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

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Instruction Manual PSx3xxPL
9
Whe
re applicable, positioning runs involve a “loop run” which causes the
target position to be reached from a predefined direction. The direction and
the length of the loop run can be set to the desired value with SDO #201F
(“length of loop”) before the run. With SDO #201F the loop run might also
be disabled.
Setting of control word and target value with the help of SDOs is only
possible in the CN cycle state “pre-operational”.
b) Manual run
- Start manual run (transmit PDO with control word = 0x11 resp. 0x12 or, if pre-
operational, transmit SDO #2024 with value 0x11 resp. 0x12): device begins to run
- End manual run by clearing the manual run command (transmit PDO with control
word = 0x10 or, if pre-operational, transmit SDO #2024 with value 0x10) or by
deasserting release (transmit PDO with control word = 0x00 or, if pre-operational,
transmit SDO #2024 with value 0x00).
- Transferring a target value during a manual run will end the manual run and the
device will immediately move on to the transmitted position (PDO with control word =
0x14 and desired target value). If pre-operational, target value in SDO #2001. The
drive then automatically deasserts the manual run bits in the control word (bits 0 and
1).
Underwater usage of the PSW is not allowed.
2.7 Powerlink interface
The Powerlink interface is realized according the EPSG standard 301, version 1.2.0:

One send and receive SDO per device

One asynchron send and receive PDO, active by default