the IP outputs are immediately disabled when they are under the control of the IP 240 mo-
dule firmware (HAND=0),
- the old position is invalidated and ”255” entered as feedback position number and
- the SYNC bit is set to ”0”.
Skipping of a position
If a position is ”skipped” because of excessively fast changes in the actual value, all interrupts still
pending for this position are generated and the outputs are disabled (LOSE=0).
10.20 Start of Positioning within a BEE Range
If the actual value is already within a BEE range when a position is selected, the associated
interrupts are generated immediately.
Actual value is in range BEE3 (target range)
If you structured the IP 240 for backlash compensation, note the following:
In order to ensure that each position is always approached from the same direction, the target
range must first be exited. To do this, you can either specify another position with a lower
position number or you can control the IP outputs over the S5 CPU.
The following steps are required to exit the target range via output control:
• By controlling the outputs via the S5 CPU, the target range must be exited in a negative
direction. To do this, you must initialize control bits DA1S and DA2S in accordance with the
DAV parameter, and transfer them together with HAND=1 and FREI=1.
• When status bit RIUM or interrupt bit RIU is ”1”, the BEE2 range has been exited.
• The IP outputs must be disabled via the S5 CPU.
• Reselect the position and enable the IP outputs.
Actual value is in range BEE2
If the actual value is within range BEE2 and outside the target range when the target position is
selected, the target range must be approached by controlling the IP outputs via the S5 CPU or the
drive must be moved out of range BEE2 and positioning repeated. This requires the same steps as
those needed to exit the target range.
10-70 EWA 4NEB 811 6120-02a