Pilz Motion Control PMC, Руководство пользователя

Страница: 41 / 62

6.2.2 Digital speed (operating mode 1)
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW N
Setp
- - -
ZSW
n
act
- incremental actual position 32-bit
manuf.-specific
status
Deviating assignment of the process data sections with STW Bit 14=1:
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW n
Setp
(32-bit) - -
ZSW
n
act
(32-bit)
incremental actual position 32-bit
manuf.-specific
status
Deviating assignment of the process data sections with STW Bit 15=1:
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW n
Setp
- - -
ZSW n
act
- position (20 bits/turn and 16 turns)
manuf.-specific
status
Actual speed n
act
(16-bit)
The representation of the 16-bit actual speed value is normalized to the parameter for the
overspeed VOSPD n
n
VOSPD
act
act
16
15
2
= ´
Actual position (32-bit)
The range for the incremental position covers values from -2
31
to (2
31
-1).
Here one turn corresponds to 2
PRBASE
increments.
Manufacturer-specific status
In the process data, the upper 16 bits of the manufacturer-specific status register
(PNU 1002) are made available. The numbering starts again from 0.
The significance of the status register bits can be seen in the table in Chapter 5.2.3.3.
Speed setpoint n
setp
(16-bit)
The 16-bit speed setpoint is normalized to the parameter for the
overspeed VOSPD.
n
n
VOSPD
setp
setp
16
15
2
= ´
Position
The actual position value is an incremental value with a resolution of 24 bits.
Her one turn corresponds to 2
PRBASE
increments.
So 2
24 - PRBASE
turns can be represented.
Speed values n
act
(32-bit)
The digital speed values are converted according to the formula.
( )
n in rpm n
60 4000
32 2
setp/ act setp/ act, dig.
PRBASE
= ´
´
´
with 2
PRBASE
= Increments per Motor turn, 60s/min,
4000 = Number of position controller cycles / sec.
6.2.3 Analog speed (operating mode -1) [in preparation]
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
- - - - - -
User manual PROFIBUS DP PMCtendo DD4 Page 41
6 Process data channel