Jenaer Antriebstechnik ECOSTEP 54, User Manual, Page: 43 / 48

Subject to change without notice!
User Manual ECOSTEP®54
43
9.1.5 Operation mode 3 (Profile Velocity Mode)
Flowchart velocity mode (3) for ECO54 axis,
Stauts: control word = 0x0006, status word = 0x0031
For safety reasons every movement of an axis should be monitored by the PLC via timeout. The relevant
parameter target_velocity cannot be manipulated by the PLC if a mapping to other controller parameters (analog
input, etc.) exists!
no
yes
yes
no
nein
no
yes
no
yes
yes
no
yes no
The objects to be written or to be read, resp. for the individual axes are (incl. sub index and length):
Axis 0 Axis 1 Axis 2 Axis 3
control word
60400010 68400010 70400010 78400010
status word
60410010 68410010 70410010 78410010
target_velocity
60FF0020 68FF0020 70FF0020 78FF0020
modes_of_operation
60600008 68600008 70600008 78600008
profile_acceleration 60830020 68830020 70830020 78830020
profile_deceleration
60840020 68840020 70840020 78840020
control word = 0x000F
Set
target_velocity = 0x00000000
and
modes_of_operation = 0x03
einstellen
Drive operates,
status word = 0xX537 ?
Optional:
profile_acceleration =
0xXXXXXXXX;
profile_deceleration =
0xXXXXXXXX;
Modify velocity?
Stop drive?
target_velocity = 0x000
Continue drive operation?
Drive stopped,
status word = 0xX437 ?
Error
Error
target_velocity = 0xXXXXXXXX;
Switch off drive?
control word = 0x0006