Engel HBI22 Series, Руководство по эксплуатации

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Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6 www.engelantriebe.de page 22
4.3.4 Turntable positioning mode
The Turntable positioning mode is suitable for operating rotary indexing tables or other devices with a repetitive
positioning range. Here, when the system reaches a preset maximum position (I/O mode:
Turntable positioning range ;
CANopen

: Object Max Position Range Limit [607Bh, Subindex 2];
)
the position counter is deliberately reset to zero.
The
Turntable positioning
mode is parameterised via the
corresponding selection in the
DSerV menu
OPTIMISATION /
OPERATING MODE
(I/O mode)
or selected via Modes of
Operation [6060h] = -5
(CANopen

).
Target positions can be selected either as absolute or relative values:
a) With relative positioning the direction of rotation is determined by the sign of the target position. Positive target
positions are approached in a clockwise rotation 1, negative target positions in a counter-clockwise rotation 1.
(The parameterised turntable movement (see below) or direction of turntable rotation (see below) do not apply with
relative positioning!)
b)
With absolute positioning it is necessary to configure whether the (here fundamentally positive) target positions should be
approached with a defined direction of rotation (e.g. always clockwise
1
) or whether the shortest path should be used. In
the latter case alternating rotational directions can arise, depending on the location of the target position relative to the
current position (see example). The specification takes place in I/O mode via corresponding selection under
OPTIMISATION
/ POSITIONING / TARGET POSITIONS
(see below) or in CANopen

via Bit11 and Bit12 of the Controlword [6040h].
Example: Absolute positioning in Turntable mode 1
1
The direction of rotation shown, cw / ccw and the clockwise arrangement of the positions assumes …,
a) ... that the rotational direction of the motor and the turntable are the same and that Polarity is set to “Positive” or
b) ... that the rotational direction of the motor and the turntable are opposite and that Polarity is set to “Negative”.
The arrangement of the positions – and thus the direction of rotation – can be globally inverted via the Polarity
parameter (CANopen

: Polarity[607Eh] ), if required.
(Note: The sign of the parameterised positioning speed has no influence on the direction of rotation.)
0.0R
12.0R
6.0R 6.0R
3.0R 3.0R
9.0R 9.0R
A = 1.5R A = 1.5R
B=10.5R
Shortest
path
Defined
direction:
cw
Turntable
positioning range
= 12.0R
Positioning process
Pos. A
Pos. B
Shortest
path
Defined
direction:
ccw
C= 4.5R
0.0R
12.0R
Positioning process
Pos. A
Pos. C
Example: