Configuration C0005 = 26000 (26xxx) only suitable for demonstration

Question:
For what kind of applications can the configuration C0005 = 26000 (26xxx) of the 9300EP positioning controller be used?

Answer:
The configurations C0005 = 26xxx are only suitable for demonstrations in order to show the coupling with a superimposed path control.

Principle:
The traversing profile generation is executed in the path control, where cyclically absolute position setpoints are transmitted. In function block POS the speed precontrol is generated from these position setpoints by differentiation. The configurations 26xxx also contain the functions Homing and Manual positioning, which can be activated via corresponding signals.

Problem:
In case of transition between the traversing profile generation in the path control and the functions inside the controller Homing and Manual positioning, the position actual value is modified with configuration 26xxx in order to avoid a jerk of the drive. This can be accepted for the demonstration operation. In practical operation, however, the position actual value is not to be modified, as otherwise the mechanical reference (status Reference known) will get lost.

Evaluation:
Therefore, for the practical application of the coupling with path controls a modified function block interconnection without manipulation of the actual position value is required. And the superimposed path control is responsible for a jerk-free switchover. The setpoint  is to be adapted to the actual value before switchover). Several applications of this type with different path controls have already been solved successfully.

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