Functions
7100.006424_Bus description_PSD4xx_CA_H_ENG 36 08.04.2020
4.10 Reference runs
The PSD4xx positioning system is equipped with an absolute measuring system, so no
reference run is required when the drive is switched on. If a reference run should be
required to a hard obstruction in a specific instance (e.g. once during installation of the drive
on a machine), the procedure should be as follows:
1) Prior to ordering the reference run, adjust the settings as follows:
- Max. current (SDO #2014) and max. start-up current (SDO #2018)
up to a maximum of 10% of the nominal rated current
- Holding current (SDO #202B) and max. holding current at the end of
the run (SDO #2042) to 0
- Set the speed limit (rpm) for run abort (SDO #201A) to 60
- Set the time for falling below the speed limit (rpm) for run abort
(SDO #201B) to 100
(The time during which the drive tries to overcome the obstruction
decreases: with these reduced values, the positioning run is aborted
if the speed (rpm) remains below 60% of the target speed for longer
than 100ms. The default settings are 200ms and 30%.)
- Set the affected end limit (SDO #2016 or #2017) so that the
obstruction is clearly within the limit in each case
(Otherwise there is a risk that the obstruction will lie within the
positioning window and therefore not be recognised.)
- If necessary, reduce the target speed for manual operation
(SDO #2013)
2) Now start the reference run as a manual run (bit 0 or 1 in the control
word).
3) Wait until the drive is running (bit 6 is set in the status byte)
4) Wait until the drive is stationary and a positioning error has occurred (bit
6 of the status byte is reset, bit 10 is set).
5) Using the same settings, perform a manual run in the opposite direction
(move a little distance away from the obstruction so the drive can move
freely).
6) Only now use desired settings for normal operation of the above SDOs.
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