Instruction Manual PSE2xxDN
29
nevertheless. If the same jog run bit stays active further on, after a short waiting time
a continuous manual run might join the single step under some circumstances. This
continuous manual run will run as long as the jog run bit stays activated. For this,
additionnally to the activation of the jog run bit
also bit 3 (‘release for manual run in
jog run mode
’) has to be activated. If bit 3 is not set, each activation of a jog run bit
results in a single step, even if the jog run bit is activated longer than the duration of
the single step.
The idle period before the drive switches into manual run is specified with attr. 35. In
manual run the drive runs maximum to the specified limit switch position (attr. 22
resp. 23).
If during an jog run both jog run bits are being activated, the run is aborted
immediately. A new jog run is only possible if both jog run bits are deasserted.
i) Reference runs
The PSE2xxDN positioning system is equipped with an absolute or partially absolute
measuring system
, therefore there’s no need for a reference run when powering on
the drive. However, if in certain cases a reference run onto a hard block should be
desired (e.g. uniquely when installing the drive at a machine), the course of action
should be the following:
1) Before commanding the reference run the following settings have to be carried
out:
-
set the maximum torque (attr. 20) and the maximum start-up torque (attr. 24)
to max. 10% of the nominal torque
-
set the rpm limit for aborting run (attr. 26) to 60
-
set the time elapsed until speed falls below rpm limit for aborting run (attr. 27)
to 100
(The span of time in which the drive trys to get over the block, decreases:
With the reduced values the positioning will be aborted if the speed stays
below 60% of the target speed for longer than 100ms. By default, these
values are 30% and 200ms.)
-
set the corresponding upper and lower limit (attr. 22 or 23) in a way that the
block location lays considerable within the area between the upper and lower
limit
(Otherwise there’s the danger that the block is located within the positioning
window and consequently won’t be recognized.)
-
Where appropriate, reduce the target speed for manual run (attr. 19).
2) Now start the reference run as manual run (set bit 0 or 1 in the control word).
3) Wait for the drive moving (bit 6 in the status word is set).
4) Wait for the drive has stopped and a positioning error has appeared (bit 6 in the
status word is cleared, bit 10 is set).
5) Start a manual run in the opposite direction with the same settings (move a
certain distance away from the hard stop in order the drive can move freely).
6) Only now adjust the desired settings of the adove mentioned attributes for normal
operation.
