PD2-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 mode – open-loop or closed-loop.

Digital input 4 serves here as an enable (see X1 – voltage supply, inputs and outputs).

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

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:

4015:01=0

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. This also applies for changes to the configuration file.

Clock-direction

The controller internally sets the operating mode to clock-direction. You must connect the enable, clock and direction inputs (see chapter X1 – voltage supply, inputs and outputs).

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 X1 – voltage supply, inputs and outputs). 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 X1 – voltage supply, inputs and outputs). 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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