6 Operating modes
6.7 Cyclic Synchronous Position
6.7.1 Note regarding USB
Note
Because this controller is not equipped with a fieldbus, the following operating mode can only be used
with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter
Programming with NanoJ.
6.7.2 Overview
6.7.2.1 Description
In this mode, the controller receives an absolute position preset via the fieldbus at fixed time intervals
(referred to in the following as a cycle). The controller then no longer calculates any ramps, but rather only
follows the presets.
The target position is transferred cyclically (via PDO). Bit 4 in the controlword does not need to be set (unlike
the Profile Position mode).
Note
The target is absolute and, thus, independent of how often it was sent per cycle.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.7.2.2 Activation
To activate the mode, the value "8" must be set in object 6060
(Modes Of Operation) (see "CiA 402 Power
6.7.2.3 Controlword
In this mode, the bits of controlword 6040
h
have no special function.
6.7.2.4 Statusword
The following bits in object 6041
h
(statusword) have a special function:
Bit
Value
Description
8
0
The controller is not in sync with the fieldbus
8
1
The controller is in sync with the fieldbus
10
0
Reserved
10
1
Reserved
12
0
Controller does not follow the target; the preset of 607A
h
(Target Position) is
ignored
12
1
Controller follows the target; object 607A
(Target Position) is used as the
input for position control.
13
0
No following error
Version: 2.0.1 / FIR-v1650
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