Specifications

Positioning IP 240
10.21 Positioning with the IP 240
The flowchart below illustrates the functional sequence for positioning with the IP 240.
In the examples, no checks are made for errors such as skipping of a position or wirebreak.
10.21.1 Positioning with the IP Controlling the Speed
Fig. 10-31. Positioning with the IP 240 Controlling the Speed, without Backlash Compensation,
Axis with Two Speeds and Two Directions of Travel
Read status bits
BEE2=”0”?
yes
no
Wait for motor standstill
(e.g. start monitoring time)
Read status bits
BEE3 und ZBEV=”0”?
no
yes
Position reached
Flag error
Other reactions
e.g. repositioning
END
no
START
Set control bit FREI to ”0”
Write control bits and position number
Read actual value and status bits
BEE2=”0”?
no
RICH=”0”?
yes
Preselect
positive
direction
yes
Preselect
negative
direction
yes
BEE3=”0”?
no
reselect positive
direction
(S5 output)
RICH=”0”?
yes
no
Preselect negative
direction
(S5 output)
Set control bit FREI to ”1”
Write control bits
Set control bits FREI, HAND and DA2S
to ”1”
Write control bits
Read status bits
RIUM=”1”?
yes
no
Set control bits FREI, HAND and DA2S
to ”0”
Write control bits and position number
Special routine: Exit range manually
10-72 EWA 4NEB 811 6120-02a