Additional functions
The number of previously configured process data items must be added to the specified number of the process data word.
The process data words vary depending on which additional functions are used in which combination.
Variable jerk time via process data
WARNING
Unexpected system behavior by changing the jerk time during deceleration. If the jerk is reduced (jerk time increased) during deceleration, the target position may be overrun.
May result in death, severe injuries or damage to property
- Change the jerk (jerk time) only when the machine is at idle state.
Word | Bit | Function | |
|---|---|---|---|
PO 9 | Setpoint jerk time |
| Specified jerk time in milliseconds |
Parameter channel via process data
Parameter channel via process data without additional function
WordParameter channel via process data is only available up to version 9 | Bit | Function | |
|---|---|---|---|
PO 8 | Control word | 8 | Select "read" service |
9 | Select "write" service | ||
14 | Execute function (rising edge) | ||
PO 9 | Index |
| Index of the parameter to be read or written |
PO 10 | Offset | 0 to 7 | Offset of the parameter to be read or written |
Subindex | 8 to 15 | Subindex of the parameter to be read or written | |
PO 11+12 | Value |
| Value to be written |
Parameter channel via process data + jerk time
WordParameter channel via process data is only available up to version 9 | Bit | Function | |
|---|---|---|---|
PO 9 | Control word | 8 | Select "read" service |
9 | Select "write" service | ||
14 | Execute function (rising edge) | ||
PO 10 | Index |
| Index of the parameter to be read or written |
PO 11 | Offset | 0 to 7 | Offset of the parameter to be read or written |
Subindex | 8 to 15 | Subindex of the parameter to be read or written | |
PO | Value |
| Value to be written |
Parameter channel via process data + jerk time + variable torque limit OR additional function "Brake test" + variable torque limit
WordParameter channel via process data is only available up to version 9 | Bit | Function | |
|---|---|---|---|
PO 10 | Control word | 8 | Select "read" service |
9 | Select "write" service | ||
14 | Execute function (rising edge) | ||
PO 11 | Index |
| Index of the parameter to be read or written |
PO 12 | Offset | 0 to 7 | Offset of the parameter to be read or written |
Subindex | 8 to 15 | Subindex of the parameter to be read or written | |
PO | Value |
| Value to be written |
Variable torque limit Q1
Variable torque limit Q1 without additional function
Word | Bit | Function | |
|---|---|---|---|
PO 9 | Control word for the torque limit | 0 | Activation of the torque limit |
1 | Deactivation of monitoring for speed and lag error | ||
2 | Reserved | ||
3 | Deactivation of speed monitoring | ||
PO 10 | Maximum torque | 0 to 15 | Torque related to the nominal motor torque (unit: 0.1%) |
Variable torque limit Q1 + jerk time
Word | Bit | Function | |
|---|---|---|---|
PO 10 | Control word for the torque limit | 0 | Activation of the torque limit |
1 | Deactivation of monitoring for speed and lag error | ||
2 | Reserved | ||
3 | Deactivation of speed monitoring | ||
PO 11 | Maximum torque | 0 to 15 | Torque related to the nominal motor torque (unit: 0.1%) |
Touchprobe 1
Touchprobe 1 without additional function
Word | Bit | Function | |
|---|---|---|---|
PO 9
| Touchprobe 1 – control word
| 0 | Activation of Touchprobe 1 (one-time trigger) |
1 | Activation of length measurement | ||
2 | Reserved | ||
3 | Reserved | ||
PO 10 | Touchprobe 1 – debouncing time for length measurement | 0 to 15 | ms |
PO 11 | Touchprobe 1 – high word relative position | 0 to 15 | User unit |
PO 12 | Touchprobe 1 – low word relative position | 0 to 15 | User unit |
Touchprobe 1 + jerk time
Word | Bit | Function | |
|---|---|---|---|
PO 10
| Touchprobe 1 – control word
| 0 | Activation of Touchprobe 1 (one-time trigger) |
1 | Activation of length measurement | ||
2 | Reserved | ||
3 | Reserved | ||
PO 11 | Touchprobe 1 – debouncing time for length measurement | 0 to 15 | ms |
PO 12 | Touchprobe 1 – high word relative position | 0 to 15 | User unit |
PO 13 | Touchprobe 1 – low word relative position | 0 to 15 | User unit |
Touchprobe 1 + jerk time + variable torque limit Q1 (2PD)
Word | Bit | Function | |
|---|---|---|---|
PO 11
| Touchprobe 1 – control word
| 0 | Activation of Touchprobe 1 (one-time trigger) |
1 | Activation of length measurement | ||
2 | Reserved | ||
3 | Reserved | ||
PO 12 | Touchprobe 1 – debouncing time for length measurement | 0 to 15 | ms |
PO 14 | Touchprobe 1 – high word relative position | 0 to 15 | User unit |
PO 15 | Touchprobe 1 – low word relative position | 0 to 15 | User unit |
Brake test
Brake test without additional function
Word | Bit | Function | |
|---|---|---|---|
PO 9 | Reserved | 0 to 15 | Reserved |
Brake test + jerk time
Word | Bit | Function | |
|---|---|---|---|
PO 10 | Reserved | 0 to 15 | Reserved |
Brake test + jerk time + variable torque limit Q1 (2PD)
Word | Bit | Function | |
|---|---|---|---|
PO 12 | Reserved | 0 to 15 | Reserved |
Brake test + jerk time + variable torque limit Q1 (2PD) + Touchprobe function (4PD)
Word | Bit | Function | |
|---|---|---|---|
PO 16 | Reserved | 0 to 15 | Reserved |
