Functions
7100.006514_Bus description_PSD4xx_EC_F_EN
36
2022-12-12
4.10
Reference runs
The PSD4xx positioning system is equipped with an absolute measuring system, so no reference
run is required when the drive is switched on. If a reference run should be required to a hard
obstruction in a specific instance (e.g. once during installation of the drive on a machine), the
procedure should be as follows:
1)
Prior to ordering the reference run, adjust the settings as follows:
a)
Set max. operating torque (SDO #2014) and max. start-up torque (SDO #2018) to
10 % of the max. value, resp. the lowest possible values.
b)
Set max. holding torque (SDO #202B) and max. holding torque at the end of the run
(SDO #2042) to 0.
c)
Set the speed limit (rpm) for aborting run (SDO #201A) to 60.
d)
Set the time elapsed until falls below speed limit for aborting run (SDO #201B) to 100.
(The time during which the drive tries to overcome the obstruction decreases: with
these reduced values, the positioning run is aborted if the speed (rpm) remains below
60 % of the target speed for longer than 100 ms. The default settings are 200 ms and
30 %.)
e)
Set the affected end limit (SDO #2016 or SDO #2017) so that the obstruction is clearly
within the limit in each case. (Otherwise there is a risk that the obstruction will lie within
the positioning window and therefore not be recognised.)
f)
If necessary, reduce the target speed for manual operation (SDO #2013)
2)
Now start the reference run as a manual run (bit 0 or 1 in the control word).
3)
Wait until the drive is running (bit 6 is set in the status word)
4)
Wait until the drive is stationary and a positioning error has occurred (bit 6 of the status
word is reset, bit 10 is set).
5)
Using the same settings, perform a manual run in the opposite direction (move a little
distance away from the obstruction so the drive can move freely).
6)
Only now use desired settings for normal operation of the above SDOs.
