Ketterer KuLi Series, Assembly Instructions Manual

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Programming
3215.72-01i01 Rev. A
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7.2 Programming via master control
The following programming / settings can be made on the KuLi
by using the master control.
7.2.1 Reference run during operation
 It is also possible to perform a reference run during operation.
For this purpose, a sequence of 4 pulses must be sent to the
control input. The length of the first pulses and pauses should
be between 30 and 60 ms. The first pulse still generates a
movement command, the others are ignored until a pulse or a
pause lasts >70 ms. If a reference or teach run is then detected,
this is carried out, otherwise the Kuli moves to the end position
corresponding to the control signal.

After the fourth pulse, which is longer than 100 ms, the Kuli
activates both outputs. The Kuli is now ready for reference run.
This starts as soon as the control input changes from 24 V to 0
V. The two outputs are reset and the Kuli moves to its reference
point, to its end position and back to the inner end position. The
control input is inactive during the reference run.
Control input Action Output 1 Output 2
4 pulses Initialize reference mode 24 V 24 V
24  0 V Move to reference point  24 V  0 V
Move to outer end point  0  24 V
Move to inner end position

24 V

0 V
 If an error occurs during the reference run, both outputs are
activated to indicate this situation to the user. In this case, the
Kuli is not ready for operation and will start a reference run
when activated again.