Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
6.8.2 Object entries
The following objects are necessary for controlling this mode:
•
(Target Velocity): This object must be written cyclically with the speed set value.
•
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").
•
(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").
•
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)
•
(Polarity)
6.9 Cyclic Synchronous Torque
6.9.1 Overview
Description
In this mode, the controller passes an absolute torque 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
This mode only functions if closed loop is activated, see also Commissioning closed loop.
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 "10" must be set in object 6060
(Modes Of Operation) (see "CiA 402
Controlword
In this mode, the bits of controlword 6040
have no special function.
Statusword
The following bits in object 6041
(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
Version: 1.0.1 / FIR-v1748
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