Danaher Motion SuperDrive ACS24 Series, User Manual

Page: 51 / 99

26.04.2005
Configuration & control of the AC SuperDrive
6.4.1.7 P
ARAMETER CONTROLLED RAMP
In the Parameter Controlled Ramp mode, the ramp is controlled from the PDO but the actual
ramp values are given by parameters (accessible via SDOs). The PDO has exactly the same
contents as for No Ramp Mode, except that five extra bits are used in the Command Word (
Table
12 ).
Bit Description
1-2 Speed Neutral Brake Ramp Parameter Set (0-3). See object indexes 2104h - 2105h.
11-12 Speed Ramp Parameter Set (0-3). See object indexes 2100h - 2103h.
13 Foot Brake Active, 1 = True.
Table 13. Parameter Controlled Ramp - Command Word.
In order to improve the ramp functionality it is also possible to include the parameters 2000h:7
and 2000:8 shown in
Table 15 in the PDO. The receive PDO then looks as in Table 14.
1 2 3 4 5 6 7 8
Command Word Command Speed Acceleration
Reduction
Factor Max Speed
Reduction
Factor Optional
Table 14. PDO controlled ramp - Receive PDO contents.
Index Sub-
Index Name Description
2000h 7 Acceleration
Reduction Factor UsedAcceleration =
Acceleration * AccelerationReductionFactor / 128
AccelerationReductionFactor = 128 means no reduction.
2000h 8 Max Speed
Reduction Factor
Reduction of parameter Max Speed that is used during
Reverse Brake.
UsedMaxSpeed=
MaxSpeedInRpm*(MaxSpeedReductio1)/256
MaxSpeedReductionFactor = 255 means no reduction.
2120h 1 Max Speed Used during Reverse Brake.
Table 15. Parameter Controlled Ramp – Parameters.
User's Guide 1.0 Item No.
89Y05120A
51