Installation manual

33
Operational Overview
Torque Mode Enable
This Torque Mode Enable input function, when active, causes the drive to change operating mode to torque mode. When
this input function is deactivated the default operating mode is enabled with no transitional ramping.
Travel Limit + and -
The Travel Limit + and - input functions will stop motion in the direction indicated by the input function using the Travel
Limit Deceleration rate. This feature is active in all modes. When an axis is stopped by a Travel Limit function, it will
maintain position until it receives a command that moves it in the opposite direction of the active Travel Limit.
For example, the + Travel Limit will stop motion only if the motor is moving + but allows - motion to move off the limit
switch. Conversely, the - Travel Limit will stop motion only if the motor is moving - but allows + motion to move off the
limit switch.
If both input functions are active at the same time, no motion in either direction will be possible until at least one of the
inputs is released.
When either + or - Travel Limit input function is activated, a fault will be logged into the Fault Log, and the drive will
display an “L” on the status/diagnostics display on the front of the drive. Once the axis is driven off the limit switch, the
fault will be cleared and the “L” will disappear.
If both Travel Limit input functions are activated simultaneously, the drive will respond as if the Stop input function has
been activated and will use the Stop Deceleration ramp.
Enable Analog Position
This input function, when active, will switch the drive into Analog Position Mode. This will move the motor from starting
Position Command to Analog Position Command unless the two values are equal then no motion is expected. Motion
is limited by the Accel Limit Starting parameter.
Define Analog Position
This input function, when active, is used to set Position Command equal to Analog Position Command. No motion is
executed, the Enable Analog Position must be disabled.
Teach Analog Position
This input function is used to set the Minimum and Maximum Analog Positioner mode parameters. The first pulse of the
input sets the minimum values and the second pulse will define the max
Output Lines
Active State
The default active state of an output line is “Active On”. This means that the output line will supply a voltage when the
result of the logical Or of the output function(s) assigned to that output line is active.
Making an output line "Active Off" means that the line will be “Off” (not conducting) when the result of the logical Or of
the output function(s) assigned to that output line is active, and will supply a voltage when the logical Or of the output
function(s) is not active.
Forced On and Forced Off
You can force an output line to a level by using the Forced On and Forced Off check boxes. When you force an output
line “On” or “Off”, the output functions are not affected.
The forced state of input and output lines are not saved to NVM and will reset to normal operation when the drive
is powered up or re-booted.
Output Functions
At Velocity
This output function is active whenever the motor is at the peak commanded velocity of a home, jog or index. It activates
when the acceleration ramp completes and deactivates when the deceleration ramp begins.
Brake
The Brake output function must be used to control the motor holding brake. If the Brake output function is off, the brake
is mechanically engaged. When the brake is engaged, the diagnostic display on the front of the drive will display a “b”.
Drive OK
This output function is active whenever no fault condition exists. Travel limits and the Drive Enable have no effect on
this output function.