BONFIGLIOLI Vectron Active Cube, Руководство пользователя

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12.4.21 0x5F16/0 In Gear Time
Index Sub-index Meaning Data type Access Map Def.-Val
0x5F16 0 In Gear Time Unsigned16 rw No 10
Object works in:
•
Motion Control:
o
Table Travel record mode
o
Electronic Gear: Slave
Object doesn’t work in:
•
Motion Control:
o
Profile Positioning mode
o
Velocity mode
o
Profile Velocity mode
o
Homing mode
o
Interpolated mode
o
Move away from Limit Switch
•
Non motion Control (conf.
≠
x40)
The Status Word Bit 10 “In Gear” is set if the relative deviation between master- and
slave-position is lower than the value of 0x5F15/0
In Gear Threshold
for at least
0x5F16/0
In Gear Time .
If parameter 0x5F15/0
In Gear Threshold is set to the value zero the signal “In
Gear” is set when the drive attains the master speed.
The signals “In Gear” are reset in the following occurrences:
− The relative deviation between master- and slave-position exceeds the value of
0x5F15/0
In Gear Threshold.
−
The speed of the master drive exceeds the value of
Maximum Speed
*.
*)
Maximum speed
refers to either 0x6046/2 Velocity max amount or
Maximum fre-
quency
419. It is set either via 0x6046/2 Velocity max amount [rpm] or
Maximum
frequency
419 [Hz].
Maximum frequency
419 is usually set up during motor commis-
sioning.
The Position Controller ( 0x5F17
Position Controller
) can cause a higher overall speed
than
Maximum speed
. However the Position Controller doesn’t affect the Signal “In
Gear”.
The value range of des Object 0x5F16/0 is limited as follows:
Object Setting
Nr. Object Min. Max.
0x5F16/0 In Gear Time [ms] 1
65535
(= 0xFFFF)
Alternatively parameter
„In-Gear“-Time
1169 can be used instead of the Object
0x5F16/0
In Gear Time.
Objekt Parameter
0x5F16/0 In Gear Time 1169
In Gear-Time
Example:
COB ID CB Index SI Data
Read Request 601 40 16 5F 00 00 00
Reply 581 4B 16 5F 00 0A 00
Write Access 601 2B 16 5F 00 1F 00
Reply 581 60 16 5F 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.4.22 0x5F17/n Position Controller
106
CM-CAN ACU
04/13