Instruction Manual PSE2xxC
8
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 devices with multiturn encoder
compare this position to the internal absolute encoder status. If a discrepancy is
detected, the device then sets the “flash memory or encoder 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 PSE2xxC
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).
2.7
CAN Bus
CANopen (corresponding to CiA DS 301 Version 4.02) is used as the protocol at the
CAN bus interface:
one transmit and one receive SDO per device
one asynchronous transmit and receive PDO, active by default
one heartbeat object every 500 msec
green LED = RUN-LED according CANopen:
Single flashes: CAN stop
Continuous flashing: CAN preoperational
Continuously illuminated: CAN operational
red LED = ERROR-LED according CANopen:
Off: no error
Single flashes: CAN-transmitter or -receiver has reached its warning limit
Double flashes: Guard event has occurred
Triple flashes: Sync failure
Continuously illuminated: CAN-Bus-OFF
yellow LED = Display actuator voltage
Off: no motor power
Continuously illuminated: Power available to the motor
