Isel IMD1, Руководство пользователя

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CanOpen protocol
Positioning module UVE8112, IMD10
The meaning of the bits is internally allocated as follows:
Mode of Parameter value
operation
Bit 0 Negative limit switch
Bit 1 Positive limit switch
Bit 2 Reference switch
Bit 3 Enabling signal
The “Mode of brake control” determines how the brake is controlled via output 3. It has to be taken
into acco
t that th object is currently used only for output 3. This,
however, n still be
In the manual mode, the brake has to be set or reset via the “Digital Outputs” parameter by means of
SDO. The rst bit of
of digital outputs” object can be defined as the initial value of
output 3.
In the automatic mode, the “Digit for a change from outside. The “Init.
alue of digital outputs” parameter does not have a meaning in this mode. The brake control is
out internally. In the dead status, the brake is automatically set and in the live status, the
also automatically reset.
value
de of the br ntrol
un e 0x60FE “Digital outputs”
ca changed in the future.
fi the “Init. value
al Output” parameter is blocked
v
carried
brake is
Parameter Mo ake co
0 Manual
1 Automatic
The "Invert digital outputs" parameter defines, if output 3 is to be evaluated low-actively or high-
actively. This parameter is blocked for the automatic mode.
Invert Digital Outputs Meaning
0
Output 3 is high-active (i.e. no
signal inversion):
Value 0 or 1 to Bit 0 from the object
0x60FE
Æ
value 0 or 1 at output 3 )
Bit 0
1 Output 3 is low-active (i.e. signal
inversion):
Value 0 or 1 to Bit 0 from the object
0x60FE
Æ
value 1 or 0 at output 3 )
The different parameters of the brake control can very easily be defined and tested with the DcSetup
programme in the “Brake” dialogue box.
The standstill monitoring was implemented to monitor the movement condition of the motor. If the
motor changes from the condition "movement" into the condition "silence", the actual position is
recorded. A accordant signal is given out to notify that the motor is in condition "silence". If the motor
leaves the tolerance range of the previous recorded position another signal is given out to notify that
the motor is in condition "movement". This tolerance range can be defined in the parameter
"Standstill Tolerance Window". The standstill monitoring works in all movement operation modes
(see frame connector X3). The object Actual Standstill Sate indicates if the motor is in silence or
moves. The object Actual Standstill State indicates the condition like it determines the firmware of
UVE8112, IMD10, not like it determines the PIC circuit.
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