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Description of the bus signals
The module is controlled with two control words consisting of following bits:
Bit name
ENABLE
START
HAND:A
HAND:B
DC_F-POS
DC_ACTIVE
DC_FREEZE
SC
DIRECT
LIVEBIT
PARA READ
PARA VALID
PARA MODE
Setting the bit (signal 1) activates the relating function.
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Description of the bit
General activation of the axis. Error messages are deleted and the output signal
gets activated (in combination with the hardware enable). The actual position is
taken over as command position for actively staying in position.
Start signal for positioning. The actual transmitted command value is taken over
into the positioning controller and the output signal will be generated relating to
the parameterization.
Manual mode. The axis is driven with the preset speed (parameter with the
same name). This mode can only be used when ENABLE is available (even no
READY is reported) and the START comand is not set.
Manual mode, see HAND:A. Two parameters and control bits are available for
this mode for example in order to preparameterize different speed values for
both directions.
Activation of fine positioning function
(Extended functionality, please look at the chapter for this function).
General activation of the drift compensation / high accurate positioning function.
Freezing of the static drift compensation value
(Extended functionality, please look at the chapter for this function).
Activation of the synchronous controller. In synchronous run the preset values
for axis 2 are not active. The system is driven by the demand values of axis 1.
Control bits, command position and speed as well as control mode are
synchronized. Only enable has to be set for both axes separately.
In direct mode new command positions are taken over directly from the
controller while START signal is available. In normal mode the START signal
has to be reset and set again for getting a new command position into the
controller. Speed values are always updated directly.
The fieldbus communication can be monitored with the Livebit functionality. If
this bit is set to "TRUE", an internal monitoring function is activated.
After a single triggering of this control bit, a permanent change of the value
must take place. It is monitored cyclically that this input value is changed at
least once per second by the fieldbus. After expiration of this time without data
change the READY state of the module is exited (does not apply to EtherCAT
devices). The state of the bit is continuously reported back via LIVEBIT OUT.
Through this the superior control can also monitor the communication. Reset-
ting this error is possible by resetting all enable bits. Then the function is deac-
tivated by default.
Reading out the selected (parameter) address when activated. The value of the
selecte parameter is returned in PARA VALUE of the status. If the address is
not valid the function will return „0xffffffff".
Transmitting new parameter settings when activated.
Enables parameterizing via fieldbus
(Procedure is described in the following chapter)
POS-124-U
24.01.2022
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