Danaher Motion SuperDrive ACS24 Series, User Manual

Page: 50 / 99

Configuration & control of the AC SuperDrive
26.04.2005
In case of acceleration in an downhill slope the gravitation will contribute to the acceleration. If
the slope is steep the truck will accelerate faster than the Internal Speed Reference. In order to
allow the truck to accelerate faster than the ramp, the ramp is adjusted to the actual speed when
accelerating in a steep slope. This functionality is possible to enable or disable with bit 0 (Adjust
Speed During Acceleration) in Application Setup Word (2020h:10).
6.4.1.4 R
OLLBACK
When slowing down to zero speed in a slope, the truck can either continue to stand still or start
rolling. The parameter used to control the behavior is called the Rollback Speed (2020h:7 in
object dictionary). Setting this parameter to zero means that the truck will stand still after slowing
down. If the Rollback Speed is set > 0 the truck will continue rolling after slowing down. In a
downhill slope the truck will either reach zero speed or not depending on bit 2 (Enter Rollback
Mode At Zero Speed) in Application Setup Word. After slowing down the truck will continue
rolling with a speed larger than zero but less than or equal the Rollback Speed. Since an
accelerating torque is not allowed the speed will be lower than the Rollback Speed if the slope is
flat. In an uphill slope the truck will reach zero speed and then start rolling backwards down the
slope with a speed larger than zero but less than or equal to the Rollback Speed value.
The bit 9 (Rollback disable) in the Command Word can be used to override the Rollback Speed
parameter, i.e. the rollback functionality becomes disabled if the bit is set.
6.4.1.5 N
O RAMP
In the No Ramp mode, the speed ramp controller is not used and only the speed PI controller is
used. The byte-oriented receive PDO should at least include the Command Word and the
Command Speed according to
Table 11 .
1 2 3 4 5 6 7 8
Command Word Command Speed Optional
Table 11
.
No Ramp – Receive PDO contents.
Bit 4 and 5 in the Command Word are used to choose 1 out of 4 possible parameter sets that is
to be used in the speed PI control.
6.4.1.6 PDO
CONTROLLED RAMP
In the PDO Controlled Ramp mode, all ramp information is sent inside the PDO, which should
have the following contents.
1 2 3 4 5 6 7 8
Command Word Command Speed Command
Acceleration Command
Deceleration Optional
Table 12. PDO controlled ramp - Receive PDO contents.
The Command Acceleration (byte 5) and the Command Deceleration (byte 6) are the ramp
values (0-255 rpm/20ms). The Command Word uses the same bits as for No Ramp mode to
control the parameter set in the speed PI controller, i.e. bit 4 and 5 in the Command Word.
Functionality as reverse brake (plug brake), neutral brake and foot pedal brake are to be handled
within the truck computer.
Item No.
89Y05120A
User's Guide 1.0
50