NANOTEC PD4-E, Техническое руководство

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Technical Manual PD4-E-M (EtherCAT)
4 Commissioning
Value Mode
00
h
Clock-direction - - Open Loop
01
h
Clock-direction - - Open Loop
02
h
Clock-direction (test
run) Test run with 30 rpm Clockwise direction of
rotation Open Loop
03
h
Clock-direction (test
run) Test run with 30 rpm Counterclockwise direction
of rotation Open Loop
04
h
Analog speed Direction via "Direction"
input Maximum speed 1000 rpm Open Loop
05
h
Analog speed Direction via "Direction"
input Maximum speed 100 rpm Open Loop
06
h
Analog speed Offset 5 V (joystick mode) Maximum speed 1000 rpm Open Loop
07
h
Analog speed Offset 5 V (joystick mode) Maximum speed 100 rpm Open Loop
08
h
Clock-direction - - Closed Loop
09
h
Clock-direction - - Closed Loop
0A
h
Clock-direction (test
run) Test run with 30 rpm Clockwise direction of
rotation Closed Loop
0B
h
Clock-direction (test
run) Test run with 30 rpm Counterclockwise direction
of rotation Closed Loop
0C
h
Analog speed Direction via "Direction"
input Maximum speed 1000 rpm Closed Loop
0D
h
Analog speed Direction via "Direction"
input Maximum speed 100 rpm Closed Loop
0E
h
Analog speed Offset 5 V (joystick mode) Maximum speed 1000 rpm Closed Loop
0F
h
Analog speed Offset 5 V (joystick mode) Maximum speed 100 rpm Closed Loop
You must save object 4015
h
(application category) (see chapterSaving objects); the changes do not
take effect until after the controller is restarted.
4.4.2 Clock-direction
The controller internally sets the operating mode to clock-direction. You must connect the release,
clock and direction inputs (see chapter Connector X4 - inputs/outputs and external logic supply).
4.4.3 Analog speed
The controller internally sets the operating mode to Velocity. To preset the speed, the voltage on the
analog input is used and the corresponding target speed is written in 6042
h
.
Maximum speed
The maximum speed can be changed between 100 rpm and 1000 rpm. If a different speed is
necessary, it can be set using the scaling factor (object 604C
h
subindices 01
h
and 02
h
).
Computation of the analog voltage
There are two modes for calculating the analog input voltage.
Normal mode
You must connect the release, direction and analog inputs (see chapter Connector X4 -
inputs/outputs and external logic supply). The maximum analog voltage corresponds to the
maximum speed. The direction is preset here via the direction input. There is a dead zone from
0 V to 20 mV in which the motor does not move.
Version: 1.0.1 / FIR-v1748 29