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

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PSx3xxDN Instruction Manual
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Examples:
Spindle pitch Resolution Numerator
factor
Denominator
factor
4 mm 1/100 mm 400 400
1 mm 1/100 mm 400 100
2 mm 1/10 mm 400 20
Numerator and denominator factors may take on values between 1 and 10,000.
e) Drag error
During a positioning run, the device compares the computed target position with the
current actual value. If the di
fference is larger than the “drag error” value (PSE object;
class 100, instance 1, attribute 5), the device sets the corresponding bit in the status
word. This applies in particular if the target speed cannot be achieved due to external
influences (required torque, motor voltage too low).
f) Aborted run when the master fails
If the connection to the master is interrupted during a positioning run, the master
cannot abort a run that is already underway. Automatically aborting a run in this case
requires an I/O connection with an expected packet rate greater than 0; this
connection must be set up in advance and used for initiating the positioning run. Poll
I/O and bit-strobe I/O may be considered for this connection. Another option would be
to set up a change-of-state/cyclic connection with master acknowledge and an
expected packet rate greater than 0. In this case, the run could be aborted regardless
of how the positioning run had been initiated (i.e., even when using an explicit
connection).
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 the CAN bus is not connected and the address 99 is set with the help of the
address switches
2) when the CAN bus is connected and
in the control word bit 5 is active (‘release for
jog key mode
’) and bit 4 is inactive (‘release for positioning by bus’)
Altogether there’s the following assignment:
CAN bus
connected
address control
word
bit 4
control
word
bit 5
external
keys
no 0..98 X X inactive
no 99 X X active
yes X X 0 inactive
yes X 1 X inactive
yes X 0 1 active
Bit 5 (‘release for jog key mode with the external keys’) and bit 4 (‘release for
positioning by bus’) cannot be set simultaneously. Changing the release while running