Instruction Manual HIPERDRIVE with EtherCAT
34
7 Special features
7.1 Target speed (r.p.m.) and torque
These values are stated as a percentage of a reference value. The 100% value for
the target speed (r.p.m.) is stated in SDO #208C (for drive 1), the 100% value for the
target torque is fixed and is the same as the nominal torque for the drive.
The maximum values valid for each movement are indicated at the beginning of each
movement. In the ESM status
“operational”, these must be provided in the RxPDO, in
the s
tatus “pre-operational” or “safe-operational” they must be provided in the SDOs
#2081 and #2082 (for drive 1).
In the statu
s “operational”, the values of the parameters control word,
percentaged target speed, percentaged maximum torque and target
position are overwritten by the values from the PDOs.
7.2 Response of the drive in case of block
If the drive detects an block, the drive aborts the run and enters the state
“Fault”.
An entry is then made in the fault buffer (SDO #2088 on drive 1). The fault must be
acknowledged by a negative edge to bit 7 of the control word. The drive then enters
the state
“Switch on inhibit”, which can be exited by a falling edge to bit 0.
7.3 Response of the drive if it is turned manually
(readjustment function)
After switching on the voltage, the drive readjusts its position if the divergence
between the current actual value and the target value saved before it was last
powered down is < 5°.
After reaching a target position or stopping, the drive always readjusts its position as
soon as it is turned beyond the tolerance range by external forces.
7.4 Using actual value assessment factors to set the spindle
pitch
Index numbers SDO #2095:01 (numerator factor) and #2095:02 (denominator factor)
can be used to modify the devi
ce’s spindle resolutions as required.
factor
denom
factor
numerator
revolution
per
steps
of
number
.
*
256
The default setting for the numerator factor is 256, the denominator factor is set to 1,
giving a resolution of 65,536 increments per revolution.
