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06.3 Settings for experienced users
The most important settings and configurations have been described in the previous
chapters and are automatically configured with the port settings and macros (e.g.
node configuration) by BiDiB Wizard 2.
Changes to the features or CV registers are not necessary and should not be made
without consulting FichtelBahn technical support.
06.3.1 PowerOFF behaviour of the servos
Servo x:
PowerOFF
Using CV95 for servo 0 (see register for servo 1 to servo 3), the servo drive can be de-energised after servo
movement, e.g. to prevent servo hum. Via the wizard settings of the servo port, this switch-off can only be
activated with the delay of 20ms (value = 1).
If a higher delay time is necessary, this value must be changed in this register > 1..
CV95
Value
Description
0
Servo is not de-energised (default)
1-255
Servo is switched off (delay with n*20ms).
Servo is de-energised after the delay (n*20ms) has elapsed.
Servo x:
PrePower
By using CV96 for servo 0 (see register for servo 1 to servo 3), the time can be selected when the motion
is started after switching on the servo power. This setting cannot be changed via the wizard settings of the
servo port. (Default = 0)
CV96
Value
Description
0
PowerON is performed with movement (default)
PowerOn is performed n*5ms before movement
1-255
06.3.2 User-defined motion profiles
In the "Servo ports" tab, it is possible to select as motion profile the option "User-defined 1 and 2".
These curves can be stored individually as vectors (position / time) in the CV register as points.
CV
Value range
329
0-255
330
25-230
The upper table shows an example of the first point 0 of the user-
defined curve. After the last curve point x, a point with the value
= 0 in position and time must be added. With this, the module
detects the end of the curve.
The value for position must not be <25 and >230.
Manual ReadyServoTurn
Manual Version 1.0
Point
Value Description
0
0
Point 0 - Unit Time (n*20ms)
0
25
Point 0 - Unit Position
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