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draw.io Diagram | |||||||||||||||||||||
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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 |
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0x6040 | Controlword | - | - | See Controlword for general usage. | Yes |
0x6041 | Statusword | - | - | See Statusword for general usage. | Yes |
0x6060 | Modes of operation | 1 | - | Sets the mode to Profile Position mode | Yes |
0x607A | Target Position | -232 to +231 | pulses | Sets the target position. | Yes |
0x6081 | Profile velocity | See Peak Speeds 28868762 | pulses/s | Sets the target velocity of the profile. | Yes |
0x6083 | Profile acceleration(1) | 0 - 32767 | pulses/s2 | Sets the profile acceleration. The deceleration uses the same value. | Yes |
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The following tables show the controlword usage.'
15-10 | 9 | 8 | 7 | 6 | 5 | 4 | 3-0 | ||||||||
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See Controlword | Change on set-point | Halt | See Controlword | abs/rel | Change set immediately | New set-point | See Controlword |
Bit | Name | Value | Definition |
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4 | New set-point | 0 → 1 | Next positioning shall be started immediately. |
5 | Change set immediately | 1 - N/A | Bit 5 will always be considered a 1 and will be ignored. Change set immediately is always executed |
6 | abs/rel | N/A | Absolute positioning is always executed. This bit shall be ignored |
8 | Halt | 0 | Positioning shall be executed or continued |
1 | The axis shall be stopped using the deceleration value in 0x6083 | ||
9 | Change on set-point | N/A | Single set point mode is always executed. Bit9 is ignored. |
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15 | 14 | 13 | 12 | 11 | 10 | 9-0 | |||||||||
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See Statusword | Following Error | Set-point ackowledgeacknowledge | See Statusword | Target reached | See Statusword |
Bit | Value | Definition |
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10 | 0 | Halt (Bit 8 in controlword) = 0: Target position not reached |
1 | Halt (Bit 8 in controlword) = 0: Target position reached | |
12 | 0 | Waiting for new setpoint |
1 | Set point has been processed. | |
13 | 0 | No following error. The drive is able to follow the commanded trajectory |
1 | Following error. The drive cannot follow the commanded trajectory. |
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draw.io Diagram | |||||||||||||||||||||
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Use of acceleration and deceleration value
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Object | Name | Value | Unit | Description | PDO Mapped |
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0x6040 | Controlword | - | - | See Controlword for general usage. | Yes |
0x6041 | Statusword | - | - | See Statusword for for general usage. | Yes |
0x6060 | Modes of operation | 3 | - | Sets the mode to Profile Velocity mode | Yes |
0x60FF | Target speed | See Peak Speeds | pulses/s | Sets the target speed | Yes |
0x6083 | Profile Acceleration | 0-32767 | Kpulses/s2 | Profile Acceleration | No |
0x6084 | Profile Deceleration | 0-32767 | Kpulses/s2 | Profile Deceleration | No |
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The following objects are used in Profile Position Homing mode
Scroll Table Layout | |||||||||||||||
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Object | Name | Value | Unit | Description | PDO Mapped |
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0x6040 | Controlword | - | - | See Controlword 28868762 for general usage. | Yes |
0x6041 | Statusword | - | - | See Statusword for for general usage. | Yes |
0x6060 | Modes of operation | 6 | - | Sets the mode to Homing mode | Yes |
0x607C | Home 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. | No |
0x6098 | Homing Method | 0 to -6 | - |
See Homing Methods for additional information | No |
0x6099:01 | Homing Speed | 1000 - 500000 | pulses/s | The 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 |
0x609A | Homing Acceleration | 1000-5000000 | pulse/s2 | The 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 |
0x60F6:1B | Homing Torque | 10-100 | % rated torque | Set the torque during the home routine.
| No |
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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 |
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0x6040 | - | - | See Controlword | Yes |
0x6041 | - | - | See Statusword | Yes |
0x60FF | See Peak Speeds | pulses/ms | Target velocity | Yes |
0x606C | See Peak Speeds | pulses/ms | Velocity actual value | Yes |
0x6060 | 9 | - | CSV mode set | Yes |
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