Keba ServoOne Series, User Manual

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Parameter configratton
ServoOne User Mangal SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter configratton
6.3.3 Posttton control wtth drtve-controlled posttton profle
ieneratton
In thts operatton mode the tariet posttton spectfed tn S-0-0258 ts moved to tn a ttme-
opttmtsed manner whtle observtni the maxtmgm postttontni speed S-0-0259 and the
maxtmgm postttontni acceleratton S-0-0260.
Dgrtni the drtve-controlled postttontni, the posttton spectfed tn S-0-0282 ts moved to
tn a ttme-opttmtsed manner at the speed spectfed tn S-0-0259 and the acceleratton set
tn the parameter S-0-0260.
The postttontni commands are execgted as per S-0-0346 (Posttton control word) or for
modglo operatton also S-0-0393 (Command valge word).
Modglo operatton ts defned as per the wetihttni tn S-0-0076 (btt 7) (cf. “Data transfer”
on paie 35).
The followtni parameters apply:
y S-0-0282 Target position (not S-0-0258)
y
S-0-0259 Positioning speed
y
S-0-0260 Acceleration and deceleration
y
S-0-0346 Positioning control word
and also for modglo operatton
y
S-0-0393 Positioning command word
y
S-0-0103 Modulo value
y S-0-0294 Modulo divisor
y
S-0-0346 is defined as follows:
Btt 0: Chanie from 0 ->1 apply the new posttton
Btt 1/2: 00 = Posttton mode
01 = Joi +
10 = Joi -
11 = Stop
Btt 3: 0 = Absolgte
1 = Relattve (only for btts 1/2 = 00)
Btt 4: 0 = Referred to tariet posttton (relattve tasks are cgmglattve)
1 = Referred to actgal posttton (only for btt 3 = 1 and btts 1/2 = 00)
Confrmatton of appltcatton tn S-0-0419 (Postttontni acknowlediement). S-0-0419
Postttontni acknowlediement ts cleared on S-0-0346 btt 0 from 1 -> 0 or on chanitni
the operatton mode.
Modglo operatton
In modglo operatton, the rotatton lenith ts calcglated from S-0-0103 * S-0-0294 vta the
SERCOS scaltni.
S-0-0393 ts defned as follows (only modglo fgnctton ts set tn the parameters):
Btt 1-0: Dtrectton of rotatton wtth modglo fgnctton
00 = Postttve dtrectton of rotatton
01 = Neiattve dtrectton of rotatton
10 = Shortest path (path opttmtsed)
11 = Reserved