| ASCII - Command | ENGAGE | |||
| Syntax Transmit | ENGAGE [Data] | |||
| Syntax Receive | ENGAGE <Data> | Available in | ||
| Type | Variable rw | MMI | No | |
| ASCII Format | Integer8 | CANBus Object Number | 36CD (hex) | |
| DIM | PROFIBUS PNU | 1653 (dec) IND = 17 (dec) | ||
| Range | 0...8 | DPR | 461 (dec) | |
| Default | 0 | |||
| Opmode | 4 | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.38 | |||
| Configuration | Yes | Last Change of this Object | 1.9 | |
| Function Group | drive configuration | EEPROM | Yes | |
| Short Description | Master -slave switch on / off | |||
Description
| The ENGAGE command is used to switch the master - slave mode on or off (synchronise) ENGAGE= 0 Master/Slave-mode active in case of OPMODE=4 ENGAGE= 1 Master/Slave-mode active in case of OPMODE=4 and given synchronisation command ENGEDGE. After drive switch on and ENGAGE=1 the master - slave-mode is inactive (ENGEDGE=0). To start the master - slave-mode the internal variable ENGEDGE has to be set via field bus, internal plc- program or command M ENGEDGE. ENGEDGE can be set to different modes: ENGEDGE = 0 No synchronisation, Master/Slave inactive, Slave will fix the actual position ENGEDGE = 1 Synchronisation via velocity. The slave accelerates to the master velocity via ramp ACCR. If the master speed is reached ENGEDGE is set to 5 (running sync to master). The following error is without effect to ENGEDGE). This function is activated also by a going edge on for example digital input 3 with setting IN3MODE =42. ENGEDGE = 2 Declutch The slave decelerates via DECR. If the slave is standing still ENGEDGE is set to 0. This function is activated also by a falling edge on for example digital input3 with setting IN3MODE =42, 43 or 51. ENGEDGE = 3 1 Synchronisation via velocity. The master position is latched within the synchronisation start. The slave accelerates to the master velocity via ramp ACCR and eliminates the position difference. When the master speed is reached, ENGEDGE is set to 4 (position compensation) and by raising the setpoint the position difference is cancelled. If this procedure is finished ENGEDGE is set to 5. This function is activated also, if a going edge is for example at digital input 3 with configuration IN3MODE = 43. ENGEDGE = 4 see ENGEDGE=3 ENGEDGE = 5 see ENGEDGE=1 ENGEDGE = 6 synchronisation via position with constant acceleration (linear). The slave speeds up to the master velocity within a defined distance, that is given in variable M IN51MERK. It relates to the slave distance and is defined in counts (20 bit/turn => 2^20). After master position and speed are reached, ENGEDGE is set to 5 (running sync to master). This function can also be executed by a going edge on for example digital input 3 and configuration IN3MODE =51. ENGEDGE = 7 synchronisation via position with customer defined profile. The slave speeds up to the master velocity within a defined distance, that is given in variable M IN51MERK. It relates to the slave distance and is defined in counts (20 bit/turn => 2^20). The synchronisation profile is fixed within the first lookup-table (sinus2 in case of standard-table). Nachdem die Position und Geschwindigkeit des Masters erreicht wurden, wird ENGEDGE automatisch auf 5 gesetzt (Fahren synchron zum Master). This function can also be executed by a going edge on for example digital input 3 and configuration IN3MODE =53. ENGEDGE = 8…11 reserved ENGEDGE = 12 declutching, the slave slows down via a customer given profile. The synchronisation profile is fixed within the first lookup-table (sinus2 in case of standard-table). If standstill is reached, ENGEDGE is set to 0 (standstill at slave). This function can also be executed by a going edge on for example digital input 3 and configuration IN3MODE =53 |
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