72
6.7
Velocity Control Function
6.7.1
Cyclic Synchronous Velocity Mode(csv mode)
It is a velocity control mode to operate by creating a command velocity in the host
controller (master) and updating (transmitting) the command velocity in an
interpolation cycle.
Step 1:
Set (Target velocity: 60FFh) to 0.
Step 2:
Set (Mode of operation: 6060h) to Cyclic synchronous position mode (csv
mode) value = 0x09, and check (Mode of operations Display: 6061h) = 0x09.
Step 3:
Change (Controlword: 6040h) from the value 0x06
→
0x07
→
0x0F to
make the control system Servo On state, and the drive starts to move according
to the (target velocity: 60FFh).
Summary of Contents for ECAT-2094P
Page 1: ...ECAT 2094P EtherCAT 4 Axis Pulse Output Module User Manual Version 1 0...
Page 10: ...10 2 2 Alias Rotary Swtich The Alias range is 0x00 0xFF...
Page 15: ...15 2 5 Stepper Motor Wiring...
Page 17: ...17 Figure 2 Open collector wiring diagram...
Page 24: ...24 is the total execution time of all slave application related operations...
Page 71: ...71 Method35 37 The home detection position is the current position...
