Functions
7100.006434_Bus description_PSD4xx_IO_G_ENG
30
17.08.2020
Note:
The start-up current should always be slightly higher than the operating
current because the drive requires more power during the acceleration phase than
when running at a constant speed.
Note:
If small torque limits are to be used, the following must be considered: Small
operating torque values should not be used in combination with high speed
settings as this can lead to an instable positioning behaviour!
4.5
Behaviour of the drive in case of blocking
If, during the run, the achievable speed falls below the limit value of 30% of the selected
maximum speed (ISDU 143) for longer than 200ms (ISDU 154) (these are the default
values), the device registers an obstruction, aborts the run and sets the “Positioning error”
bit. The drive then comes to a standstill with the selected holding torque (ISDU 150).
After this, new run commands can be sent without taking further measures, i.e. transferring
a new target position starts a new positioning run.
Note:
An exception is when the target value is the same as before. In this case, the
release bit must first be cleared and then set again (bit 4 in the command byte). The
drive then continues to run when the release bit is set.
Bit 2 (“Transfer target value”)
must also be set.
ATTENTION
Runs which intentionally involve a run to an obstruction (e.g.
reference runs to a block) may only be started with a reduced
current (max. operating current < 10% of nominal rated current
or smallest possible value).
4.6
Behaviour of the drive if it is turned manually (readjustment function)
If the PSD4xxIO is rotated in the direction opposite to that of the loop direction
– when at a
standstill, after a correctly completed positioning run and the release bit (bit 4 in the control
word) is set and ISDU 126 is set to 1
– it will again attempt to run to the previously sent
target value (readjustment). The device does not attempt to readjust if rotated in the
direction to that of the loop direction
, it will merely set bit 11 of the status byte (“Manual
displacement
”) and reset bit 0 (“Target position reached”). If the loop length (ISDU 124) is
set to 0, the drive readjusts in both directions.
Note:
If the drive continually loses its position when at a standstill, it will attempt to
readjust whenever its actual position just leaves the positioning window (provided
that all of the above-mentioned conditions are met). At this time, the motor voltage
must be within the permissible range (i.e. bit 4 in the status word is set). No
readjustment will start if the motor voltage is not in the permissible range. Instead,
bits 10 (“Positioning error”) and 13 (“Motor power was missing”) will be activated. If
the motor voltage only returns to the permissible range after leaving the positioning
