Maxsine EP3E Series, User Manual

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VI
4.10 Working time sequence .............................................................................................................. 62
4.10.1 Power switching time sequence ...................................................................................... 62
4.10.2 Alarm timing in servo ON .............................................................................................. 62
4.10.3 Servo ON/OFF action timing of motor at rest ................................................................ 63
4.10.4 Servo ON/OFF action timing of motor operation ........................................................... 63
4.11 Electromagnetic brake ............................................................................................................... 64
4.13.2 Use of electromagnetic brake ......................................................................................... 64
Chapter 5 Parameters ............................................................................................................................ 66
5.1 Parameter table ............................................................................................................................ 66
5.1.1 Parameters of section 0 ..................................................................................................... 66
5.1.2 Parameters of section 1 ..................................................................................................... 69
5.1.3 Parameters of section 2 ..................................................................................................... 70
5.1.4 Parameters of section 3 ..................................................................................................... 71
5.2 DI Functional list ......................................................................................................................... 72
5.3 DO Functional list ....................................................................................................................... 72
5.4 Parameter detailed solution ......................................................................................................... 73
5.4.1 Parameters of section 0 ..................................................................................................... 73
5.4.2 Parameters of section 1 ..................................................................................................... 83
5.4.3 Parameters of section 2 .................................................................................................. 90
5.4.4 Parameters of section 3 ..................................................................................................... 96
5.5 DI function explanation in details................................................................................................ 97
5.6 DO function description in detail ................................................................................................ 99
Chapter 6 Communication functions .................................................................................................. 100
6.1 Common object description ....................................................................................................... 100
6.2.1 CANopen over EtherCAT structure ................................................................................ 104
6.2.2 EtherCAT state machine ................................................................................................. 105
6.2.3 LED status ...................................................................................................................... 106
6.2.4 Data Type ........................................................................................................................ 108
6.2.5 PDO mapping ................................................................................................................. 108
6.2.6 According to the synchronization of DC (Distributed Clock) ........................................ 110
6.3 Drive mode ................................................................................................................................ 111
6.3.1 Servo state machine ........................................................................................................ 111
6.3.2 Control word 6040h ........................................................................................................ 113
6.3.3 Control word 6041h ........................................................................................................ 115
6.4 Operation mode ......................................................................................................................... 117
6.4.1 Periodic synchronous position mode .............................................................................. 120
6.4.2 Periodic synchronization velocity mode ......................................................................... 121
6.4.3 Periodic synchronous torque mode ................................................................................. 122
6.4.4 HM mode ........................................................................................................................ 123
6.5 Pattern common function........................................................................................................... 133