Communication extension card
-63-
4.8.7
Device running mode
Set P00.01=2 (command running channel), P00.02=3 (EtherCAT communication channel), and P16.18
Communication timeout. Position mode and homing mode are achieved only when the drive is in the closed-
loop mode.
4.8.7.1
Cyclic Synchronous Position Mode
1. Set
【
6060h: Mode of operations
】
to 8 (Cyclic synchronous position mode).
2. Set
【
6040h: Control word
】
to enable the drive (set it to 0x0F for enabling).
3. Set
【
607Ah: Target position
】
to the target position (unit: user unit).
4. Query for
【
6064h: Position actual value
】
to obtain actual position feedback of the motor.
5. Query for
【
6041h: Status word
】
to obtain the status feedback of the drive (following error, target
reached and internal limit active).
6. For function details, see function parameters in group P21 in DRV-28 and the specific function
commissioning instructions in the basic operations in the manual.
4.8.7.2
Profile Position Mode
1. Set
【
6060h: Mode of operations
】
to 1 (Profile Position Mode).
2. Set tens of P21.00 (Position command source) to 1 (Digital position), and set P21.16 (Digital positioning
mode).
3. Set
【
6040h: Control word
】
to enable the drive (set it to 0x0F for enabling).
4. Set
【
607Ah: Target position
】
to the target position (unit: user unit).
5. Query for
【
6064h: Position actual value
】
to obtain actual position feedback of the motor.
6. Query for
【
6041h: Status word
】
to obtain the status feedback of the drive (following error, target
reached and internal limit active).
7. For function details, see function parameters in group P21 in DRV-28 and the specific function
commissioning instructions in the basic operations in the manual.
4.8.7.3
Homing Mode
1. Set
【
6060h: Mode of operations
】
to 6 (homing mode).
2. Set P22.00.Bit0=1 to enable the spindle positioning, and set P22.03–P22.06.
3. Set
【
6040h: Control word
】
to enable the drive (set it to 0x0F for enabling). Homing operation start
(Bit4) changes from 0 to 1 (Control word Bit4 is set to 1). However, the change from 1 to 0 will terminate
Homing.
4. The motor queries the limit switch and Home switch to complete Homing.
5. Query
【
6041h: Status word
】
to obtain the status feedback of the drive (Homing error, Homing
attained, and Target reached).
6. For function details, see function parameters in group P22 in DRV-28 and the specific function
commissioning instructions in the basic operations in the manual.
4.8.7.4
Cyclic Synchronous Velocity Mode
1. Set
【
6060h: Mode of operations
】
to 9 (Cyclic synchronous velocity mode).