Instruction Manual PSx3xxPL
22
Bit 4
:
Release:
Run commands will only be executed if this bit is set.
This bit must be set for positioning runs and manual runs.
If this bit is cleared during a run, the run will be aborted and status bit 5 will be
set (‘positioning run aborted’).
Bits 5-15
: reserved, must be programmed to 0
3 Specials
a) Speed, acceleration and deceleration
Manual runs are performed at the maximum speed specified in SDO #2013;
positioning runs are performed at the maximum speed specified in SDO #2012. For
all runs the maximum acceleration in SDO #201C and the maximum deceleration in
SDO #201D apply. At the end of each run the maximum deceleration decreases
during the approach to the destination successively in order to realize a harmonic
transient behaviour.
A stop command causes the drive to brake with the maximum deceleration,
independently of the setting in SDO #201D.
b) Response of drive in case of block
If during a run due to load the speed falls below the threshold parameter of 30% of
the selected maximum speed (SDO #201A) for longer than 200 msec (SDO #201B),
the device detects blocking, aborts the run and sets the ‘positioning error’ bit (here the
default values are given). The drive from now on stands with the selected holding
torque (SDO #202B).
New run commands can then be transmitted with no further steps to take, i.e.
transmitting a target value (SDO #2001) starts a new run.
An exception is in the case of PDO transfers, if the run should go to the same target
than before. In this case, deassert the release (bit 4 of the control word) and assert it
again. Bit 2 (‘transfer target value’) has to be set at the same time. The drive then
moves on when the release bit is being asserted again.
In the state “pre-operational” deasserting and asserting the release bit does not cause
a new run. The (old or new) target value has to be sent explicitely by setting SDO
#2001.
Runs which involve specifically a block run (e.g. reference runs on block),
may only be started with reduced torque (max. torque max. 10% of the
nominal torque, resp. the lowest possible value).
Summary of Contents for PS*3**PL series
Page 28: ...Instruction Manual PSx3xxPL 28...
Page 33: ...Instruction Manual PSx3xxPL 33...
