Download PDF - Harmonic Drive AG

5.3 Stop ramps..................................................................................................................................................................... 107
5.4 Homing........................................................................................................................................................................... 110
5.4.1 Drive-controlled homing via field bus....................................................................................................................... 110
5.5 Jog mode.........................................................................................................................................................................120
5.6 Reference table..............................................................................................................................................................120
5.7 Measuring switch function/Touch probe.................................................................................................................... 124
6. Inputs/outputs.......................................................................................................................125
6.1 Digital inputs................................................................................................................................................................... 125
6.1.1 Settings for digital inputs ISD00-ISD06....................................................................................................... 127
6.1.2 Hardware enable ISDSH STO (Safe Torque Off)...........................................................................................128
6.1.3 Hardware enable and autostart.....................................................................................................................128
6.1.4 Manual drive control via digital inputs.......................................................................................................... 129
6.2 Digital outputs...............................................................................................................................................................130
6.3 Analog inputs.................................................................................................................................................................138
6.3.1 Analog channel ISA0x.....................................................................................................................................138
6.3.2 Reference input via analog inputs (IP/PG mode)........................................................................................ 139
6.3.3 Function block – Analog inputs, ....................................................................................................................141
6.3.4 Weighting of analog inputs...........................................................................................................................143
7. Limits...................................................................................................................................... 144
7.1 Control limitation............................................................................................................................................................144
7.1.1 Torque limitation (torque/force limits)..........................................................................................................144
7.1.2 Speed limitation Speed/Velocity ..................................................................................................................148
7.1.3 Position limitation (position limit).................................................................................................................150
7.1.4 Powerstage......................................................................................................................................................150
7.1.5 Software limit switches...................................................................................................................................151
8. Diagnostics.............................................................................................................................152
8.1 Error status/Warning status........................................................................................................................................ 152
8.1.1 Error reactions.................................................................................................................................................. 153
8.1.2 Error details/Alarm & warning details........................................................................................................... 153
8.1.3 Warnings.......................................................................................................................................................... 165
9. Field bus systems..................................................................................................................167
9.1 CANopen.......................................................................................................................................................................... 167
9.2 EtherCAT®....................................................................................................................................................................... 167
9.3 PROFIBUS-DP................................................................................................................................................................ 167
9.4 SERCOS..........................................................................................................................................................................168
10. Technology option............................................................................................................... 169
10.1 General:..........................................................................................................................................................................169
10.2 SinCos module..............................................................................................................................................................169
10.3 TTL-Modul.....................................................................................................................................................................169
10.4 TTL encoder with commutation signals....................................................................................................................169
11. Process controller................................................................................................................. 169
11.1 Function, controller structure, setup..........................................................................................................................169
Appendix.....................................................................................................................................175
Drive status.......................................................................................................................................................................... 175
Status bits............................................................................................................................................................................ 175
State machine...................................................................................................................................................................... 176
Manual mode........................................................................................................................................................................ 177
Monitoring functions........................................................................................................................................................... 177
Interpolation method.......................................................................................................................................................... 179
Quick commissioning...........................................................................................................................................................182
Rotary motor system..........................................................................................................................................................182
Linear motor system...........................................................................................................................................................183
04/2015
1003374
3