5 Commissioning and operation
| Register communication via process data
30
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
Triggering jog mode via process data
In jog mode, the system travels the specified distance in the
specified direction with start/stop frequency. The motion is
stopped once the system has travelled the specified distance
or has reached an end position.
▶
Set “enable motor driver” to 1 in order to release the
motor driver.
▶
Set the “target position” to the relative distance (incre-
ments).
If you want to move in a clockwise direction:
▶
Set “jog right/cw” to 1.
The drive system travels the specified distance in a clockwise
direction with start/stop frequency.
If you want to move in a counter-clockwise direction:
▶
Set “jog left/ccw” to 1.
The drive system travels the specified distance in a coun
-
ter-clockwise direction.
Triggering jog or tip mode via an external signaler
The module must first be parameterised for jog or tip mode.
▶
Set the “enable motor driver” to 1 in order to release the
motor driver.
▶
Activate the signaler at DI 3 in order to travel in a clock
-
wise direction in jog or tip mode.
▶
Activate the signaler at DI 4 in order to travel in a coun
-
ter-clockwise direction in jog or tip mode.
Releasing the end position
The signalers for tip mode must be connected correctly to
the module (see Section 4.6).
The module must first be parameterised for tip mode.
▶
Set “position change” to 1.
▶
Set “enable motor driver” to 0.
▶
Activate the signaler for tip mode in the corresponding
direction until the drive system is moved from the limit
switch.
The release operation is interrupted if the signaler
for tip mode is deactivated. If you deactivate the
signaler while the limit switch is still activated,
you must repeat the process.
After you have released the end position, you
must perform a reference run.
5.6 Register communication via process data
Motion register
You can define motion profiles and safe them in the motion
register of the stepper module.
All motion register data are stored power failure proof in the
EEPROM of the module. On starting the module, the data
sets are copied from the EEPROM to the working memory of
the module.
Register page 0 is reserved. The register pages 1 to 15 con
-
tain 16 data sets each.
Register pages
Register page 0 Register page 1 ...
Register page 15
res.
Data set 0
...
Data set 0
...
...
Data set 15
Data set 15
A data set contains 10 registers. A data set contains exactly
one motion profile.
