Instruction Manual PSE2xxC
26
the drive. However, if in certain cases a reference run onto a hard block should be
desired (e.g. uniquely when installing the drive at a machine), the course of action
should be the following:
1) Before commanding the reference run the following settings have to be carried
out:
-
set the maximum torque (SDO #2014) and the maximum start-up torque
(SDO #2018) to max. 10% of the nominal torque
-
set the rpm limit for aborting run (SDO #201A) to 60
-
set the time elapsed until speed falls below rpm limit for aborting run (SDO
#201B) to 100
(The span of time in which the drive trys to get over the block, decreases:
With the reduced values the positioning will be aborted if the speed stays
below 60% of the target speed for longer than 100ms. By default, these
values are 30% and 200ms.)
-
set the corresponding upper and lower limit (SDO #2016 or #2017) in a way
that the block location lays considerable within the area between the upper
and lower limit
(Otherwise there’s the danger that the block is located within the positioning
window and consequently won’t be recognized.)
-
Where appropriate, reduce the target speed for manual run (SDO #2013).
2) Now start the reference run as manual run (set bit 0 or 1 in the control word).
3) Wait for the drive moving (bit 6 in the status word is set).
4) Wait for the drive has stopped and a positioning error has appeared (bit 6 in the
status word is cleared, bit 10 is set).
5) Start a manual run in the opposite direction with the same settings (move a
certain distance away from the hard stop in order the drive can move freely).
6) Only now adjust the desired settings of the adove mentioned SDOs for normal
operation.
