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Comment: added torque anchor

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As can be seen  above, if EtherNet/IP is used it will overwrite any of the other protocols in a write operation. The other protocols can still be used for read operations and diagnostics.

Read Registers

RegisterDescription
CPUTimeCPU clock time in 50us counts
ActualPositionThe actual position of the motor in encoder counts
ActualTargetPositionThe actual instantaneous position the motor is currently moving to.
MotorStatusThe motors status (error, homing, in position, etc)
ActualRatedCurrentPercentage (0.1%) of rated current. 1000 = rated, 1100 = peak.
ActualOverloadTorquePercentage (0.1%) of overload torque.
AnalogIN10 bit analog input value (0-1023)
DigitalINDigital IN status. B0-B3 = IN1-IN4
TemperatureDrive temperature in ºC
DCVoltage24V DC bus voltage in 0.1V
DigitalOUTDigital OUT status. B0-B1 = OUT1-OUT2
ModeOfOperationDisplayIndicates the mode of operation currently set
ActualSpeedActual speed of the motor in encoder counts/s

Write Registers

RegisterDescription
TargetPositionFinal target position
TargetSpeedMaximum speed
TargetTorqueMaximum torque
TargetAccelerationAcceleration (used when accelerating to target speed)
TargetDecelerationDeceleration  (used when stopping)
ControlwordControl the motor operation
ModeOfOperationSet the required mode of operation
DigitalOUTSet the 2 digital outputs. Requires K34=44.

Setting Mode Of Operation 
Anchor
Setting Mode of Operation
Setting Mode of Operation

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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.

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Scroll Table Layout
orientationdefault
sortDirectionASC
repeatTableHeadersdefault
style
widths16%,14%,13%,13%,16%,26%
sortByColumn1
tableStylingconfluence
sortEnabledfalse
cellHighlightingtrue

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 Setting 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 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

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Profile mode uses some specific bits in the Controlword

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

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Code Block
languagecpp
titleDynamic Position Mode Example
K87=10
V1="mop"	//assign V1 to set the mode of operation

a1=10		//set the filter gain to 10 (1-1024)
p1=0		//target position	
p2=10		//amount to increment each iteration of the logic scan
N1=1100		//run motor at full torque

|2			//reset position to 0


L1.1		//Logic bank 1 to init all parameters
R1=0		//clear control word
V1=4		//set mode of operation to 4
|2			//set motor position to 0
P1=0		//set target position to 0
R1=1		//set control word to start running dynamic position
JL2.1		//jump to L2		
END.1

L2.1		//L2 will continuously loop every #ms set in K87. 
p1=p1+p2;	//increment target position by P2 
end.1

Torque Mode
Anchor
Torque
Torque

Torque mode would be used where there is no target position but the motor is required to continuously hold or move at a required maximum torque. In this mode the toque set is a maximum torque and the torque will only be reached if required.

Scroll Table Layout
orientationdefault
sortDirectionASC
repeatTableHeadersdefault
style
widths16%,14%,13%,13%,16%,26%
sortByColumn1
tableStylingconfluence
sortEnabledfalse
cellHighlightingtrue

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 Setting 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 TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

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Torque mode uses some specific bits in the Controlword

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.

B0 (nsp) B1 (Halt)Description
10Motion profile follows torque and speed values
10 → 1

All motion stops

11

Motion is inhibited

  • Changes in speed are NOT followed
  • Changes in torque are NOT followed
01Operation is the same as above.
00

Motion may resume based on values

  • Torque will NOT be updated
  • Motion will continue if speed > 0


Note

It is important to understand that the halt bit temporarily halts operation. It does not interrupt motion. This means that a rising edge (0 → 1) is not required on B0 to continue operation. To keep prohibiting motion the following could be use

  • Keep the halt bit at 1
  • Set target velocity = 0
  • Move out of torque mode

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