Instruction Manual PSx3xxIO
29
(c) Behaviour of the drive during manual displacement (readjustment function)
If the PSx3xxIO at standstill is rotated against the loop direction by an external force
after a correctly-completed positioning run (or manual run to a range limit) and the
release bit (Bit 4) and the readjustment bit (Bit 10) are set in the control word, it tries to
approach the previously-sent target position again (readjustment). When rotating in the
loop direction, no adjustment takes place, only Bit 11 in the status word (
“
manual
displacement
”
) is set and Bit 0 (
“
target position is reached
”
) is reset. If Bit 6 (
“
run
without loop
”
) is set, the drive readjusts in both directions.
If the drive loses its position continuously at a standstill, the adjustment
attempt starts precisely when the actual position leaves the positioning
window (assuming that all of the above conditions are met).
At this point the
motor power must be in the permissible range (i.e. Bit 4 is set in the status
word). In case of missing motor power, no adjustment starts, instead, Bit 10
("positioning error") and 13 ("motor power was missing") become active. If
the motor voltage comes back into range after the exit of the positioning
window,
no
new adjustment attempt starts. This prevents a situation in
which a drive suddenly starts a movement when the engine voltage is
turned on.
If a positioning or manual run in progress is interrupted by a stop command (release bit
in control word at 0) the drive only adjusts when a new run command is sent and is
correctly completed.
By removing the release and/or the readjustment bit, the readjustment can be
completely prevented.
Drives with brakes have no adjustment function.
(d) Calculation of the physical absolute position
The actuator PSx3xxIO has an absolute measuring system with a measuring range of
250 revolutions. Therefore, the direction of rotation in which part of this 250 revolutions
should be traversed can be defined.
The mapping of the desired positioning range to the physical positioning range is done
with the help of the parameter "upper mapping end" (ISDU 128).
In the delivery state, the drive is at position 51200, upper limit switch is 101200, lower
limit switch is 1200. The result is a traversing range of ±125 revolutions (±50000 steps).
If the desired traversing range does not exceed ±125 revolutions none of the measures
described below need to be taken in the delivery state to set the traversing range.
For the realization of any desired positioning range independent of the possible
positioning range which is defined by the mounting situation (physical positioning
range) there are the following two possibilities:
1) Move the axle (for example a spindle) to the desired position, then move the drive
(with opened collar) to the position value which belongs to the physical position of
the axle, only then close the collar.
Examples:
(a) Move the axle in middle position, then move the drive at no-load (with opened
collar) also to middle position (position 51200), then close the collar. The drive
is now capable of moving 125 rotations (±50000 increments by default) in each
direction.
Summary of Contents for PS*3**IO series
Page 37: ...Instruction Manual PSx3xxIO 37...
