Revision April, 2015
5-1
Chapter 5
CANopen Operation
Mode
5.1 Profile Position Mode
5.1.1 Description
Servo drive (hereinafter referred to as “Drive”) receives position command from the
host (external) controller (hereinafter referred to as “Host”) and then controls servo
motor to reach the target position.
Pulse of User-defined Unit Definition:
Pulse of User Unit (PUU): No. of
= 1280000
5.1.2 Operation Procedures
1. Set
【
Mode of operations:6060
h
】
to profile position mode (0x01).
2. Set
【
Target position:607Ah
】
to the target position (unit: PUU).
3. Set
【
Profile velocity:6081h
】
to the profile velocity (unit: PUU per second).
4. Set
【
Profile acceleration:6083h
】
to plan acceleration slope (millisecond from 0rpm
to 3000rpm).
5. Set
【
Profile deceleration:6084h
】
to plan deceleration slope (millisecond from 0rpm
to 3000rpm).
6. Set
【
Controlword:6040h
】
as (0x06 > 0x07 > 0x0F) to Servo On the drive and
enable the motor.
7. Read
【
Statusword:6064h
】
to obtain feedback position of the motor.
8. Read
【
Statusword:6041h
】
to obtain the drive status of the following error, set-
point acknowledge and target reached.
