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MPH-02, MPB-02, MPD-02
Transmission of Non-Cyclical Data
Interface Errors and Diagnostic Possibilities
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
readiness for operation. For example, in the case of asynchronous motors
this time is used to magnetize the motor.
If drive enable is disabled, the drive performs the reaction parameterized
by parameter P-0-0119, Best possible deceleration. In this case, too,
time passes between resetting and confirming the reset. This time
depends on
• the setting of the parameter P-0-0119,
• the existence of a motor brake and its parameterization,
• the velocity of the axis at the time drive enable is reset.
1
0
1
0
t
DEON
S-0-0206
Fig. 4-20: Acknowledging drive enable
Typical values for t
DEON
motors or 300 ms for asynchronous motors.
Note:
During the t
DEON
unit should be such that the command velocity is zero.
Releasing the possibly available motor holding brake only
takes place at the time drive enable is acknowledged (positive
edge of "acknowledge of drive enable")!
Non-cyclical data are parameters that are not transmitted cyclically, but
via the service channel.
The service channel is therefore used for parameterization and diagnosis.
The transmission via the service channel is done in sections in the MDT
and AT, and per transmitted element can last several SERCOS cycles.
If conditions are detected in the drive that no longer allow the correct
operation of the interface, or if incorrect preset values are detected during
the initialization phase, the drive reacts by going back to communication
phase 0. No more drive telegrams will be sent, the drive automatically
carries out the programmed error reaction (see P-0-0119, Best possible
deceleration) and waits for the reinitialization of the SERCOS ring by the
master.
Master Communication
t
DEOFF
depending on
S-0-0206 and S-0-0273
releasing the motor
holding brake
(S-0-0206) are about 8 ms for synchronous
time the command value set by the control
4-39
drive enable
acknowledgment
of drive enable
t / ms
DK0006v1.fh7
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