Functions
7100.006424_Bus description_PSD4xx_CA_H_ENG
30
08.04.2020
- Release has not been set
- Target value has already been transferred (in case of PDO transfer the release
in the control word was not set already).
- Set release:
drive begins run
4.3
Velocity, acceleration and deceleration
Start-up loops and manual runs are performed at the maximum velocity from SDO #2013.
Positioning runs are performed at the maximum velocity from SDO #2012.
For all runs, the maximum acceleration from SDO #201C and the maximum deceleration
from SDO #201D.
Note:
If the release bit in the control word is cleared or the end position is
approached during a movement, braking is carried out with the parameter
deceleration (SDO #201D). If the speed is increased or decreased during a
movement, the acceleration parameter (SDO #201C) is used.
4.4
Maximum start-up and operating current
The maximum start-up current can be set via SDO #2018, the maximum operating current
can be set via SDO #2014.
The start-up current is active after each run begins for the period defined in SDO #2019.
Note:
The start-up current should always be slightly higher than the operating
current because the drive requires more power during the acceleration phase than
when running at a constant speed.
Note:
If small torque limits are to be used, the following must be considered: Small
torque values should not be used in combination with high speed settings as this
can lead to instability!
4.5
Response of the drive if it encounters an obstacle
If, during the run, the achievable speed falls below the limit value of 30% of the selected
maximum speed (SDO #201A) for longer than 200ms (SDO #201B) (these are the default
values), the device registers an obstruction,
aborts the run and sets the “Positioning error”
bit. The drive then comes to a standstill with the set holding torque (SDO #202B).
After this, new run commands can be sent without taking further measures, i.e. transferring
a new target position starts a new positioning run.
