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draw.io Diagram
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diagramNameMYOCAT - Drive State Machine
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There are a few things to note when using the state machine

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword for general usage.Yes
0x6041Statusword--See Statusword 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 ControlwordChange on set-pointHaltSee Controlwordabs/relChange set immediatelyNew set-pointSee Controlword


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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1514131211109-0
See StatuswordFollowing ErrorSet-point ackowledgeacknowledgeSee StatuswordTarget reachedSee Statusword


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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Use of acceleration and deceleration value

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Object

Name

Value

Unit

Description

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

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The following objects are used in Profile Position Homing mode

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Object

Name

Value

Unit

Description

PDO Mapped
0x6040Controlword--See Controlword 28868762 for general usage.Yes
0x6041Statusword--See Statusword for  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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Section


Column
width20%

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Column
  1. Motor runs CW towards a hardstop. 
  2. The driver monitors the motor current and detects when a hardstop has been reached. 
  3. Motor backs up CCW to the 2nd previous encoder tooth (improved repeatability) and sets the position to 0.
  4. If an offset is set the motor moves the offset distance
    1. Care should be taken not to set a +ve offset as this will move the load into the hardstop
  5. Sets the final position to 0.


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Section


Column
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Column
  1. Motor runs CCW towards a hardstop. 
  2. The driver monitors the motor current and detects when a hardstop has been reached. 
  3. Motor backs CW up to the 2nd previous encoder tooth (improved repeatability) and sets the position to 0.
  4. If an offset is set the motor moves the offset distance.
    1. Care should be taken not to set a -ve offset as this will drive the load into the hardstop
  5. Sets the final position to 0.


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Section


Column
width20%

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  • Diagram shown with motor connected to linear actuator.
    • CW rotation moves the load left to right
  • Sensor is connected directly on IN2 or IN3


Column
  1. Motor runs CW waiting for sensor input
  2. Sensor rising edge triggers the input, motor captures encoder position, decelerates and reverses direction
  3. Motor stops on captured position and sets position to 0
  4. If an offset is defined the motor continues to the defined offset and sets the final target position to 0.
    1. Offset could be +ve or -ve. The above diagram shows a -ve offset


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Section


Column
width20%

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  • Diagram shown with motor connected to linear actuator.
    • CCW rotation moves the load right to left
  • Sensor is connected directly on IN2 or IN3


Column
  1. Motor runs CCW waiting for sensor input
  2. Sensor rising edge triggers the input, motor captures encoder position, decelerates and reverses direction
  3. Motor stops on captured position and sets position to 0
  4. If an offset is defined the motor continues to the defined offset and sets the final target position to 0.
    1. Offset could be +ve or -ve. The above diagram shows a +ve offset.


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15-9876-543-0
See ControlwordHaltSee Controlwordreserved (0)Homing operation StartSee Controlword


BitNameValueDefinition
4New set-pointHoming 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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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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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 ControlwordYes
0x6041--See StatuswordYes
0x60FF

See Peak Speeds

pulses/ms

Target velocity

Yes
0x606CSee Peak Speedspulses/msVelocity actual valueYes
0x60609-CSV mode setYes

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