Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
Bit
Value
Description
10
0
Reserved
10
1
Reserved
12
0
Controller does not follow the target; the preset of 6071
h
(Target Torque) is
ignored
12
1
Controller follows the target; object 6071
(Target Torque) is used as the
input for position control.
13
0
Reserved
13
1
Reserved
6.9.2 Object entries
The following objects are necessary for controlling this mode:
•
h
(Target Torque): This object must be written cyclically with the torque set value and is to be
.
•
h
(Max Torque): Describes the maximum permissible torque.
•
h
(Max Motor Speed): Maximum speed
•
:01
h
(Interpolation Time Period): This object specifies the time of a cycle; a new set value
must be written in 60FF
in these time intervals.
The following applies here: cycle time = value of 60C2
:01
h
* 10
value of 60C2:02
seconds.
•
:02
h
(Interpolation Time Index): This object specifies the time basis of the cycles. Currently,
h
:02
h
=-3 is supported; this yields a time basis of 1 millisecond.
The following objects can be read in this mode:
•
(Velocity Actual Value)
•
h
(Torque Demand)
6.10 Clock-direction mode
6.10.1 Description
In clock-direction mode, the motor is operated via two inputs by a higher-level positioning controller
with clock and direction signal. On each clock signal, the motor moves one step in the direction
corresponding to the direction signal.
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.
6.10.2 Activation
To activate the mode, the value "-1" (or "FFh") must be set in object 6060
h
(Modes Of Operation) (see
"CiA 402 Power State Machine").
6.10.3 General
The following data apply for every subtype of the clock-direction mode:
•
The maximum frequency of the input pulse is 1 MHz; the ON pulse should not be less than 200 ns.
Version: 1.0.1 / FIR-v1748
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