Clock/direction mode Description This mode is equivalent to the velocity mode but uses pules of two input pins as target. Note The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches. Activation The activation of this mode is done by setting the "Mode of Operation" 6060h to the value "-1" (resp. "FFh"). General The following data apply to all sub modes of the clock/direction mode: The maximum frequency of the input pulses are limited at 1MHz, the ON-part is not allowed to get shorter than 200 ns. The scaling of the steps is done via the objects 2057h and 2058h. The following formula is applied: By default the value for "step width per pulse" is "512", which is equal a full step per pulse. A half step is the value "256", a quarter step accordingly "128" and so on. Note During a change of direction it is necessary to let the time of 35µs lapse away before applying a new clock. Status word The following bits in object 6041h (status word) have a special function: Bit 13 (Following Error): This bit is set in closed loop mode if the following error is greater than the set limits is (6065h (Following Error Window) and 6066h (Following Error Time Out)). Sub modes of the clock/direction mode Clock/direction-mode (CD mode) In this mode the clock pulses have to be put to the "clock input", the direction signal is affection the direction (see following image). Clockwise/counterclockwise mode (CW/CCW mode) The object 205Bh needs to be set to "1" in order to activate this mode. In this sub mode the used input determines the direction of rotation (see following image).
Clock/direction mode Description This mode is equivalent to the velocity mode but uses pules of two input pins as target. Note The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches. Activation The activation of this mode is done by setting the "Mode of Operation" 6060h to the value "-1" (resp. "FFh"). General The following data apply to all sub modes of the clock/direction mode: The maximum frequency of the input pulses are limited at 1MHz, the ON-part is not allowed to get shorter than 200 ns. The scaling of the steps is done via the objects 2057h and 2058h. The following formula is applied: By default the value for "step width per pulse" is "512", which is equal a full step per pulse. A half step is the value "256", a quarter step accordingly "128" and so on. Note During a change of direction it is necessary to let the time of 35µs lapse away before applying a new clock. Status word The following bits in object 6041h (status word) have a special function: Bit 13 (Following Error): This bit is set in closed loop mode if the following error is greater than the set limits is (6065h (Following Error Window) and 6066h (Following Error Time Out)). Sub modes of the clock/direction mode Clock/direction-mode (CD mode) In this mode the clock pulses have to be put to the "clock input", the direction signal is affection the direction (see following image). Clockwise/counterclockwise mode (CW/CCW mode) The object 205Bh needs to be set to "1" in order to activate this mode. In this sub mode the used input determines the direction of rotation (see following image).
Description This mode is equivalent to the velocity mode but uses pules of two input pins as target. Note The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches.
Activation The activation of this mode is done by setting the "Mode of Operation" 6060h to the value "-1" (resp. "FFh").
General The following data apply to all sub modes of the clock/direction mode: The maximum frequency of the input pulses are limited at 1MHz, the ON-part is not allowed to get shorter than 200 ns. The scaling of the steps is done via the objects 2057h and 2058h. The following formula is applied: By default the value for "step width per pulse" is "512", which is equal a full step per pulse. A half step is the value "256", a quarter step accordingly "128" and so on. Note During a change of direction it is necessary to let the time of 35µs lapse away before applying a new clock.
Status word The following bits in object 6041h (status word) have a special function: Bit 13 (Following Error): This bit is set in closed loop mode if the following error is greater than the set limits is (6065h (Following Error Window) and 6066h (Following Error Time Out)).
Sub modes of the clock/direction mode Clock/direction-mode (CD mode) In this mode the clock pulses have to be put to the "clock input", the direction signal is affection the direction (see following image). Clockwise/counterclockwise mode (CW/CCW mode) The object 205Bh needs to be set to "1" in order to activate this mode. In this sub mode the used input determines the direction of rotation (see following image).
Clock/direction-mode (CD mode) In this mode the clock pulses have to be put to the "clock input", the direction signal is affection the direction (see following image).
Clockwise/counterclockwise mode (CW/CCW mode) The object 205Bh needs to be set to "1" in order to activate this mode. In this sub mode the used input determines the direction of rotation (see following image).
