PD2-C-IP 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 mode – open-loop or closed-loop.

Digital input 4 serves here as an enable (see X3 – analog input and 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 6040_h (controlword) have no effect.

Activation

The special drive modes are activated on delivery. You can deactivate them by setting 4015_h:01_h in the configuration file to the value "0" . To do this, you must insert this line:

4015:01=0

To select the mode, you must set the hex coding switch to a value between "00"_h and "0F"_h.

On delivery, the switch is set to "1".

The following table lists all possible modes and the value of the switch:


Value	Mode
00_h/01_h	Clock-direction	-	-	Open-Loop
02_h	Clock-direction (test run)	Test run with 30 rpm	Clockwise direction of rotation	Open-Loop
03_h	Clock-direction (test run)	Test run with 30 rpm	Counterclockwise direction of rotation	Open-Loop
04_h	Analog speed	Direction via "Direction" input	Maximum speed 1000 rpm	Open-Loop
05_h	Analog speed	Direction via "Direction" input	Maximum speed 100 rpm	Open-Loop
06_h	Analog speed	Offset 5 V (joystick mode)	Maximum speed 1000 rpm	Open-Loop
07_h	Analog speed	Offset 5 V (joystick mode)	Maximum speed 100 rpm	Open-Loop
08_h/09_h	Clock-direction	-	-	Closed-Loop
0A_h	Clock-direction (test run)	Test run with 30 rpm	Clockwise direction of rotation	Closed-Loop
0B_h	Clock-direction (test run)	Test run with 30 rpm	Counterclockwise direction of rotation	Closed-Loop
0C_h	Analog speed	Direction via "Direction" input	Maximum speed 1000 rpm	Closed-Loop
0D_h	Analog speed	Direction via "Direction" input	Maximum speed 100 rpm	Closed-Loop
0E_h	Analog speed	Offset 5 V (joystick mode)	Maximum speed 1000 rpm	Closed-Loop
0F_h	Analog speed	Offset 5 V (joystick mode)	Maximum speed 100 rpm	Closed-Loop

Note: A change to the switch or on the configuration file 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 X3 – analog input and 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 6042_h.

Maximum speed

The maximum speed can be changed between 100 rpm and 1000 rpm; the controller automatically adapts the scaling in 604_h here.

Note: If you would like to change to a different mode afterwards, you must adapt or reset the scaling in 604C_h if necessary.

If a different speed is necessary, it can be set using the scaling factor for the speed (object 604C_h) or the analog value (see Analog inputs).

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 X3 – analog input and digital inputs). The maximum analog voltage corresponds to the maximum speed. The direction is preset here via the direction input. If there is no signal at the direction input, the motor turns clockwise (when looking at the drive shaft). 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 X3 – analog input and digital inputs). The half of the maximum analog voltage corresponds to the speed 0; the controller automatically adapts the offset in 3321_h here.
Note: If you would like to change to a different mode afterwards, you must adapt or reset the offset in 3321_h if necessary.; 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 U_max/2 ± 20 mV.

Test run with 30 rpm

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

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