SD710 Series Servo Drive User Manal Chapter 11 Communication
25
4
Second segment position
command assignment
The first segment position command S1 is assigned a new position
command value to 607Ah without running to completion.
5
New position command
trigger
Give the rising edge of Bit4 of 6040h to trigger the new position command
execution.
6
Servo drive receives new
position command
Determine that the control word Bit5 is 0. Do not update the position
command immediately. Wait for the completion of the 1st position
command before executing.
7
Position command update
S1 positioning completion is detected
→
2nd segment position
command S2 is planned.
8
Status word display
After the completion of S2, Bit10 = 1 (positioning complete) and Bit12 =
0 (new position command allowed) for 6041h.
11.2.7.2 Profile speed mode (pv)
In profile speed mode, the master transmits the required target speed, acceleration time, and deceleration time to the
servo drive, which performs speed and torque regulation.
Speed
control
Torque
control
M
S
Actual position value 0x6064
Actual speed value 0x606C
Actual torque value 0x6077
Target speed 0x60FF
Profile acceleration 0x6083
Profile deceleration 0x6084
Figure 11.13 Block diagram of profile speed mode control
Dictionary of related objects.
Index
Sub
index
Name
Read
Write
Data type
Unit
Setting range
0x603F
00
error code
RO
UINT16
-
0 to 65535
0x6040
00
control word
RW
UINT16
-
0 to 65535
0x6041
00
status word
RO
UINT16
-
0 to 65535
0x6060
00
operating mode
RW
INT8
-
0 to 10
0x6061
00
Mode Display
RO
INT8
-
0 to 10
0x606C
00
Actual speed
feedback
RO
INT32
Command unit/s
-
0x607F
00
Maximum profile
speed
RW
UINT32
0.1rpm
0 to (2
32
- 1)
0x6083
00
acceleration
RW
UINT32
Command
unit/s
2
0 to (2
32
- 1)
0x6084
00
deceleration
RW
UINT32
Command
0 to (2
32
- 1)
