ID 442454.02
32
WE KEEP THINGS MOVING
Basic information
2
Operation manual CiA 402 Controller Based
2.2.3.3.18
Referencing method -3
Referencing method -3 is characterized by the following features:
•
Torque/force stop
•
Encoder zero pulse
•
Positive initial movement
Sequence
1. The drive starts in positive direction with the ramp set in
A588
and at the
speed set in
A587.0
.
2. If the torque limit set in
I28
is reached or exceeded without interruption for
at least the time set in
I29
, the reference values are ramped to zero with
the value set in
A588
.
3. The drive moves in negative direction with the ramp set in
A588
and at the
speed set in
A587.1
.
4. When the zero pulse is detected, the reference is set.
5. The drive comes to a complete stop with the ramp set in
A588
.
2.2.3.3.19
Referencing method -4
Referencing method -4 is characterized by the following features:
•
Torque/force stop
•
Encoder zero pulse
•
Negative initial movement
Sequence
1. The drive starts in negative direction with the ramp set in
A588
and at the
speed set in
A587.0
.
2. If the torque limit set in
I28
is reached or exceeded without interruption for
at least the time set in
I29
, the reference values are ramped to zero with
the value set in
A588
.
3. The drive moves in positive direction with the ramp set in
A588
and at the
speed set in
A587.1
.
4. When the zero pulse is detected, the reference is set.
5. The drive comes to a complete stop with the ramp set in
A588
.
ZP
3
ZP
4
