Versions Compared

Old Version 43

changes.mady.by.user Mark McCann

Saved on

compared with

New Version 44

changes.mady.by.user Mark McCann

Saved on

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.

...

(1) Set the home search parameters with K parameters K42-K48

Statusword
Anchor
statusword
statusword

The Statusword returns information on the status of the motor. 

Scroll Table Layout
orientationdefault
sortDirectionASC
repeatTableHeadersdefault
style
widths16%,14%,13%,13%,16%,12%,14%
sortByColumn1
tableStylingconfluence
sortEnabledfalse
cellHighlightingtrue

Register NameProfile Mode = 2Profile Mode = 3UnitDescription
CML RegistersModbus RegistersTCP/UPD BytesEthernet/IP O2T Bytes
StatuswordQuery ?994000916-1716-17N/ASee below


Bit Descriptions:

BITName
B0Position overflow alarm
B1Overspeed alarm
B2Overload alarm
B3Inposition
B4Disable
B5Pushmode limit
B6Communication error alarm
B7Over temperature alarm
B8Pushmode Timeout warning
B9E-Stop active
B10N/A
B11N/A
B12N/A
B13N/A
B14New start required
B15Home achieved

TargetPosition

The TargetPosition sets a new target position for the motor.

...

Register Name

Profile Mode = 2

Profile Mode = 3

Description
CML RegistersModbus Registers(1)TCP/UPD Bytes(2)Ethernet/IP O2T Bytes(3)
TargetPositionP1410294-70-3

The target position the motor will move to.

  • Used as an absolute position
  • Used as an incremental position in a relative control(1) move
  • Not used in speed control(1)

(1) See the Controlword for switching to speed or relative control.

TargetSpeedS1410318-114-7

The maximum speed of the profile trajectory.

  • the sign of S1 is ignored in a position control move.
  • +ve S1 in speed control will run the motor in a +ve direction (typically CW)
  • -ve S1 in speed control will run the motor in a -ve direction (typically CCW)
TargetTorqueN14103312-138-9The maximum torque the motor will use.
TargetAccelerationA14103514-1510-11

Acceleration is used when the profile is accelerating to the target speed.
This is regardless of whether the target speed will be reached or not

TargetDecelerationA24103716-1712-13Deceleration is used when the profile is decelerating to the target position.
ControlwordR14103918-1914-15Bits in the Controlword dictate profile execution. A more detailed description can be found below.
ModeOfOperationSet with "_mop"410412016Sets the mode of operation see 51511389Setting Mode of Operation
DigitalOUTN/A410432117Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

...

BITNameValueDescription
B0Start/New Set Point

0

  • Do not execute any changes in profile registers
  • Do not start a new profile
  • Any profile currently in motion will be completed
0 → 1
  • Start a profile move defined by the profile registers
  • 0 → 1 transition is required to start a profile after
    • an error has been cleared
    • a home has been completed
    • a stop command has been given from CML or an input.
  • In relative mode transition is required to start the next incremental move.
    • The move is incremented from the current target position not the actual position.
1Execute any changes in any of the profile registers immediately.
B1Halt

0

Do nothing
1
  • Halt the current profile being executed
  • Prohibit execution of a profile if no profile is being run
B2Relative mode0TargetPosition is an absolute position
1TargetPosition is a relative incremental position
B3Speed control0Position control mode
1Speed control mode
B7-B4See Controlword

Profile Mode Examples

The following example uses the standard registers to run an absolute move. This could be run from a Control Room CML script.

...

Register Name

Profile Mode = 2

Profile Mode = 3

Description
CML RegistersModbus Registers(1)TCP/UPD Bytes(2)Ethernet/IP O2T Bytes(3)
TargetPositionP1410294-70-3

The target position the motor will move to.

  • Used as an absolute position
TargetTorqueN14103312-138-9The maximum torque the motor will use.
Filter GainA14103514-1510-11

The A1 register is used to store the filter gain.

ControlwordR14103918-1914-15Bits in the Controlword dictate the execution. A more detailed description can be found below.
ModeOfOperationSet with "_mop"410412016Sets the mode of operation see 51511389Setting Mode of Operation
DigitalOUTN/A410432117Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

...

BITNameValueDescription
B0Start/New Set Point

0

  • Do not execute any changes in target position register
  • Do not start a new mode
  • Any active move will be completed
0 → 1
  • Start a profile move defined by the profile registers
  • 0 → 1 transition is required to start a profile after
    • an error has been cleared
    • a home has been completed
    • a stop command has been given from CML or an input.
1Execute any changes in any of the profile registers immediately.
B1Halt

0

Do nothing
1
  • Halt the tracking position executed
  • Prohibit execution of a profile if no profile is being run
B3-B2N/A

B7-B4See Controlword

Dynamic Position Mode Example

...

Register Name

Profile Mode = 2

Profile Mode = 3

Description
CML RegistersModbus Registers(1)TCP/UPD Bytes(2)Ethernet/IP O2T Bytes(3)
TargetSpeedS1410318-114-7

The maximum speed of the profile

TargetTorqueN14103312-138-9

The maximum torque the motor will use while moving.

  • +ve N1 will rotate the motor in a +ve direction (typically CW)
  • -ve N1 will rotate the motor in a -ve direction (typically CCW)
ControlwordR14103918-1914-15

Bits in the Controlword dictate torque execution. A more detailed description can be found below.

ModeOfOperationSet with "mop"410412016Sets the mode of operation see 51511389Setting Mode of Operation
DigitalOUTN/A410432117Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See 51511389 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

...

BITNameValueDescription
B0Start/New Set Point

0

  • Do not follow the N1 target torque
  • Target Speed S1 is still executed
  • Do not start a new torque move
0 → 1
  • Start a torque move defined by the torque registers
  • 0 → 1 transition is required to start a torque move after
    • an error has been cleared
    • a home has been completed
    • a stop command has been given from CML or an input.
1

Following N1 target torque

B1Halt0Do nothing
1
  • Halt all motion and inhibit further motion
  • Halt all torque related parameters (torque & speed)
B3-B2N/A
B7-B4See Controlword

The interaction of the halt bit and the new set point (nsp) bit is quite specific. See the table below for additional important interaction.

...