【正文】 e 1,=00.v1v121,DriveManager2,v12v223+4,34DriveManager34v13Av2v2v234v1v2 4B3+45+6,56()()BDriveManager56v25v1Av1v2566Bv2v25+6710,A.()7 8910( B78C)DriveManager10()D789 10Av1877v2v2v2v1v2109 v2BCv210v2v1v2v18v1997v2v2 8D1071114,A1112()10,DriveManager1314()1314()1112()111213DriveManager1414v2v123v112v1v2A1111Dv114v2v2BCv2v1131312v1v21114v21v221115171630,173011414,v11919v2v2v220v1v2201730,DriveManager1...4...8...12...14302824201731333234,3 v2v234333435DriveManager(+= = 0).DRIVEMANAGER2147483648 ... 21474836472147483648 ... 21474836470 759 SWLSP(_PBAS) 760SWLSN(_PBAS)0,() 543RSWLRSWL=NOERRWARNDriveManager/)DRIVEMANAGER(DRIVEMANAGER0 ...42949672950 ...42949672951000500721_VQJOG (_PRAM )720_VSJOG (_PRAM )DriveManager.1.2.3.4.5.6.7.8.9.TIPP011011110TIPN001110100DriveManagerPCT_2, PCC_2I/OEasyDrive161.2.3.4.5.6.7.8.//(015)PCB_2 TablePosDRIVEMANAGERFIxxx = TABx(20, 21 , 22 , 23)(2 )0TABx1TAB0TAB3(2 )3DriveManagerIE07 IE06 IE05 IE04 IE03 IE02 IE01 IE00 IS03 IS02 IS01 IS00TAB TAB TAB TAB 3210 ====23222120TAB 2 =22TAB 1 =21TAB 0=20TAB 1=21015TAB 0=2TAB 3 =2300703,811Input FIxxx = TBENI/OInput FIxxx = FOSWTBEN,FOSWPerform travel taskPerform followup taskRepetition/performfollowup order,FOSWDriveManagerDRIVEMANAGER0 150278TIDX (_RTAB)776ATIDX (_RTAB)0150(HALTLogic ( ))()1.2.3.DriveManagerDriveManagerDRIVEMANAGER2147483648 ... 2147483647 (_RTAB)x = travel set 0150DRIVEMANAGERABS ... SPEEDREL (_RTAB)x = travel set 015DriveManager01ABSREL2SPEEDDRIVEMANAGER2147483648 ... 2147483647 (_RTAB)x = travel set 01510000DRIVEMANAGER (_RTAB)x = travel set 015 (_RTAB)x = travel set 0150 ... 4294967295100000 ... 429496729510000DriveManagerDRIVEMANAGER (_RTAB)x=0150 ... 25501DRIVEMANAGER()1 ... 151 (_RTAB)x=015WANNDRIVEMANAGER (_RTAB)x=015SW ... WSTPSW0SWDriveManager12DTSWDT v1)V23WSTPon the fly (WIEDRIVEMANAGERWIEWANNOFF ... NEXTOFF (_RTAB)x=015= SW:()0OFF1STORE2NEXT= SWDT:(FOSWC)(FODT)DriveManager(DT, SWDT)DRIVEMANAGER (_RTAB)x=0150 ... 655350ms(travel set 2).v1v1FOST = SW, DT or SWDTv2tTravel set 1Travel set 2vFOST = WSTP2v1aDEC2v2tTravel set 1Travel set 2DriveManagerA0DRIVEMANAGER (_RTAB)x=015 (_RTAB)x=015B03A0 ... 40B0 ... 40DRIVEMANAGER2147483648 ...2147483647 (_RTAB)x=030DriveManagerDRIVEMANAGER (_RTAB)x=t 03ABS ... RELEABS012ABSRELSRELEDRIVEMANAGER (__RTAB )x=03 (__RTAB )x=03 (__RTAB )x=031OFF ... INVOFF2OFF ... INVOFF3OFF ... INVOFF0123OFFSETCLEARINV10DriveManagerDRIVEMANAGER:DRIVEMANAGER1.2.3.ApplyDRIVEMANAGER:(FIxx = TBTEA)DriveManager???,)(1.2.Speed profile/DriveManager????DriveManager????DriveManager1/DRIVEMANAGER RA0RCON280_RSSL1281_RSSL2 (_REF)289_SADD1290_SADD2 (_REF)2RCON ...ROPT1,2,RCON ...ROPTRCONRSSL1 / RSSL2SADD1 / SADD2:0123456789101112RCONRA0RA1RSIORDIGRCANRPLCRTABRFIXRMINRMAXROPTRPARACANPLCISA00ISA01(),DriveManager()DriveManagerISA00ISA0132764 ... 3276432764 ... 3276432764 ... 3276432764 ... 3276400000282RA0283RA1284RSIO287ROPTN288RCAN291REF1292REF2CAN12REF1 + REF232764 ... 3276432764 ... 3276432764 ... 3276432764 ... 3276432764 ... 3276432764 ... 32764000293REF3295REF5296REF6DriveManager???) CAN PLC((PROFIBUS), 260CLSELRamps further settings“).DRIVEMANAGEROFF ... PLC(DRIVEMANAGERSetpoint/TERM260_CLSEL (_CONF)?? (CDB3000ENPOSH“)10 ms(“)()7AUTO = ON.DriveManagerOFF:ON.OFF/ONOFF7AUTO(_CONF)(TERM)260CLSEL KEYPAD/DRIVEMANAGER01234567OFFTERMKPADSIOCANOPTNPLCPARAM260CLSELKEYPADRS232CANopen()DriveManager(TERM) TerminalFIxxx = STARTFIxxx = STR, STLENPOKP200XL(KPAD) CONTROLKP200XLKP200XLCDF3000(SIO)DRIVEMANAGERDRIVEMANAGER(X4)Control deviceDRIVEMANAGER DRIVEMANAGERDRIVEMANAGERSIOCANopen(CAN)DSP402( PROFIBUS)EASYDRIVEOPTN(PLC)PLCCANopenEASYDRIVECANopenPLCDriveManager???????()(TCON)(SCON)(PCON)DriveManagerPI(PControlDRIVEMANAGER)(I)P1. ControlOutput stage2.DriveManagerDRIVEMANAGER811_SCGF A (_CTRL)160_MOJN M (_MOT)817_SCJ(_CTRL)810_SCG(_CTRL)812_SCTL G (_CTRL)473_PCG(_CTRL)818_ECTF (_CTRL)816_SCTF (_CTRL)809_SCGF O (_CTRL)690_PMFS (_CONF)SCGFA0 ... %(Moments of inertia)0 ... 1000ms