PD4-C/-CB USB Online Manual

Special drive modes (clock-direction and analog speed)

You have the possibility to control the motor directly via the clock and direction input or the analog input by activating the special drive modes.These include:

You can also determine the control modeopen loop or closed loop.

Digital input 4 serves here as an enable (see X2 – digital inputs).

Note: After activating the special drive modes, the state of the CiA 402 Power State Machine is controlled only via a digital input (enable). State changes that are requested in object 6040h (controlword) have no effect.

Activation

You can configure the controller with the DIP switches on the rear side and select one of the special drive modes.

The configuration via the DIP switches is activated in the factory settings; you can completely deactivate the DIP switches by inserting this line in the configuration file:

dd4c=1

The base setting in the factory settings is shown in the following figure.

A switch pushed up is in the "ON" position. A switch pushed down is in the "OFF" position.

The following switch configurations are possible here:
1 2 3 Mode
Off Off Off Clock-direction
Off Off On Clock-direction
Off On Off Clock-direction (test run) Test run with 30 rpm Clockwise direction of rotation
Off On On Clock-direction (test run) Test run with 30 rpm Counterclockwise direction of rotation
On Off Off Analog speed Direction via "Direction" input Maximum speed 1000 rpm
On Off On Analog speed Direction via "Direction" input Maximum speed 100 rpm
On On Off Analog speed Offset 5 V (joystick mode) Maximum speed 1000 rpm
On On On Analog speed Offset 5 V (joystick mode) Maximum speed 100 rpm

Switch 4 changes between Open Loop (off) and Closed Loop (on).

Note: A change to one or more DIP switches does not take effect until after the controller is restarted.

Clock-direction

The controller internally sets the operating mode to clock-direction. You must connect the enable, clock and direction inputs (see chapter X2 – digital inputs).

Analog speed

The controller internally sets the operating mode to Velocity. To preset the speed, the voltage on the analog input is used and the corresponding target speed is written in 6042h.

Maximum speed

The maximum speed can be changed between 100 rpm and 1000 rpm. If a different speed is necessary, it can be set using the scaling factor (object 604Ch subindices 01h and 02h).

Computation of the analog voltage

There are two modes for calculating the analog input voltage.

Normal mode
You must connect the enable, direction and analog inputs (see chapter X2 – digital inputs). The maximum analog voltage corresponds to the maximum speed. The direction is preset here via the direction input. There is a dead zone from 0 V to 20 mV in which the motor does not move.

Joystick mode
You must connect the release input and the analog input (see chapter X2 – digital inputs). Half of the maximum analog voltage corresponds to the speed 0. If the voltage drops below half, the speed increases in the negative direction. If the speed rises above half, the speed increases likewise in the positive direction. The dead zone here extends from Umax/2 ± 20 mV.

Test run with 30 rpm

The motor rotates at 30 rpm if the enable input is set.

▶   weiter

Inhalt