Positioning
Limit value monitoring becomes active when the speed reference exceeds the
maximum speed or the torque reference exceeds the maximum torque (see Section
"Limitations / Thresholds" on page 324).
Infinite positioning/speed mode
Monitoring is activated in infinite positioning (speed mode) when the speed
reference has been reached. If an ongoing positioning operation is interrupted with
"HALT", the "Reference reached" message is not sent in this phase. The message
only appears after the actual target position has been reached.
9.3.7Switchingwithmotorcontactor
Switching in the power cable should only be carried out in a de-energized state.
Failure to follow this requirement may result in problems and damage (e.g.
overvoltage or overcurrent shutdowns, pitted contacts). To ensure currentless
switching, the contacts of the motor contactor must be closed before enabling the
power stage. In the opposite case the contacts must remain closed until the power
stage has been switched off. Corresponding safety time periods for the motor
contactor switching must be implemented in the control sequence of the machine or
else the special "ENMO" software function of the drive controller must be employed.
A power contactor in the motor supply line can be directly controlled by the drive
controller via parameter P125[0] - MPRO_OUTPUT_FS_MOTOR_BRAKE = ENMO
(21). The timer P148[0] - MPRO_DRVCOM_ENMO_Time defines the on-and-off
delay of the power contactor. Based on the time delay, the reference value is applied
after the power contactor is active. If the power stage is switched off, the power
contactor isolates the motor from the controller.
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
315
9 Inputs/Outputs settings
NOTE
l Additionaltimesforthetypicalcontactchatteronacontactormust
betakenintoaccountwhenspecifyingthetimefortimerP 148[0] -
MPRO_DRVCOM_ENMO_Time.Theymaybeseveralhundred
ms,dependingoncontactor.
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