Oriental motor aSTEP AZ mini Driver, User Manual

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Drive profile
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Bit 13 Bit 12 Operation mode Description
1 0
Continuous operation
(push-motion) *
Performs continuous operation at the Target velocity (60FFh).
When a mechanism installed to the motor presses against a load,
pressure is continuously applied to the load.
In the Cyclic synchronous velocity mode, the movement is the
same between continuous operation (push-motion) and
continuous operation (torque control).
1 1
Continuous operation
(torque control) *
*When continuous operation (push-motion) or continuous operation (torque control) is performed,
note the following.
• When a mechanism installed to the motor pressed against a load, push-motion operation is
performed while a position deviation of 2.7° generates. Since an alarm of Overload may be
generated if the operation is stopped in this state, perform operation to return the actual position
by 3.6° before push-motion operation is stopped.
• Do not perform push-motion operation with geared motors and the DGII Series. Doing so may
cause damage to the motor or gear part.
• When push-motion operation is stopped in a state where a load is pressed, set the Operating
current (4120h) of the next operation to be executed, to a value in the Push current (4121h) or less.
If a higher current value than the Push current (4121h) is set, the push current may increase when
the operation transitions, causing an unexpected push force to apply.
„
Statusword of Cyclic synchronous velocity mode
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific Operation mode specific
Internal
limit active
Reserved Remote
ms
TLC − Reserved
Target velocity
ignored
−
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Warning
Switch on
disabled
Quick stop Voltage enabled Fault
Operation
enabled
Switched
on
Ready to
switch on
Details of Statusword
Bit Name Value Description
15 TLC
0 A load does not reach the upper limit of the motor output torque.
1 A load reached the upper limit of the motor output torque.
13 Reserved 0 Reserved
12
Target velocity
ignored
0
The target velocity command is disabled.
When the state is any of the followings, the value changes to 0 and the Target
velocity is disabled.
• The drive state machine is other than "Operation enabled."
• The motor is in a non-excitation state.
• The Halt (6040h: Bit 8) has been set to 1.
•
The STOP input is being ON.
• The internal limit is in an active state.
1 The target velocity command is enabled.
11
Internal limit
active
0 The function limitation by the internal limit is not in an active state.
1
The function limitation by the internal limit became an active state.
The value changes to 1 when any of the following internal limit functions is
being activated.
• Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
•
Software limit
• Mechanism limit
10 Reserved 0 Reserved
9 Remote 1 The value changes to 1 when the initialization is completed.