PSx3xxIO Instruction Manual
32
(f) Drag error
During a positioning run, the device compares the computed target position with the
current actual value. If the difference is greater than the value of the "drag error"
(ISDU 133), the corresponding bit is set in the status. This is particularly the case if
the speed setpoint cannot be reached due to external influences (required torque,
motor voltage too low).
(g) Abort run in the event of failure of the master
If the connection to the master is interrupted during a positioning, a drive that has
already started cannot be cancelled by the master.
In this case, there are three possible reactions:
1) If a positioning is in progress, the drive should end this positioning
as planned
and then start no new positioning, as long as there is no connection.
This behaviour is activated if ISDU 118 ("communication timeout") is at 0.
2) If a positioning is in progress, the drive should
end the run
and then start no new
positioning, as long as there is no connection.
This behaviour is activated if ISDU 118 ("communication timeout") is at a value
> 0. The value specifies the time in ms, within which a new master telegram
must be received to maintain the link.
In addition, ISDU 137 ("Configuration for connection failure") must be at 1
("drive cancellation").
3) Regardless of whether the drive is at standstill or if a positioning is in progress, the
drive should execute the
drive to
the
safety position
, defined with ISDU 138.
This behaviour is activated if ISDU 118 ("communication timeout") is > 0 AND
ISDU 137 ("Configuration for connection failure") is 2 ("Travel to safe position").
(h) Optional: Manual drive with external keys (jog mode)
A manual run can be performed with the external keys under the following conditions:
1) with interrupted IO-Link connection:
- always
2) with existing IO-Link connection:
- if control word Bit 5 (release jog mode) is set, Bit 4 (release) is not set
Overall, the following assignment results:
Bus
connected
Control
word
Bit 4
Control
word
Bit 5
Jog keys
no
X
X
Active
yes
X
0
inactive
yes
1
X
inactive
yes
0
1
active
Bit 5 (enable jog mode) and Bit 4 (release) cannot be set simultaneously. In the event
of a change of the release (e.g. From "enable jog mode" to "release"), a drive in the
other operating mode is cancelled.
Содержание PS*3**IO series
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