Functions
7100.006514_Bus description_PSD4xx_EC_F_EN
27
2022-12-12
Functions
4.1
Positioning
The drive must be switched to the ESM
status “operational” before it can be controlled using
PDOs.
-
Transfer target value:
PDO with control word = 0x14 and desired target value
drive begins to run
-
Aborting a run by withdrawing release:
PDO with control word = 0x00
If a new target value is transferred during a positioning run, the device will immediately proceed to
the new target. This will occur with no interruption provided the direction of rotation does not need
to be altered.
If a manual run command is transmitted during a positioning run, the positioning run will be
aborted (velocity will be reduced to that of a slow run) and the operator may proceed with the
manual run.
The following sequence of steps is also possible:
Starting conditions: release has not been set.
-
Transfer target value:
PDO with control word = 0x04 and desired target value
-
Set release:
PDO with control word = 0x10
drive begins run
Note:
Positioning runs may include a “reference loop”, which ensures the target is
approached from a defined direction. The direction and length of the reference loop can
be set to the required value before the positioning run using SDO #
201F (“length of loop”).
SDO #201F can also be used to deactivate the reference loop.
Note:
The control word and target value can only be transmitted using SDOs in the ESM
status “pre-operational”.
