CL3-E CANopen/USB Technical Manual: 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" 6060_h to the value "-1" (resp. "FF_h").

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 2057_h and 2058_h. 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 6041_h (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 (6065_h (Following Error Window) and 6066_h (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 205B_h 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).