5.3.12 Application: Electric Gearing
When using the electric gearing mode via the CANopen interface, the following parameters are rele
-
vant for setting the slave of the electric gearing:
GEARI Object 2040 sub 1
GEARO Object 2040 sub 2
GEARMODE Object 353F sub 1
EXTPOS Object 3539 sub 1
IN20MODE Object 3723 sub 1
IN20TRIG Object 3724 sub 1 or Object 20B0 sub 0 (also mappable)
ACCR Object 3502 sub 1
DECR Object 3524 sub 1
ACCR and DECR can also be set together via object 609A (also mappable).
The transmission of the electric gearing is set using gear factors GEARI and GEARO. The input of
the master impulse is defined using the parameters GEARMODE and EXTPOS.
The following bits have special meaning in the electrical gearing operating mode:
CANopen status word Bit 10 = 1: Slave axis is synchronised
CANopen control word Bit 13 = 1: Stop synchronised movement of the slave axis
The virtual input 20 can be used to change the type of synchronisation/de-synchronisation with the
master for the following input functions (IN20MODE):
IN20MODE 42: Slave axis synchronisation is enabled using the ramp ACCR and
disabled using DECR.
IN20MODE 43: When the slave axis is started, the master position is latched. The slave
axis is then brought up to master speed via the ramp ACCR
and the travel distance to the master is subsequently adjusted.
Synchronisation is deactivated via DECR. Using IN20TRIG, a
position offset to the master position can also be assigned.
IN20MODE 51: IN20TRIG can be used to specify a travel distance to which the slave
should be synchronised. Synchronisation is deactivated via DECR.
CANopen for S300/S700 127
Kollmorgen 11/2018 Appendix
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