NANOTEC PD4-E-M, Technical Manual

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Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
• 605A
h
(Quick-Stop Option Code): This object contains the option that is to be executed in the event
of a quick-stop.
• 6080
h
(Max Motor Speed): Maximum speed
• 60C2
h
:01
h
(Interpolation Time Period): This object specifies the time of a cycle; a new set value
must be written in 607A
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:
• 6064
h
(Position Actual Value)
• 606C
h
(Velocity Actual Value)
• 60F4
h
(Following Error Actual Value)
6.8 Cyclic Synchronous Velocity
6.8.1 Overview
Description
In this mode, the controller passes a speed 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.
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.
Activation
To activate the mode, the value "9" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402
Power State Machine").
Controlword
In this mode, the bits of controlword 6040
h
have no special function.
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
Version: 1.0.1 / FIR-v1748 72