12.4.21 0x5F16/0 In Gear Time
• Motion Control:
o Table Travel record mode
o Electronic Gear: Slave
• Motion Control:
o Profile Positioning mode
o Velocity mode
o Profile Velocity mode
o Homing mode
o Interpolated mode
o Move away from Limit Switch
• Non motion Control (conf. ≠ x40)
The Status Word Bit 10 “In Gear” is set if the relative deviation between master- and
slave-position is lower than the value of 0x5F15/0
In Gear Threshold
for at least
0x5F16/0
In Gear Time
.
If parameter 0x5F15/0
In Gear Threshold
is set to the value zero the signal “In
Gear” is set when the drive attains the master speed.
The signals “In Gear” are reset in the following occurrences:
− The relative deviation between master- and slave-position exceeds the value of
0x5F15/0
In Gear Threshold
.
−
The speed of the master drive exceeds the value of
*.
*) Maximum speed refers to either 0x6046/2
Velocity max amount
or Maximum fre-
quency 419. It is set either via 0x6046/2
Velocity max amount
[rpm] or Maximum
frequency
419 [Hz]. Maximum frequency 419 is usually set up during motor commis-
The Position Controller (0x5F17
Position Controller
) can cause a higher overall speed
than Maximum speed. However the Position Controller doesn’t affect the Signal “In
The value range of des Object 0x5F16/0 is limited as follows:
0x5F16/0 In Gear Time [ms] 1
Alternatively parameter „In-Gear“-Time 1169 can be used instead of the Object
0x5F16/0
In Gear Time
.
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
12.4.22 0x5F17/n Position Controller
106 CM-CAN ACU 04/13
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