Parameterisable boundary conditions, specifying the mode of operation
TS5055 19Version: 1.3
MAXJERK 32 0x0000 0020 Checks whether
the maximum slave
jerk (machine data)
has been
exceeded.
j
Slave
≤ j
SlaveMax
OVERSHOOTPOS 256 0x0000 0100 Checks for
overshooting of
slave position.
UNDERSHOOTPO
S
512 0x0000 0200 Checks for
undershooting of
slave position.´
OVERSHOOTVEL
O
1024 0x0000 0400 Checks for
overshooting of
slave acceleration.
UNDERSHOOTVE
LO
2048 0x0000 0800 Checks for
undershooting of
slave acceleration.
OVERSHOOTVEL
OZERO
4096 0x0000 1000 Checks whether
the slave velocity
has exceeded 0.0.
UNDERSHOOTVE
LOZERO
8192 0x0000 2000 Checks whether
the slave velocity is
below 0.0
Bit masks for operation modes
GEARINSYNC_OPMASK_
Description
ROLLBACKLOCK 65536 0x0001 0000 Bit = 0: (default)
When the slave has achieved the
synchronous phase, synchronous
coupling of all the following master
movements is maintained until the
coupling is removed. This also applies if
the master changes direction and
moves backwards over the coupling
position. (Further explanations) [}25]
Bit = 1:
Setting this bit activates the backstop,
which causes the slave to stop when
the master moves backwards beyond
the coupling position after a motion
reversal. (Further explanations) [}25]
INSTANTSTOPON
ROLLBACK
131072 0x0002 0000 Bit = 0: (default)
On reaching the coupling position, the
slave velocity is reduced smoothly
following a 5th order polynomial. The
polynomial is optimized to halt the slave
as quickly as possible. (Further
explanations) [}25]
Bit = 1:
In terms of the set value, the slave is
halted within one NC tick of reaching
the coupling position. The slave velocity
is set to 0.0 and the position is
maintained.
This abrupt stop can trigger the
following error monitoring system!
(Further explanations) [}25]
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