Veichi SD710 Series, User Manual

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SD710 Series Servo Drive User Manal Chapter 11 Communication
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position relationship of the mechanical home point to the mechanical zero point will be adjusted by setting the value of
the object dictionary 0x607C.
Position
control
Speed
control Torque
control
M
S
Actual position value 0x6064
Actual speed value 0x606C
Actual torque value 0x6077
Home Return Offset 0x607C
Home return acceleration 0x609A
Home return method 0x6098
Home return speed 0x6099
Home
return
Figure 11.16 Home position return mode control block diagram
Dictionary of related objects
Index Sub index Name
Read
Write
Types
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
0x6064 00
Physical position
feedback
RO INT32
command
unit
-
0x606C 00
Actual speed
feedback
RO INT32
Command
unit/s
-
0x6067 00
Position reaches
threshold
RO UINT32 User units -
0x6098 00
Home return
method
RW INT8 - 1 to 35
0x6099
01
Search for
deceleration point at
high speed
RW UINT32 0.1rpm 0 to 65535
02
Search home at low
speed
RW UINT32 0.1rpm 1 to 500
0x609A 00
Acceleration and
deceleration time
RW UINT32 ms 0 to (2
32
- 1)
The steps to turn on the return to zero mode are shown below.
Item Steps Parameter input Status word display (6041h)
Servo Enable
0 0 0x8240
1 6040h = 0x06 0x8221
2 6040h = 0x07 0x8233
3 6040h = 0x0F 0x8237
Control mode
switching
4 6060h = 6 0x8637