Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
The extension of the general state diagram of DO:
6.10.2 Submode „Manual data input (MDI)“
The "manual data input" mode can be used to run a motion task directly configured through
IO data. Telegram 9 is used for this purpose and defines the motion task specific signals like
acceleration (MID_ACC), deceleration (MID_DEC), velocity (MDI_VEL) and target position
(MDI_TAR_POS). With setting bit 15 in signal “SATZANW”, the MDI mode can be activated.
Requirements:
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Drive axis state machine needs to be in S4 („Operational“).
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Operation mode needs to be „Position mode“.
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Standard telegram 9 needs to be configured.
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Axis needs to be homed (ZSW1 Bit 11 set, See also Status word bits (ZSW1) (
➜
p. 33).
Run a motion task:
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Set bit 15 in SATZANW to 1
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Configure all setpoint value in telegram 9 like MDI_ACC, MDI_DEC, MDI_MOD etc..
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Set STW1 Bits 4 and 5 to true (Do not reject traversing task and no intermediate stop).
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Set STW1 Bit 6 from zero to one, the motion task will be loaded.
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ZSW1 Bit 12 is set to one, when the drive has started the new motion task.
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ZSW1 Bit 13 will be set to 1 when the drive is moving after the target position is reached,
ZSW 1 Bit 10 is set.
38 Kollmorgen | December 2014