Instruction Manual PSx3xxPN
26
3 Specials
3.1
Speed, acceleration and deceleration
Manual runs are performed at the maximum speed specified in Par. 56; positioning
runs are performed at the maximum speed specified in Par. 53. For all runs the
maximum acceleration in Par. 58 and the maximum deceleration in Par. 59 apply. At
the end of each run the maximum deceleration decreases during the approach to the
destination successively in order to realize a harmonic transient behaviour.
A stop command causes the drive to brake with the maximum deceleration,
independently of the setting in Par. 59.
3.2
Response of drive in case of block
If during a run due to load the speed falls below the threshold parameter of 30% of
the selected maximum speed (Par. 57) for longer than 200 msec (Par. 70), the device
detects blocking, aborts the run and sets the “positioning error” bit (here the default
values are given). The drive from now on stands with the selected holding torque
(Par. 66).
New run commands can then be transmitted with no further steps to take, i.e.
transmitting a target value (change of the target value in the process data) starts a
new run.
An exception is, if the run should go to the same target than before. In this case,
deassert the re
lease (bit 4 of the control word) and assert it again. Bit 2 (“transfer
target value”) has to be set at the same time. The drive then moves on when the
release bit is being asserted again.
Runs which involve specifically a block run (e.g. reference runs on block),
may only be started with reduced torque (max. torque max. 10% of the
nominal torque, resp. the lowest possible value).
3.3
Response of drive in case of manual displacement (readjustment)
If after a correctly finished positioning run (or a manual run to the range limit) during
standstill the PSx3xxPN is displaced by external force opposite to the loop direction
and the release bit (bit 4 in the control word) is set and the readjustment function
(Par. 47) is enabled, the device will attempt to reach the previously transmitted target
value once again (readjustment). The device does not attempt to readjust if rotated in
the loop direction; it merely sets bit 11 in the status word (“manual displacement”) and
resets bit 0 (“target position reached”). If the loop run is disabled (Par. 45 is 0), the
drive readjusts the position in both directions.
If at standstill the drive continuously looses its position, the attempt to
readjust starts exactly when the actual position is leaving the positioning
window (assumed that all the conditions above are being fulfilled). The
