Positioning

Target position monitoring (status "axis in target")

Target position monitoring detects whether the axis is in the symmetrical target position window (subindex 131 ) once the settling time (subindex 130 ) has elapsed.

The information that the axis is in the target position window is provided at the FB MC_ReadAxisInfo and FB L_MC1P_AxisBasicControl via the xInPosition output.

The xInPosition output is reset if

the actual position leaves the target position window,

a new motion task is started,

an MC_Stop or MC_Halt is triggered,

enable is revoked from the axis, or

the home position is reset.

Window - target position reached (subindex 130)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Symmetrical position window for target position monitoring Window - target position reached = 0 The actual position of the axis is not evaluated. The xInPosition message appears if the setpoint has reached the programmed target position and the motion function reports a done signal. Window target position > 0 The actual position of the axis is evaluated in addition. The xInPosition message appears if the setpoint has reached the programmed target position (motion function reports done signal) and the actual position is in the parameterised window around the setpoint position.
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit	2147483647	0.0 unit
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Time - target position reached (subindex 131)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Dwell time for target position monitoring
Setting range (min. value \| unit \| max. value)			Lenze setting
0	s	2147483647	0.0 s
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Standstill detection

The standstill detection identifies whether the axis is at standstill.

For this purpose, the following two signals are provided:

xStandstillSetVelocity

This signal is is solely based on setpoints. It will be set when the setpoint velocity has the value 0.

xStandstillActVelocity

This signal is set to TRUE if the current velocity is within the window parameterised in subindex 132 .

The information is provided at the FBs L_MC1P_AxisBasicControl and MC_ReadMotionState .

Window - standstill detection (subindex 132)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
If the current speed is within the parameterised window, the xStandstillActVelocity message is set to TRUE.
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit/s	2147483647	0.0 Unit/s
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Setpoint/actual value adjustment in the case of controller inhibit

Via the setting in subindex 136 or 137 , the automatic adjustment between the setpoint and actual position in the case of inverter disable can be controlled using a position window (separately adjustable for positive and negative deviation).

If the distance between the last setpoint position before inverter disable and the current actual position is smaller than the value parameterised in subindex 136 or 137 , the setpoint position maintains its last value. An adjustment with the actual position is only carried out when this window is exited.

If subindex 136 or 137 is set to 0 units, the setpoint position is always set = actual position by default in the case of an inverter disable.

Pos. tol. window SetPos=ActPos (subindex 136)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit	2147483647	0.0 unit
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Neg. tol. window SetPos=ActPos (subindex 137)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit	2147483647	0.0 unit
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64

Note!

The set limit value in subindex 136 and 137 should not be set greater than the drift of the actual position at drive standstill plus a safety margin, if required.

Otherwise, the position controller executes an abrupt compensation when the controller inhibit has been deactivated, due to the system deviation that is pending in this state!

Tolerance zone / blocking zone for modulo positioning

Tolerance zone

In the Modulo system, a tolerance window can be defined for absolute positioning modes in subindex 135 . The tolerance window depends on the mode applied to the mcDirection input:

Mode "mcPositiveDirection" / "mcNegativeDirection"

If the current setpoint position is inside the tolerance window for the defined target position, the target position is always approached using the shortest path.

This behaviour serves to consider drift motions of the shaft in case of controller inhibit/enable cycles in order to prevent e.g. an unwanted motion by one cycle.

Mode "mcPositiveCycle" / "mcNegativeCycle"

If the current setpoint position is inside the tolerance window for the defined target position, the target position in the next Modulo cycle is approached.

This behaviour serves to consider drift motions of the shaft in case of controller inhibit /enable cycles in order to always approach a target position in the next cycle.

Blocking zone

If the blocking zone is set too large, the axis may travel in the opposite direction!

Target positions outside of the blocking zone are approached with the selected direction select.

The blocking zone is internally limited to half the cycle.

[4-17] Definition of the blocking zone

Tolerance window - modulo positioning (subindex 135)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder
Blocking zone for absolute positioning in a modulo system
Setting range (min. value \| unit \| max. value)			Lenze setting
0	Unit	2147483647	0.0 unit
Read access Write access Can only be changed in "Disabled" state No download				FLOAT_64