Instruction Manual PSE2xxC
18
- if a limit value is modified such that the current position lies beyond the limit
- if, while on standstill, by means of an external force the drive is moved to a
position which is outside the area which is defined by the range limits
This bit is reset:
- by initiating a positioning run, an initial reference loop or a manual run
d) Detailed description of control bits
Bit 0
:
manual run to larger values
Bit 1
:
manual run to smaller values
Bit 2
:
transfer target value: When transferring a target value with the help of PDOs,
a positioning run is only started if this bit is set.
When commanding a manual run or a jog run with the help of PDOs, this bit
must not be set.
Bit 3
:
Release for manual run in jog run mode: This bit must be set in order to switch
from jog run mode (bits 4 and 5 in the control word are not set; bit 8 or 9 set)
to manual run mode if a jog run bit is activated for a longer time. Single
increments are the only option in jog run mode if this bit is reset.
Bit 4
:
Release: Run commands will only be executed if this bit is set (exception is
the jog run mode with bits 8/9 of the control word).
This bit must be set for positioning runs, manual runs and must not be set for
jog runs.
If this bit is cleared during a run, the run will be aborted and status bit 5 will be
set (‘positioning run aborted’).
Bit 5
:
reserved, must be programmed to 0
Bit 6
:
Run without loop: If this bit is set at the start of a positioning run, the target will
be approached directly (without loop).
Bit 7
:
Start initial reference loop: the device performs 5/8 of one rotation opposite to
the loop direction; it will then perform 5/8 of a rotation in loop direction at
manual run speed.
In earlier versions, this command had to be executed after switching on the
device; that is no longer the case.
Bit 8
:
Jog run to larger values. Bits 4 and 5 must not be set in this mode!
Bit 9
:
Jog run to smaller values. Bits 4 and 5 must not be set in this mode!
Bit 10
:
Release readjustment: Only if this bit is set the drive readjusts when it is
displaced out of its position in the direction opposite to that of the loop
direction at the end of a run.
If bit 6 (“Run without loop”) is set, the drive
readjusts in both directions.
Bit 11
:
reserved, must be programmed to 0
Bit 12
:
Run with drag error correction: If the bit is set, the drive trys (under
consideration of the configured maximum torque) to compensate a drag error
which has been developped. By controling the rpm on a value which is slightly
above or below the configured ‘target rpm posi’ (SDO #2012), the drag error
