Input Pin Description

Input Pin Description

i_xEn

When TRUE, this input activates the Advanced positioning function.

When FALSE, the FB enters a fallback state. In fallback state, speed reference outputs, status, and alarm outputs are reset to zero (FALSE). Information about current position is retained. Any movement of the axis while the FB is disabled can lead to position information loss.

When i_xEn is set to FALSE while the axis is in motion, the currently active movement will continue until it is finished before entering disabled/fallback status.

i_xPosExe

A rising edge on this input executes a positioning task if the following conditions are fulfilled:

oFB enabled

ono alarm

odrive in RUN state (i_xDrvRun=TRUE)

omachine is ready to start (i_xSysRdy=TRUE)

Execution of positioning has a higher priority than an execution of jog or a homing movement if multiple executions are performed at the same time. If a homing or jog movement has already started, it must first finish the movement before the positioning task may start.

i_xJogFwd

A rising edge on this input starts a jog movement if the following conditions are fulfilled:

odrive in RUN state

osystem is ready

ono alarm

ono movement in progress

If configured using i_stJogPara.diJogDist and i_stJogPara.wJogDelay, the axis performs a defined distance movement on a rising edge of i_xJogFwd. If i_xJogFwd is still TRUE after finishing the defined distance movement and elapsing of the time defined in i_stJogPara.wJogDelay, the axis enters into a continuous movement mode. When one or both of i_stJogPara.diJogDist and i_stJogPara.wJogDelay equal zero, continuous movement mode is started immediately.

When the axis is in continuous movement mode, setting the i_xJogFwd to FALSE stops the movement. The axis can be also stopped using Halt, Quick stop, and Reset commands.

NOTE: If forward and reverse jog movements are requested at the same time, both commands are ignored.

Jog command has higher priority than homing command, but lower priority than positioning command if multiple commands are given at the same time.

i_xJogRev

A rising edge on this input starts a jog movement if the following conditions are fulfilled:

odrive in RUN state

osystem is ready

ono alarm

ono movement in progress

If configured using i_stJogPara.diJogDist and i_stJogPara.wJogDelay, the axis performs a defined distance movement on rising edge of i_xJogRev. If i_xJogRev is still TRUE after finishing the defined distance movement and elapsing of the time defined in i_stJogPara.wJogDelay, the axis enters a continuous movement mode. When one or both of i_stJogPara.diJogDist and i_stJogPara.wJogDelay equal zero, continuous movement mode is started immediately.

When the axis is in continuous movement mode, setting the i_xJogRev to FALSE stops the movement. The axis can be also stopped using Halt, Quick stop, and Reset commands.

NOTE: If forward and reverse jog movements are requested at the same time, both commands are ignored.

Jog command has higher priority than homing command, but lower priority than positioning command if multiple commands are given at the same time.

i_xHmngExe

A rising edge on this input starts homing operation if the following conditions are fulfilled:

odrive in RUN state

osystem is ready

ono alarm

ono movement in progress

As an exception, the homing method 35 (immediate homing) does not require the drive to be in RUN state since homing method 35 does not require axis movement for successful homing.

i_xLsFwd

The input must be TRUE to allow movement in forward direction. The function block does not support impulse limit switches. If the limit switch is reached in relative positioning mode, a rising edge on the i_xRst input is necessary to cancel active motion task before starting another movement.

NOTE: Limit switch function is not active in modulo mode.

i_xLsRev

The input must be TRUE to allow movement in reverse direction. The function block does not support impulse limit switches. If the limit switch is reached in relative positioning mode, a rising edge on the i_xRst input is necessary to cancel active motion task before starting another movement.

NOTE: Limit switch function is not active in modulo mode.

i_xRef

This input defines the normally open (N/O) reference switch signal used in homing methods 23...30. Usage of this input is not mandatory when homing methods 23...30 are not used. For details, refer to the description of the structure stHmngPara.

i_xDrvRun

This input gives the FB information about the RUN status of the drive.

TRUE authorizes the start of the movement and must stay TRUE through the duration of the whole movement.

FALSE during the movement triggers an alarm state and stops the movement using Quick stop. For Altivar drives complying to CiA402/Drivecom standard, the information about RUN state is stored in bit 2 of the status word.

i_xSysRdy

This input gives information about status of relevant parts of the machine. The most important information is if the signal on the encoder value input i_diEncVal is valid.

The input i_xSysRdy must be TRUE to start the movement and must stay TRUE through the duration of the whole movement.

When this input is set to FALSE during movement, the FB enters an alarm state and stops the movement using Quick stop.

When the internal encoder interface of an Altivar drive is used, set the signal to TRUE when the drive is in operational state (while controlling the drive through a fieldbus).

When an external encoder is used (for example, absolute encoder connected to a fieldbus communication interface), this input needs to be TRUE only when the encoder is communicating and providing a position value.

i_wPosSpdRef

The speed reference is accepted at rising edge of i_xPosExe input. When there is a movement in progress, the change of i_wPosSpdRef is taken into account only at a rising edge of i_xPosExe input. This is possible only for absolute positioning (additive movement/position blending).

i_wJogSpdRef

The speed reference is accepted immediately even if it changes during movement.

i_wHmngSpdRef

The speed reference is used for reference/limit switch search. When the reference/limit switch is found, the axis continues with movement to homing edge at 1/4 of i_wHmngSpdRef.

When the speed is too high, it would lead to overshooting of homing position or decreased accuracy of homing. Therefore, the FB detects this case and triggers a homing alarm.

i_diPosTarg

In absolute positioning mode (i_xPosMode=FALSE), this input defines the target position in user units.

In relative positioning mode (i_xPosMode=TRUE), this input defines length of relative movement from actual planned position.

NOTE: A planned position does not necessary equal the actual position. It is normal that after stopping of the axis there is a certain difference between the planned position and the actual position. This is acceptable as long as the difference is within a defined deadband. However, these slight position differences could cause position loss when performing repetitive relative movements. The FB accounts for the discrepancies by calculating the relative movements based on planned position instead of actual position. For more information, refer to the description of xMoveInDsbl parameter inside i_stEncPara input structure.

i_diEncVal

This value can be taken either from the encoder interface of the Altivar drive or an alternative source (external encoder or other position sensor).