Keba ServoOne junior User Manual

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Parameter conguration
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Parameter conguration
6.3.3 Position control with drive-controlled position prole
generation
In this operation mode the target position specied in S-0-0258 is moved to in a time-
optimised manner while observing the maximum positioning speed S-0-0259 and the
maximum positioning acceleration S-0-0260.
During the drive-controlled positioning, the position specied in S-0-0282 is moved to
in a time-optimised manner at the speed specied in S-0-0259 and the acceleration set
in the parameter S-0-0260.
The positioning commands are executed as per S-0-0346 (Position control word) or for
modulo operation also S-0-0393 (Command value word).
Modulo operation is dened as per the weighting in S-0-0076 (bit 7) (cf. “Data transfer”
on page 35).
The following parameters apply:
y S-0-0282 Target position (not S-0-0258)
y S-0-0259 Positioning speed
y S-0-0260 Acceleration and deceleration
y S-0-0346 Positioning control word
and also for modulo operation
y S-0-0393 Positioning command word
y S-0-0103 Modulo value
y S-0-0294 Modulo divisor
y S-0-0346 is dened as follows:
Bit 0: Change from 0 ->1 apply the new position
Bit 1/2: 00 = Position mode
01 = Jog +
10 = Jog -
11 = Stop
Bit 3: 0 = Absolute
1 = Relative (only for bits 1/2 = 00)
Bit 4: 0 = Referred to target position (relative tasks are cumulative)
1 = Referred to actual position (only for bit 3 = 1 and bits 1/2 = 00)
Conrmation of application in S-0-0419 (Positioning acknowledgement). S-0-0419
Positioning acknowledgement is cleared on S-0-0346 bit 0 from 1 -> 0 or on changing
the operation mode.
Modulo operation
In modulo operation, the rotation length is calculated from S-0-0103 * S-0-0294 via the
SERCOS scaling.
S-0-0393 is dened as follows (only modulo function is set in the parameters):
Bit 1-0: Direction of rotation with modulo function
00 = Positive direction of rotation
01 = Negative direction of rotation
10 = Shortest path (path optimised)
11 = Reserved

Keba ServoOne junior Specifications

General

Brand	Keba
Model	ServoOne junior
Category	Controller
Language	English