Isel IMD1, Руководство пользователя

Страница: 98 / 117

CanOpen protocol
Positioning module UVE8112, IMD10
Reference run speeds
Ind
value
ex Sub Name Type Attrib Map Default Meaning
6099 Homing speeds RECORD Speeds during the
reference run.
6099 00 CONST Number of entries Unsigned 8 N 2 Number of entries.
6099 01 uring search
for switch
ed 32 RW during the
movement to the switch in
Speed d Unsign N 10000 Speed
user-defined units / s.
6099 02 Speed during search
for zero
Unsigned 32 RW N 1000
of the
efined
Speed during the
movement out
switch in user-d
units / s.
Reference run acceleration
b p
value
Index Sub Name Type Attri Ma Default Meaning
609A 00 Homing acceleration Unsigned 32 RW N 1000000 Acceleration during the
reference run in user-
defined units / s².
Reference offset
Inde Type Att
value
Meaning x Sub Name rib Map Default
607C 00 Homing offset Signed 32 RW Reference offset in user-
defined units. N 100
The reference offset is the distance from the refer point
Moving the axis out of a limit switch
If a limit switch of the axis is triggered, the drive module switches to the f
cannot be released, until the limit switch is active.
The “Moving out of a limit switch” mode of opera en designed in order to move the axis out
limit switch (see Mode of operation on page t with the activation of this
of operation; it can be used for the shunt this axis. Afterwards, the
module can be switched to the Operation Enable state; by setting the Bit 4 in the control word, the
Direction of movement
negative in case of an activated positive limit switch
ence point of the zero position (e.g. switching
to the limit switch) to the zero position.
ault state and the final stage
tion has be
of a
mode 89). For this, output 2 is se
ing of the limit switches of
movement out of the limit switch is launched.
positive in case of an negative positive limit switch
Velocity
refe r lo ut e switch) rence un ve city (o of th
Acceleration
reference run acceleration
Target position
switching point of the limit reference point offset
Control word Bit 4 Meaning
0 No meaning.
1 The movement out of the limit tch i t, if swi s carried ou a limit switch is activated.
98