ABB FECA-01 EtherCAT, User Manual

Page: 69 / 148

Communication profiles 69
In this section, the scalings of the reference and actual values are
described for each operation mode. Operation mode -specific
objects are defined in Appendix A – CoE Object Dictionary . The
current operation mode is displayed in object 0x6061, and it can be
changed using object 0x6060.

Homing mode
The homing mode describes various methods of finding a home
position, or a zero point. The switches pointing the home position
can be located at the ends or in the middle of the path that the
moving object is travelling. Most of the methods also use the index
(zero) pulse from an incremental encoder. For more information on
the homing mode and descriptions of the various homing methods,
see the drive manual.

Profile position mode
The profile position mode enables the positioning of the drive to be
controlled. The setting of position set-points is controlled by the
new set-point and the change sets immediately bits in the Control
word as well as the set-point acknowledge bit in the Status word.
The position command value is object 0x607A Target position
(inc).
Cyclic
synchronou
s torque
mode cst cst cst cst cst cst
Cyclic
synchronou
s velocity
mode csv csv csv csv
Cyclic
synchronou
s position
mode csp
Note: Drive synchronization is supported only with ACSM1
drives.
Operation
mode ACSM1
motion ACSM1
speed ACS850 ACS355 ACS880 ACS580