Engel HBI22 Series, Руководство по эксплуатации

Страница: 19 / 50

Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 18
4.3.1 Positioning function in I/O mode (without fieldbus)
In fieldbus mode (CANopen

) the full positioning functionality is available.
In I/O mode up to 8 target positions (relative or absolute) with corresponding travel speeds can be stored in the parameter
memory. The selection of the current target position as well as the start command for the positioning take place through
digital inputs.
The referencing (homing) automatically starts in I/O mode either

with only the first enable after power-on, or

with each enable of the drive (selectable).
After the successful referencing, the drive automatically switches from homing mode to positioning mode.
Functions of the digital inputs for the positioning function in I/O mode (see also chapter 4.4.2 Digital inputs
):
Signal Function Note
DI1 Enable input
DI2 Positive limit switch
DI3 Negative limit switch
DO2 /DI4 Start positioning process Pin DO2/DI4 is used as a digital input.
DO1/ DI5
Digital output with selectable
function Pin DO1/DI5 is used as a digital output. Function can
be assigned with DSerV (e.g. "Target Reached")
AI1- /DI6 Positioning target selection (Bit0) Pin AI1-/DI6. Analogue input is used as a digital input.
DI7 Positioning target selection (Bit1)
DI8 Positioning target selection (Bit2)
Under
OPTIMISATION / POSITIONING / TARGET POSITIONS
a
maximum of 8 positioning targets can be defined, which can be called
up through the digital inputs DI6...DI8.
Target position
Target position specification (shown for target address 1), interpreted as
relative / absolute position value and with selectable starting
condition
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
Starting condition
- after completion : New positioning process starts after the end of a still
active positioning process.
-
immediate
: New positioning process is performed and aborts a still
active positioning process.