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

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PSx3xxDN Instruction Manual
9
2.5 Start-up
Positioning sequence (with reference loop)
The PSx3xxDN distinguishes between the following steps of a positioning sequence
(Presumption: the target position is always approached through forward motion):
1.
New position value is larger than the current value: position approached directly.
2.
New position value is smaller than the current value: the device reverses an
additional 5/8 of one rotation and approaches the exact position after resuming
forward motion.
3.
New position value after reverse run without loop: the device always approaches
the position by moving in forward direction; if necessary, it will first reverse by 5/8
of a rotation.
Once the target position has been reached, the device compares it to the internal
absolute encoder status. If a discrepancy is detected, the device
then sets the “error”
bit (bit 9 in the status word).
Positioning sequence (without loop)
The “positioning without loop” mode is used primarily for moving the small distances
involved in fine adjustments. In this case, each position is approached directly. This
does NOT eliminate any play present in the spindle in question. The PSx3xxDN
internal gear backlash does not play a role in this case, as position data are acquired
directly at the output shaft.
Runs which involve specifically a block run (e.g. reference runs on block),
may only be started with reduced torque (max. torque max. 10% of the
nominal torque).
2.6 CAN Bus
A DeviceNet protocol corresponding to ODVA CIP Networks Library Volume One
Edition 3.1 and Volume Three Edition 1.3 is the protocol used for the CAN bus
interface:

A group 2 server with UCMM support

2 explicit connections to the master

4 fixed mapping assemblies

I/O messages via poll, bit strobe and change-of-state/cyclic

Multicast poll is not supported

Heartbeat, default = inactive

DeviceNet LED that displays status as follows:

off:
either the device is switched off or no CAN bus is connected

green, steady:
CAN communication OK, device operational

green, flashing:
either no UCMM connection to the master or no learning run has been
performed