Drive User Guide
28
Master station sets the moving velocity (0x6081), unit is count/s.
Master station sets the acceleration velocity (0x6083) and deceleration (0x6084), unit is
count/s
2
.
Master station sets the next target position (0x607A). It is an absolute coordinate and the unit
is count.
Master station sets the bit4 of ControlWord(0x6040) to 1 and initiates the movement of target
position.
Drive will set the bit12 of StatusWord(0x6041) to 1 and clear bit10 to 0. Inform master station
that the new target position has been received and starts to move the motor.
When master station reads the bit12 of StatusWord(0x6041) being set to 1, it will clear the bit4
of ControlWord to 0.
During the movement of motor, master station may repeat step (4)~(6) to initiate the
movement of new target position.
If the motor reaches the set position of software limit during the process of moving the motor
to the target position or triggers the limit switch of hardware, the motor will stop to move
immediately. The bit11 of StatusWord(0x6041) set by the drive will inform the controller of master
station that the limit signal has been activated. If master station still continuously places the
position command of the same direction, the bit12 of StatusWord(0x6041) set by the drive will
inform the controller of master station that the new target position has been ignored. Therefore,
the motor will not be moved. On the contrary, if master station places the position command of
opposite direction, drive will receive this new command and move the motor to the target position.
After the motor leaves away from the software limit or hardware limit switch, the bit11 of
StatusWord(0x6041) will be cleared by the drive to 0.
9.1.2
Cyclic Synchronization Position Mode
Cyclic synchronization position mode is shown as the figure below. The controller of master station
transmits the target position to the drive cyclically. The drive handles the control of position loop,
velocity loop and current loop. Besides, interpolation time period 0x60C2 is used to define the update
time period of target position. The drive uses the settings of interpolation time period to implement the
interpolation of position. Under the control of synchronization mode (DC mode), the interpolation time
period will automatically set up as the cycle time of SYNC0. If it is under the free run mode, the master
station shall place the cycle time of position command ahead and set to the interpolation time period,
then start to transmit the target position.
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