igus Motion Plastics dryve D1, Manual

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External Signal Exchange
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Operating Manual dryve D1, ST-, DC-, EC/BLDC-Motor Control System - V2.4
6.4.11 Profile Position Mode
The Profile Position Mode (PP) is used for the execution of positioning movements. To perform positioning movements, the
parameters for position, velocity, acceleration and deceleration must be entered.
The value 1 must be set in object 6060h "Modes of Operation" so that this mode can be used.
Positioning movement Execution
Requirements
•
CANopen communication set active Bus Systems (P. 53)
•
CANopen communication set dominant Drive Mode Selection (P. 61)
•
Chapter Necessary User Interface Settings (p. 84)
•
Digital Input DI 7 „Enable“ set high
•
Pass through the „State Machine“ till „Operation Enabled“
•
Execution of a reference movement (Homing)
– only with „Absolut“ positioning (Bit 6 „Controlword“ „0“)
The following objects must be parameterized
Object Name Description
6060h Modes of Operation Mode selection
– Target value: 1
6092h:01h Feed_constant_Feed Shaft federate
6092h:02h Feed_constant_Shaft_revolutions Shaft revolutions l
607Ah Target Position Indication of the New Target Position
6081h Profile Velocity Speed
6083h Profile Acceleration Acceleration
6084h Profile Deceleration Deceleration (optional)
6040h Controlword Start Command via Bit 4
If “Absolut Positioning” (Controlword 6041h, Bit 6 not set) is used a previous homing is strictly necessary (Statusword 6041h, Bit
10 and 12 set).
While using “Relative Positioning” (Controlword 6041h, Bit 6 set) a previous “Homing” is not necessary.
Before the Bit 4 start command can be set in Controlword 6040h, a delay period of one system cycle (write telegram sent and
answer telegram received) should be planned to ensure a reliable adoption of the data .
After Bit 4 "Start" has been set in Controlword 6040h, Bit 10 "Target Reached" is reset in Statusword 6041h by the D1 and Bit
12 (New Setpoint) is set. The Start command Bit 4 in the Controlword should be reset now.
The D1 resets Bit 12 (New Setpoint) in the Statusword automatically If Bit10 is then set in the Statusword, the movement has
been executed successfully.
For display and evaluation of the actual position, object 6064h "Position Actual Value" can be used and object 606Ch "Velocity
Actual Value"
can be used for the actual velocity.
6.4.12 Profile Velocity Mode
The Velocity Mode is used to set a motor target velocity.
The value 3 must be set in object 6060h "Modes of Operation" so that this mode can be used.
Movement Execution
Requirements
•
CANopen communication set active Bus Systems (P. 53)
•
CANopen communication set dominant Drive Mode Selection (P. 61)
•
Chapter Necessary User Interface Settings (p. 84)
•
Digit
al Input DI 7 „Enable“ set high
•
Pass through the „State Machine“ till „Operation Enabled“
The following objects must be parameterized
Object Name Description
6060h Modes of Operation Mode selection
– Target value: 3
6092h:01h Feed_constant_Feed Shaft federate
6092h:02h Feed_constant_Shaft_revolutions Shaft revolutions l
6083h Profile Acceleration Acceleration
6084h Profile Deceleration Deceleration (optional)
60FFh Target Velocity Target Speed set point
If an acceleration value has been entered in object 6083h “Profile Acceleration” the movement is started immediately after
setting the "Target Velocity" in object 60FFh. The movement is stopped by entering the value 0 (zero) in Object 60FFh.
Object 6064h "Position Actual Value" or Object 606Ch "Velocity Actual Value" can be used to display and evaluate the current
position or the current speed.