Rtelligent ECT60, User Manual

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ECR60/ECT60 User manual
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THE EC SERIES STEP PERTERIATED DRIVES SUPPORT PP, PV, HM, CSP MODES.
2.4
CIA402 Motion Control
Operating mode
The ECR series EtherCAT step drive supports the following operating modes (0x6060):
Profile Position (PP)
Profile Velocity (PV)
Cyclic Dynamic Position (CSP)
Homing (HM)
PP Track Position Mode
Track position mode description:
Standard position mode is a point-to-point mode that uses setpoints consisting of
speed, acceleration, deceleration, and target position. Once all these parameters are set,
the drive caches these commands and starts executing the setpoint.
Enable Track Position Mode
To be able to track position mode, the value of the object dictionary 6060h (operating
mode) must be set to 0001h. The object dictionary 6061h (operation mode display) can
be used to confirm that the drive is in the correct operating mode.
Set run parameters
Use the object dictionary 607Ah, 6081h, 6083h, 6084h to set position, speed,
acceleration, and deceleration respectively.