Instruction Manual PSx3xxC
27
In the first case (node guarding), guard time and life time factors must be
programmed into the drive. The master then must cyclically transmit the heartbeat to
the drive as a remote object.
In the second case (heartbeat consumer), node ID and cycle time of the master
heartbeat must be sent to the device as consumer heartbeat. The master must then
cyclically transmit this heartbeat.
The second option generates less bus load, because the master only need to transmit
an unconfirmed master heartbeat (only one message for all consumers).
g) Optional: Manual run using external keys (jog key mode)
A manual run can be performed using external keys under the following conditions:
1) when CAN bus is not connected:
- if the address 0 or 1 is set with the help of the address switches
OR
- if SDO #204C has been set to 1 at last
2) when CAN bus is connected:
- if in the control word
bit 5 is active (‘release for jog key mode’) and bit 4 is
inactive (‘release for positioning by bus’)
OR
- if SDO #204C has been set to 1 and CAN
open state is ‘preoperational’
Altogether there’s the following assignment:
CAN bus
connected
address
SDO
#204C
CANopen
state
control
word
bit 4
control
word
bit 5
external
keys
no
0..1
X
X
X
X
active
no
> 1
0
X
X
X
inactive
no
X
1
X
X
X
active
yes
X
0
X
X
0
inactive
yes
X
0
X
1
X
inactive
yes
X
X
X
0
1
active
yes
X
1
operational
X
0
inactive
yes
X
1
operational
1
X
inactive
yes
X
1
preoperational
X
X
active
Bit 5 (‘release for jog key mode’) and bit 4 (‘release for positioning by bus’) cannot be
set simultaneously. Changing the release while running (for example from jog key
mode to positioning by bus) aborts a run in the other operation mode. Exception: If
SDO #204C has been set to
1 and the CANopen state is ‘preoperational’, bits 5 and 4
are without meaning.
The operator can adjust the number of increments for a single step via SDO #2022.
The single step is being executed if one of the external keys is being pressed. If the
external key has been released before the end of the single step, it will be completed
nevertheless. If the external key stays pressed further on, after a short waiting time a
continuous manual run might join the single step under some circumstances. This
continuous manual run will run as long as the external key stays pressed. The
continuation of a single step with a manual run is always enabled if the CAN bus is
not active. If the CAN bus is active, additionnally to bit 5 of the control word also bit 3
(‘release for manual run in jog key mode’) has to be activated. If bit 3 is not set, each
pressing of the external key results in a single step, even if the key is pressed longer
than the duration of the single step. If SDO #204C has been set to 1 and the
Содержание PS*3**C series
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