Kollmorgen AKD PROFINET RT Communication, Руководство пользователя

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AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
The figure shows the behavior:
If another motion task shall be executed before the current motion task has finished (“Change
on the fly”), the “Activate traversing task” Bit in STW1 can be directly cleared (after the set-
ting of Bit 12 in ZSW1 was detected). In addition, the drive will clear Bit 12 in ZSW1. After
this another motion task can be loaded. If an error occurs or the configured motion task can
not be executed, bit 12 in ZSW1 will not be set.
6.10.3 Homing
Requirements:
l
Drive axis state machine needs to be in S4 („Operational“)
l
The homing mode needs to be configured via HOME.MODE 1001 (available also via PNU
1001).
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No motion task is active
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Operation mode needs to be „Position mode“
Home procedure:
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STW1 Bit 11 set to one
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ZSW1 Bit 10, 11 ,13 will be set to false if homing is running
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ZSW1 Bit 10,11,13 will be set to true if homing is finished
Abort homing:
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while the homing is running, clear STW1 Bit 11
If the controller aborts a running home procedure, the home position set flag (ZSW1 Bit 11)
remains cleared.
Warning or Fault handling:
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case of warning, ZSW1 Bit 7 is set
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case of fault, ZSW1 Bit 3 is set
Mapping to AKD specific commands:
An activation of the homing procedure via STW1 Bit 11 corresponds to the AKD specific com-
mand HOME.MOVE. When the homing procedure is finished, the AKD set the bits 2 and bit
4 in DRV.MOTIONSTAT. „Only“ if these two bits are set, the PROFIdrive specific homing
flag ZSW1 Bit 11 (home position) is set.
40 Kollmorgen | December 2014