PSx3xxIO Instruction Manual
28
(c) Manual run
- transfer manual drive (control word = 0x11 or 0x12): Drive starts to move
- stop the manual run by withdrawing the manual run command (send control word
0x10) or by cancelling the release (send control word 0x00).
- In the case of transfer of a target position during a manual drive this is ended and the
sent position is approached immediately (control = and desired target position value).
5
Special features
(a) Speed, acceleration and deceleration
The initial reference loop and the manual run are performed at the maximum speed
specified in ISDU 145, positioning runs with the maximum velocity from ISDU 142. For
counterclockwise runs the maximum speed from ISDU 143 also applies, for clockwise
runs the one from ISDU 144. The maximum acceleration from ISDU 147 and the
maximum deceleration from ISDU 148 apply for all runs. At the drive end, the
maximum delay is successively reduced during the approach to the destination to
realise a harmonious transient response.
(b) Behaviour of the drive in the case of blocking
If, during a run the achievable speed is lower than the limit value of 30% for longer than
200 ms (ISDU 159) of the selected maximum speed (ISDU 146) (these are the default
values), a block is detected, the run is aborted and the bit 'positioning error
’ is set. The
drive then waits with the set holding torque (ISDU 155).
New run commands can then be sent without further action i.e. the transfer of a new
target position starts a new positioning procedure.
An exception is if the target value is the same as before. In this case, depending on the
operating mode, you must proceed as follows:
1) "Time stamp
”
mode:
- control bits (from the process output data) at 0x00
- Time stamp at the desired value, e.g. 10000
- Disable time stamp (value 0x3FFF = 16383)
- control bits (from the process output data) at 0x03
- time stamp at the desired value, e.g. 10000
- Disable time stamp (the value 0x3FFF = 16383)
Drive starts to move
2) "Time stamp" mode with permanently-inactivated time stamp:
First, the release must be withdrawn and then set again (Bit 4 in control word). The
target position must be transferred again (ISDU 112).
Drive starts to move
3)
“
6 bytes of output data
”
mode:
Withdraw the release and then set again (Bit 4 in control word). Bit 2 ("transfer
target values") must also be set when setting the release bit.
Summary of Contents for PS*3**IO series
Page 37: ...Instruction Manual PSx3xxIO 37...
