NANOTEC PD4-C - Page 3

Contents
4.3.3 Analog speed..................................................................................................................................32
4.3.4 Test run with 30 rpm......................................................................................................................32
5 General concepts.........................................................................................33
5.1 Control modes...........................................................................................................................................33
5.1.1 General........................................................................................................................................... 33
5.1.2 Open Loop......................................................................................................................................34
5.1.3 Closed Loop....................................................................................................................................36
5.2 CiA 402 Power State Machine................................................................................................................. 37
5.2.1 State machine.................................................................................................................................37
5.2.2 Behavior upon exiting the Operation enabled state....................................................................... 39
5.3 User-defined units.....................................................................................................................................42
5.3.1 Calculation formulas for user units.................................................................................................42
5.4 Limitation of the range of motion............................................................................................................. 45
5.4.1 Tolerance bands of the limit switches............................................................................................45
5.4.2 Software limit switches................................................................................................................... 45
5.5 Cycle times............................................................................................................................................... 45
6 Operating modes..........................................................................................47
6.1 Profile Position..........................................................................................................................................47
6.1.1 Note regarding USB....................................................................................................................... 47
6.1.2 Overview......................................................................................................................................... 47
6.1.3 Setting travel commands................................................................................................................48
6.1.4 Loss of accuracy for relative movements.......................................................................................53
6.1.5 Boundary conditions for a positioning move.................................................................................. 54
6.1.6 Jerk-limited mode and non-jerk-limited mode................................................................................ 55
6.2 Velocity......................................................................................................................................................56
6.2.1 Note regarding USB....................................................................................................................... 56
6.2.2 Description...................................................................................................................................... 56
6.2.3 Activation.........................................................................................................................................56
6.2.4 Controlword.....................................................................................................................................56
6.2.5 Statusword...................................................................................................................................... 56
6.2.6 Object entries..................................................................................................................................56
6.3 Profile Velocity.......................................................................................................................................... 58
6.3.1 Note regarding USB....................................................................................................................... 58
6.3.2 Description...................................................................................................................................... 58
6.3.3 Activation.........................................................................................................................................58
6.3.4 Controlword.....................................................................................................................................58
6.3.5 Statusword...................................................................................................................................... 58
6.3.6 Object entries..................................................................................................................................58
6.4 Profile Torque........................................................................................................................................... 61
6.4.1 Note regarding USB....................................................................................................................... 61
6.4.2 Description...................................................................................................................................... 61
6.4.3 Activation.........................................................................................................................................61
6.4.4 Controlword.....................................................................................................................................61
6.4.5 Statusword...................................................................................................................................... 61
6.4.6 Object entries..................................................................................................................................62
6.5 Homing......................................................................................................................................................63
6.5.1 Note regarding USB....................................................................................................................... 63
6.5.2 Overview......................................................................................................................................... 63
6.5.3 Homing method.............................................................................................................................. 65
6.6 Interpolated Position Mode.......................................................................................................................70
6.6.1 Note regarding USB....................................................................................................................... 70
6.6.2 Overview......................................................................................................................................... 70
6.6.3 Activation.........................................................................................................................................70
6.6.4 Controlword.....................................................................................................................................70
6.6.5 Statusword...................................................................................................................................... 71