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Comment: Changed PDO requirement from 1ms.

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword 28868762 for general usage.Yes
0x6041Statusword--See Statusword 28868762 for general usage.Yes
0x6060Modes of operation1-Sets the mode to Profile Position modeYes
0x607ATarget Position-232 to +231pulsesSets the target position.Yes
0x6081Profile velocitySee Peak Speeds 28868762pulses/sSets the target velocity of the profile.Yes
0x6083Profile acceleration(1)0 - 32767pulses/s2Sets the profile acceleration. The deceleration uses the same value.

Yes

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The following tables show the controlword usage.'

15-109876543-0
See Controlword28868762Change on set-pointHaltSee Controlword28868762abs/relChange set immediatelyNew set-pointSee Controlword28868762


BitNameValueDefinition
4New set-point0 → 1Next positioning shall be started immediately.
5Change set immediately1 - N/ABit 5 will always be considered a 1 and will be ignored. Change set immediately is always executed
6abs/relN/AAbsolute positioning is always executed. This bit shall be ignored
8Halt0Positioning shall be executed or continued
1The axis shall be stopped using the deceleration value in 0x6083
9Change on set-pointN/ASingle set point mode is always executed. Bit9 is ignored.

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The following tables show the statusword usage.

1514131211109-0
See Statusword 28868762Following ErrorSet-point ackowledgeSee Statusword28868762Target reachedSee Statusword28868762


BitValueDefinition
100

Halt (Bit 8 in controlword) = 0: Target position not reached
Halt (Bit 8 in controlword) = 1: Axis decelerating

1

Halt (Bit 8 in controlword) = 0: Target position reached
Halt (Bit 8 in controlword) = 1: Velocity of axis is 0

120Waiting for new setpoint
1Set point has been processed.
130No following error. The drive is able to follow the commanded trajectory
1Following error. The drive cannot follow the commanded trajectory.

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword 28868762 for general usage.Yes
0x6041Statusword--See Statusword 28868762 for general usage.Yes
0x6060Modes of operation3-Sets the mode to Profile Velocity modeYes
0x60FFTarget speedSee Peak Speeds 28868762pulses/sSets the target speedYes
0x6083Profile Acceleration0-32767Kpulses/s2Profile AccelerationNo
0x6084Profile Deceleration0-32767Kpulses/s2Profile DecelerationNo

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword 28868762 for general usage.Yes
0x6041Statusword--See Statusword 28868762 for general usage.Yes
0x6060Modes of operation6-Sets the mode to Homing modeYes
0x607CHome Offset-3276700 to +3276700

encoder pulses

(50 000 per motor revolution)

Once a home sensor or hardstop has been achieved the motor will move the distance of the offset. The final position will be set to 0.

This value is written to an internal motor register which has a resolution of 100 pulses.
As such the value written into 0x607C will be rounded to the nearest 100 internally.

No
0x6098Homing Method0 to -6-
  • 0: No home routine selected
  • -1: Hardstop CW
  • -2: Hardstop CCW
  • -3: Input 2 sensor CW
  • -4: Input 2 sensor CCW
  • -5: Input 3 sensor CW
  • -6: Input 3 sensor CCW

See Homing Methods for additional information

No
0x6099:01Homing Speed1000 - 500000pulses/sThe homing speed is written to an internal register which has a unit of 100 pulses/s.
The value written into 0x6099 will be rounded to the closest 100.

No

0x609AHoming Acceleration1000-5000000pulse/s2The homing acceleration is written to an internal register which has a unit of 1000 pulses/s.
The value written into 0x609A will be rounded to the closest 1000.		No
0x60F6:1BHoming Torque10-100% rated torque

Set the torque during the home routine.

  1. When homing to a hardstop this value will indicate the limit at which the hardstop is reached
  2. When homing to a switch this value will limit the torque during the home routine.
No

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The following tables show the controlword usage.

15-9876-543-0
See Controlword 28868762HaltSee Controlword 28868762reserved (0)Homing operation StartSee Controlword 28868762


BitNameValueDefinition
4Homing operation start0 → 1Start or continue homing procedure
8Halt0Enable bit 4
1The axis shall be stopped using the deceleration value in 0x609A

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The following tables show the statusword usage.

15-14131211109-0
See Statusword 28868762Homing ErrorHoming attainedSee Statusword 28868762Target reachedSee Statusword 28868762
General Definitions
BitValueDefinition
100

Homing procedure is in progress

1

The motor has reached its target position or is currently disabled via the controlword

120

Homing not attained.

  • This value will by default start at 0.
  • This value will be reset to 0 when a new home routine is started.
1

Homing attained

  • This value will be set to 1 when a home has been achieved. I.e. a hardstop has been hit or a sensor has been triggered
  • This value will be reset to 0 when a new home routine is started
  • This value will be reset to 0 if there is a home routine error or the home routine is aborted before the motor reaches target position
130No home routine error
1Home routine error

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Cyclic synchronous position mode is set by setting the Modes of operation to 8. CSP mode is designed to allow the master controller full control of the position target. The 0x6064 position target shall be updated every 1msPDO cycle. Failure to update the position target at 1ms intervals the defined PDO interval will result in noisy and poor motion.

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Object

Value

Unit

Description

PDO Mapped
0x6040--See Controlword28868762Yes
0x6041--See Statusword 28868762Yes
0x607A

-232 to +231

pulses

Target position

Yes
0x6064-232 to +231pulsesPosition actual valueYes
0x60608-CSP mode setYes

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Cyclic synchronous velocity mode is set by setting the Modes of operation to 9. CSV mode is designed to allow the master controller full control of the instantaneous velocity target. The 0x60FF velocity target shall be updated every 1msPDO cycle. Failure to update the position target at 1ms intervals velocity at the defined PDO time interval will result in noisy and poor motion.

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Object

Value

Unit

Description

PDO Mapped
0x6040--See Controlword28868762Yes
0x6041--See Statusword28868762Yes
0x60FF

See Peak Speeds 28868762

pulses/ms

Target velocity

Yes
0x606CSee Peak Speeds 28868762pulses/msVelocity actual valueYes
0x60609-CSV mode setYes

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