61
5. Operataion
5.3
Operation
5.3.1
Drive Status Control
Change Drive State Machine as ‘Operation Enabled’ by setting of Control word (6040h).
•
Check Status word (6041h) whether it can be changing to ‘Operation Enabled’.
•
In case of changing to ‘Fault’ status, check type of error by Error code (603Fh). Execute appropriate action
according to type of error.
5.3.2
Set Mode
Set Mode of operation (6060h) according to operation mode will be used.
•
Check Mode of operation display (6061h) whether it has properly changed.
5.3.3
Set Operation
Set Objects according to Motion will be executed.
5.3.4
Movement Command
Once setting of Motion related Object has completed, execute movement command by setting of Control word.
5.3.5
Check Statues
Check motor operates according to command or whether fault generated.
•
Check motor achieves set operation visually.
•
Check noise or abnormal vibration from motor during operation.
•
After completion of motor operation, check Status word whether ‘Target Reached’ shown as 1.
•
Check Status word whether ‘Fault’ shown as 1. If so, check Error code and execute appropriate action.
5.4
Drive Setting Adjustment
5.4.1
Change Rotation Direction
Information
Trial operation explains operation by Profile Position Mode.
Set Mode of operation (6060h) at 1.
Information
Trial operation explains operation by Profile Position Mode.
Input 10000 at Target position (607Ah).
Input 1000 at Profile velocity (6081h).
Information
Trial operation explains operation by Profile Position Mode.
Input 005Fh at Control word. This command is to rotate motor by setting value(distance) at Target
position.
Summary of Contents for ECL E Series
Page 6: ...Introduction Before Operation 6 ...
Page 8: ...Chapter 1 Product Specification 10 ...
Page 9: ...11 1 1 Part Numbering ...
Page 10: ......
Page 11: ...13 1 2 Product Dimension Figure 1 3 Dimensions ...
Page 14: ...Chapter 2 Installation 16 ...
Page 16: ...2 2 System Configuration EtherCAT Cable Figure 2 1 System Configuration Diagram ...
Page 17: ...2 3 External Wiring Diagram ...
Page 18: ......
Page 24: ... Less than 30V of supplyvoltage Less than 15mA of current flow ...
Page 26: ...Chapter 3 EtherCAT Communication ...
Page 27: ... 26 ...
Page 28: ......
Page 36: ...Chapter 4 CiA 402 Drive Profile ...
Page 37: ... 34 ...
Page 38: ......
Page 52: ...Please refer to drive status control for the rest of bits ...
Page 66: ...Chapter 5 Operataion ...
Page 67: ... 59 ...
Page 72: ...Chapter 6 EtherCAT Object Dictionary ...
Page 73: ... 63 ...
Page 82: ......
Page 89: ...6 EtherCAT Object Dictionary 77 6061h 0 Mode of operation display I8 RO No Tx PDO ...
Page 107: ...6 EtherCAT Object Dictionary ...