Lika RD6 Series, Руководство пользователя

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Positioning: position and speed control
This kind of control is a point-to-point movement and the maximum reachable
speed is equal to the value set in the
Work speed [0x0E]
parameter; the set
speed can be reached only if the available travel is long enough.
When the bit 6 Start in the Control Word [0x2A] is “=1”, the motor starts
moving and accelerates according to the value set next to the
Acceleration
[0x07]
register in order to reach the target position as set next to the
Target
position [0x2B-0x2C]
registers. If the available travel is long enough it reaches
the speed set next to the
Work speed [0x0E]
register. The movement direction
can be either positive or negative according to the target position to reach. As
soon as the axis is within the tolerance window limits set next to the
Position
window [0x01]
register, the bit 8
Target position reached
in the
Status word
[0x01]
goes high (“=1”). When the position is within the tolerance window
limits set next to the Position window [0x01] register, after the delay set next
to the
Position window time [0x02]
item, the bit 0
Axis in position
in the
Status word [0x01]
goes high (“=1”). The motor decelerates according to the
value set next to the
Deceleration [0x08]
register in order to reach the halt
position according to the set target position.
MAN RD6 MB E 1.1 Functions 43 of 92
RD6 Modbus®