halstrup-walcher PS*3**IO series, Instruction Manual

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Instruction Manual PSx3xxIO
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(f) Manual run with inactivated time stamp
- transfer manual run (send control word, ISDU 110 with value 0x11 or 0x12):
Drive starts to move
- Exit the manual run by withdrawing the manual travel command (send control word
with the value 0x10) or by cancelling the release (send control word with the value
0x00).
- In the case of transfer of a target value during a manual run, this is ended and the
sent position is approached immediately.
4
Positioning in "6 byte output data" mode
This mode is active when the orange LED is permanently dark with the C/Q
pin open.
(a) Positioning run
- to control the drive, it must first be switched to the IO-Link status "operate".
- transfer target position:
Control word = 0x14 and the desired target position

Drive starts to move
- Cancellation of drive by withdrawing the release:
Control word = 0x00
- if a new target position is transferred during the positioning run, the new destination is
approached immediately. If the direction of rotation does not need to be changed, this
is done without interruption.
- if a manual run command is sent during a position run, the positioning run is
interrupted (speed reduced to slow speed) and continued with the manual run.
The following sequence is also possible:
Initial situation: Release is not set
- transfer target position:
Control word = 0x04 and desired target position
- set release:
Control word = 0x10

Drive starts to move
(b) Positioning run without loop
The sequence corresponds to a positioning run with loop. To perform a positioning run
without a loop, Bit 6 (
“
Run without loop
”
) must be set in the in addition to the release
(Bit 4) in control word.