Motor Power Company DUET_FL 48/10, User Manual

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Page 9
Torque limitation............................................................................................................... 60
5Positioning mode....................................................................................................61
5.1Function overview......................................................................................................61
Activating the operating mode........................................................................................62
5.2Configuring and optimizing the position controller.....................................................63
Position controller optimization.........................................................................................64
Global positioning settings.............................................................................................65
Parametrizing position sets...........................................................................................66
Setting of digital outputs ................................................................................................70
Homing 70
Parameterizing the homing run.........................................................................................74
Course program ........................................................................................................77
Creating a course program.............................................................................................79
Course program options...................................................................................................80
End of program................................................................................................................. 81
Position branch................................................................................................................. 81
Branch (Line).................................................................................................................... 83
Level test84
Debugging a course program.........................................................................................85
Function of the inputs and outputs.........................................................................86
5.3Digital inputs DIN0 to DIN9.......................................................................................86
Configuring the digital inputs.............................................................................................88
5.4Extended function of the digital inputs (Tipp & Teach)..............................................88
8.2.1 Teaching positions...................................................................................................89
5.5Digital outputs DOUT0 to DOUT3.............................................................................91
Configuring the digital outputs..........................................................................................91
Configuring the messages for the digital outputs..............................................................92
Incremental encoder emulation through DOUT1 and DOUT2.......................................93
5.6 Holding brake DOUT3..............................................................................................95
Brake functions................................................................................................................. 95
Analog inputs AIN0 and AIN1........................................................................................96
Analog output AMON....................................................................................................98
6 Communication interfaces....................................................................................99
Control through the CAN bus........................................................................................99
Function overview............................................................................................................. 99
6.1.1Processing of CAN messages................................................................................100
6.1.2Configuring the CANopen communication parameters...........................................100
Control through the serial interface.............................................................................101
Function overview........................................................................................................... 101
6.1.3Serial communication through DUET_FL ServoCommanderTM............................102
Configuring the RS232 communication parameters.......................................................102
Transfer window ............................................................................................................ 103
Communication window for RS232 transmission............................................................103
Control through the technology interface.....................................................................104
Error messages/Error table....................................................................................105
Error monitoring in the DUET_FL.................................................................................105
6.1.4Overcurrent and short-circuit monitoring.................................................................105
DC bus voltage monitoring.............................................................................................105
Logic supply monitoring..................................................................................................106
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company