Functions
7100.006514_Bus description_PSD4xx_EC_F_EN
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2022-12-12
4.2.2
Positioning run without reference loop
The “positioning without a reference loop” mode is used primarily for moving the small distances
involved in fine adjustments. In this case, each position is approached directly.
Note:
This does NOT eliminate any lash present in the driven spindle.
ATTENTION:
Runs, which intentionally involve a run to an obstruction (e.g. reference
runs to a block), may only be started with reduced torque (running torque to minimum
value).
4.2.3
Manual run
The drive can be operated manually (so called
“Manual run”). This helps to simplify start-up.
Start manual run:
-
Transfer control word
PDO with control word = 0x11 and/or 0x12
Starts the manual run
End manual run:
-
Transfer control word or reset release bit
PDO with control word = 0x10 and/or 0x00
Stops the manual run
Note:
If a positioning run is required during an active manual run, the drive must be
stopped (reset the release bit). The positioning run can be initiated as soon as the drive is
stationary (PDO with control word = 0x14 and the desired target value).
If pre-operational, set target value to SDO #2001. The drive then automatically deletes the
manual run bits from the control word (bits 0 and 1).
4.3
Velocity, acceleration and deceleration
Manual runs are executed using the maximum max. velocity from SDO #2013, positioning runs
using the maximum velocity from SDO #2012.
For all runs, the maximum acceleration from SDO #201C and the maximum deceleration from
SDO #201D apply.
As the drive approaches the target at the end of the run, the maximum deceleration is
successively reduced in order to ensure a harmonious transient response.
If a stop command is executed, the drive brakes with the maximum possible deceleration ramp
independently of the value in SDO #201D.
