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Motion Control SW
motor from overheating at the mechanical stop. After an error it is also recommended to
move to a defined position again.
3.12 State 12: Aborting
Clearing the /Abort bit in the control word initiates a quick stop. After the motion has stopped
the servo rests position controlled. Setting the bit again the servo controller rests in position
until a new motion command is executed.
3.13 State 13: Freezing
Clearing the /Freeze bit in the control word initiates a quick stop. After the motion is stopped
the servo rests position controlled. Setting the bit again the servo controller will finish the
frozen motion (e.g. if it was a VAI command). Curve motion can be frozen but not restarted
by releasing this bit, setting the bit again the motor moves at the target position of the last
VAI command, if never used a VAI command it will go to the initial position.
3.14 State 14: Error Behaviour Quick Stop
Most of the errors, which can occur during an active motion, cause a quick stop behavior to
stop the motion. After the quick stop is finished the motor is no longer position controlled.
3.15 State 15: Going To Position
Setting the Go To Position bit in the control word, the serveo moves to the defined position,
recommendable for example, after an error, to move to a defined position again.
3.16 State 16: Jogging +
Setting the Jog Move + bit in the control word, the servo moves either a defined position
increment or to the maximal position with a limited speed. Releasing the bit will stop the
motion.
3.17 State 17: Jogging -
Setting the Jog Move - bit in the control word, the servo moves either a defined position
decrement or to the minimal position with a limited speed. Releasing the bit will stop the
motion
3.18 State 18: Linearizing
The linearizing state is used to correct position feedback parameters, to improve the linearity
of the position feedback.
3.19 State 19: Phase Searching
The phase search is only defined for three phase EC motors with hall switches and ABZsensors
to find the commutation offset for to the sensor. It cannot be guaranteed that this
feature will work for all kinds of EC motors. The found offset can be found in the variable
section Calculated Commutation Offset (UPID: 1C1Bh), and has to be set manually to he
parameter Phase Angle (UPID 11F2h).
3.20 State 20: Special Mode
The Special Mode is available only on the B1100 servo controllers. In this state the current
command mode over the analog input is available. For using this mode see the [4].
Page 16/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot