Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

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Fuxx Control ARS 2320 / ARS 2340 KUHNKE Automation 5.3.6 Positioning sequences Positioning sequences consist of series of position sets. These are performed one after the other. Due to its path program options, a position set can become part of a path program. The result is an interlinked list of positions: START POS1 POS13 POS5 POS6 Figure 6: Path program 52 E 732 GB 14.12.2006 POS19 POS7 POS8 Using the start position of the path program, the user defines the position sequence to be performed. In principle, linear or cyclic sequences are possible. The end of a position sequence is indicated by setting the next sequential position to an "impossible" value (e.g. - 1). The start position of a path program can be determined: � via field bus � via digital inputs The number of positions in a positioning sequence is only limited by the number of total positions available. Any position set can be used in a path program. The following adjustments can be made for the position sets: � Follow-up position number for two successors (several successors are possible if forwarding is done via digital inputs) � Start-up delay � Waiting for forwarding via digital inputs at the end of the positioning run � Flag: Never stop at this position when then path program is aborted � Set the digital output when the target position has been reached / position started Further information can be found in the "Servo positioning controller ARS 2000" software manual. END
KUHNKE Automation Fuxx Control ARS 2320 / ARS 2340 5.3.7 Optional stop input The optional stop input can interrupt the running positioning process by setting the adjusted digital input. When the digital input is reset, the positioning process continues to approach to original target position. Since the existing digital inputs are usually occupied by standard applications, the analog inputs AIN1 and AIN2 as well as the digital outputs DOUT2 and DOUT3, which can also be used as digital inputs, can be used as an option. 5.3.8 Continuous-path control with linear interpolation Due to the implementation of the interpolated position mode, position setpoints can be set for multiaxis use of the controller. In this mode, position setpoints are specified by a subordinated control at fixed intervals (synchronization intervals). If the interval is greater than a position controller cycle, the controller automatically interpolates the data values between two specified position values as shown in the following graph. In addition, the servo positioning controller also calculates a corresponding speed feedforward. y t: synchronisation interval s y n c t p t P : interpolation data : Position setpoint, internally : Position control / positioning cycle time : Interpolated course of position (setpoint) : Travelled course of position (actual value) Figure 7: Linear interpolation between two data values t P E 732 GB 53 14.12.2006 t
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Fuxx Control - ARS 2320 / ARS 2340 Instruction Manual - Kuhnke

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