halstrup-walcher PS*3**C series, Инструкция по эксплуатации

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Instruction Manual PSx3xxC
19
b) PDO definition
1) Receive PDO (from the perspective of the PSx3xxC)
Identifier: 200h + CAN address (possible values: 201h...27Fh)
Assignment (cannot be modified):
Bit Byte Description corresponding SDO index number
0-15 0,1 control word 2024h
16-31 2,3 unused
31-63 4-7 target value 2001h
2) Transmit PDO (from the perspective of the PSx3xxC)
Identifier: 180h + CAN address (possible values: 181h...1FFh)
Assignment (cannot be modified):
Bit Byte Description corresponding SDO index number
0-15 0,1 status 2025h
16-31 2,3 current rpm 2030h
31-63 4-7 actual value 2003h
c) Detailed description of status bits
Bit 0 : target position reached
This bit is set:
- when a transferred target position has been reached successfully
- after running an initial reference loop, when the actual value corresponds to
the previously transferred target value
This bit is reset:
- after transferring a target position if the difference from the actual value is
larger than the positioning window (SDO #2006)
- by a manual run
- if an invalid target value has been transferred
- if rotated manually when on standstill
Bit 1 : drag error
This bit is set:
- if, after the acceleration phase, the maximum speed setting has not been
achieved
This bit is reset:
- with each new run command
Bit 2 : reverse jog key active
This bit is set:
- if Pin 3 on the key connector is connected with Pin 1 (+24V)
This bit is reset:
- if Pin 3 on the key connector is deconnected from Pin 1 (+24V)
Bit 3 : forward jog key active
This bit is set:
- if Pin 2 on the key connector is connected with Pin 1 (+24V)
This bit is reset:
- if Pin 2 on the key connector is deconnected from Pin 1 (+24V)