PSx3xxDN Instruction Manual
27
OR
- Set control word explicitly to 10h (using the PSE object; class 100, instance 1,
attribute 36)
- End manual run by withdrawing release:
- Poll I/O with control word 0h
OR
- Bit strobe with bit 0
OR
- Set control word explicitly to 0h (using the PSE object; class 100, instance 1,
attribute 36)
- Transferring a target value during a manual run will end the run and the device will
immediately move on to the transmitted position.
4 Special features
a) Speed, acceleration and deceleration
The initial reference loop and the manual run are performed at the maximum speed
specified in the PSE object; class 100, instance 1, attribute 19; positioning runs are
performed at the maximum speed specified in attr. 18. When the run is
counterclockwise, additionally the maximum speed in attr. 32 applies, when the run is
clockwise, the one in attr. 33 applies. For all runs the maximum acceleration of attr.
155 and the maximum deceleration of attr. 156 apply. At the end of each run the
maximum deceleration decreases during the approach to the destination successively
in order to realize a harmonic transient behaviour.
b) Response of drive in case of block or manual displacement
If during a run the achievable rate of speed falls below the threshold parameter (30%
of the selected maximum speed; attr. 26) for longer than 200 ms (attr. 27), the device
detects blocking, aborts the run and sets the "positioning error" bit (here the default
values are given).
New run commands can then be transmitted with no further steps to take. An
exception is, if the run should go to the same target than before. In this case,
deassert the release (bit 4 of the control word) and assert it again, then transfer the
target position one more time (either by Poll I/O or explicit).
If the PSx3xxDN is displaced by external force during standstill opposite to the loop
direction and the release bit (bit 4) as well as the release readjustment bit (bit 10) in
the control word are being set, the device will attempt to reach the previously
transmitted target value once again (readjustment). The device does not attempt to
readjust if rotated in the loop direction; it merely sets the ‘manual rotation’ bit. If bit 6
(„run without loop“) is being set, the drive readjusts the position in both directions.
Deasserting the release and/or the release readjustment bit can completely stop the
readjustment process.
c) Calculating the absolute physical position
The PSx3xxDN actuator includes an absolute measuring system with measurement
range of 250 rotations. This allows the user to determine the direction of rotation for
any desired portion of these 250 rotations.
