Design and description
4.4 Anti-Windup regulator
In order to ensure the same movement shape of the swiveling axis,
an Anti-Windup regulator is integrated.
Every time the voltage supply for the swiveling axis is switched on,
an adaption phase for the blockage recognition of the anti-windup
regulator is run.
During the initial swiveling cycles, the rotating angles for rotation
in a counter clockwise and a clockwise direction are compared and
stored if they match.
The adaption phase may take several swiveling motions. If a
blockage occurs during a swivelling motion in the adaption phase,
the swiveling axis may behave differently than upon successful
completion of the adaption phase.
If the blockage becomes loose during the swiveling motion, the
swiveling speed is higher than the set swiveling speed for a short
period of time. This is particularly noticeable when the swiveling
speed is set to 25% or 50%.
The Anti-Windup regulator is only active after successfully
completing the adaption process.
4.5 Actuation
Truth table
The truth table shows the actuation of the digital inputs during
possible commands by the superordinated control unit.
Power consumption per digital inputs amounts to max. I=10 mA.
Open/close and swivel digital inlets
Function
PIN 2
(open or
UZS)
PIN 4
(close or
GUZS)
De-energized gripper or swivel operation
(shutdown, motor is short-circuited)
0
0
Open gripper/pivot swiveling axis
counter clockwise (GUZS)
1
0
Close gripper/pivot swiveling axis
counter clockwise (UZS)
0
1
Rectify error
(shutdown, motor is short-circuited)
1
1
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05.00 | EGS | Assembly and Operating Manual | en | 389746
