NANOTEC PD4-C, Technical Manual, Page: 74 / 256

6 Operating modes
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.
6.8.2.2 Activation
To activate the mode, the value "9" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402 Power
State Machine").
6.8.2.3 Controlword
In this mode, the bits of controlword 6040
h
have no special function.
6.8.2.4 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 60FF
h
(Target Velocity) is
ignored
12 1 Controller follows the target; object 60FF
h
(Target Velocity) is used as the
input for position control.
13 0 Reserved
13 1 Reserved
6.8.3 Object entries
The following objects are necessary for controlling this mode:
●
60FF
h
(Target Velocity): This object must be written cyclically with the speed set value.
●
6085
h
(Quick-Stop Deceleration): This object contains the braking deceleration for the case that a quick-
stop is triggered (see "CiA 402 Power State Machine").
●
605A
h
(Quick-Stop Option Code): This object contains the option that is to be executed in the event of a
quick-stop (see "CiA 402 Power State Machine").
●
60C2
h
:01
h
(Interpolation Time Period): This object specifies the time of a cycle; a new set value must be
written in 60FF
h
in these time intervals.
The following applies here: cycle time = value of 60C2
h
:01
h
* 10
value of 60C2:02
seconds.
●
60C2
h
:02
h
(Interpolation Time Index): This object specifies the time basis of the cycles. Currently, only
value 60C2
h
:02
h
=-3 is supported; this yields a time basis of 1 millisecond.
The following objects can be read in this mode:
●
606C
h
(Velocity Actual Value)
●
607E
h
(Polarity)
Version: 2.0.1 / FIR-v1650 74