9, MT_No_Bit
Here you can select the motion tasks that are stored in the servo amplifier (numbers 1...7) or the homing (0).
The motion task number is presented externally at the digital inputs as a logical word, with a width of max. 3bits.
An input is required to start the motion task (17, Start_MT IO). If you wire up a reference switch (12, Reference)
and (also) want to start a following task (15, Start_MT Next) externally, the number of inputs that are available
for selecting the motion tasks will be further reduced.
Examples of possible assignments of the digital inputs for various applications:
Application
Motion task number: MSB ----------------> LSB
selectable
motion task
numbers
NSTOP PSTOP
DIGITAL-
IN 2
DIGITAL-
IN 1
7 motion tasks + homing,
without reference switch.
Start_MT IO 2
2
2
1
2
0
0...7
3 motion tasks + homing,
without reference switch.
Start a following task that is
defined in the motion task, using
the setting "Start with I/O".
Start_MT Next Start_MT IO 2
1
2
0
0...3
3 motion tasks + homing,
with reference switch.
2
1
2
0
Reference Start_MT IO 0...3
1 motion task + homing,
with reference switch.
Start a following task that is
defined in the motion task, using
the setting "Start with I/O".
Reference Start_MT Next 2
0
Start_MT IO 0...1
10, Intg.Off
Switch off the integral component of the speed controller, the P-gain remains at the set value, the actual-
(rotational) speed feedback remains in operation.
11, v/Torq.Contr.
Bypasses the speed controller. The analog setpoint is taken 1:1 as the setpoint for current control, i.e. change
over from speed control to current (torque) control.
High-level at the input: torque control
Low-level at the input: speed control
12, Reference
Polls the reference switch.
13, ROD/SSI
Changeover of the encoder-emulation (position output) on connector X5.
High level at the input: SSI-compatible position signals
High level at the input: ROD-compatible position signals
14, FError_clear
Clear the warning of a following error (display n03) or the response monitoring (display n04).
15, Start_MT Next
The following task, that is defined in the motion task by "Start with I/O" is started. The target position of the
present motion task must be reached before the following task can be started.
16, Start_MT No x
Start a motion task that is stored in the servo amplifier, by giving the motion task number. After the function has
been selected you can enter the motion task number as the auxiliary variable "x". Motion task number "0"
initiates homing/reference traverse. A rising edge starts the motion task, a falling edge cancels the motion task.
17, Start_MT IO
Start of the motion task that has the number that is presented, bit-coded, at the digital inputs
(PSTOP/NSTOP/DIGITAL-IN1/DIGITAL-IN2, see function 9, MT_No_Bit ). A rising edge starts the motion task a
falling edge cancels the motion task.
18, Ipeak2 x
Switch over to a second (lower) peak value of current. Scaled as x (0...100) % of the peak current of the
instrument. After the function has been selected you can enter the percentage value as the auxiliary variable
"x".
Make the conversion according to the following equation:
x=
Ipeak2
* 100% => Ipeak2 =
x
* Ipeak
Ipeak 100%
46 Setup Software
Screen page "Digital I/O" 07/03 BECKHOFF
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