Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6
www.engelantriebe.de
page 17
Following error reaction
see Following error monitoring
No reaction:
only signalled in CANopen
status word (Bit13).
Positioning error:
dto., however an additional positioning error is triggered,
which leads to the shut-down of the power stage.
Not available as CANopen
object
.
The specification of the positioning targets and travel speeds takes place with the following significant parameters, and/or
CANopen
objects :
Target position
Specifies the target position, interpreted as relative / absolute position value and with
selectable starting condition
Object:
target position
[607Ah]
Unit: Revolutions of the motor shaft [R]
Target position is
- absolute
:
New target position is absolute
-
relative
:
New target position = previous target po set value
Object: Control bits in
controlword
[6040h]
Starting condition
- after completion
:
New positioning process starts after the end of a still
active positioning process.
- immediately
:
New positioning process is performed and aborts a still
active positioning process.
Object: Control bits in
controlword
[6040h]
Speed
Travel speed (rotational speed) to the target position.
Object:
profile velocity
[6081h]
Unit: [RPM]
Speed ramps can be adjusted under
OPTIMISATION / SPEED CONTROLLER
or be specified as CANopen
objects
profile acceleration
[6083h], profile deceleration
[6084h].
