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4.6.3 CIA402 motion control mode
4.6.3.1 PP mode
PP (Profile position control mode) is a position control mode in which the target position, target speed,
acceleration and deceleration are specified, and the position command is generated inside the servo driver.
1.
Related parameters
PP control mode related objects (command
・
setting type)
Register
Explanation
Unit
RXPDO[0x6040]
Control word
-
RXPDO[0x6060]
Set to 1
-
RXPDO[0x607A]
Position setting
Command unit
RXPDO[0x6072]
Max torque
0.1%
RXPDO[0x607F]
Max internal speed
Command unit/s
RXPDO[0x6080]
Max motor speed
r/min
RXPDO[0x6081]
Internal speed setting
Command unit/s
RXPDO[0x6083]
Internal acceleration speed
Command unit/s²
RXPDO[0x6084]
Internal deceleration speed
Command unit/s²
RXPDO[0x60C5]
Max acceleration speed
Command unit/s²
RXPDO[0x60C6]
Max deceleration speed
Command unit/s²
Note:
(1) 6081h (Profile velocity) is limited by the smaller one of 607Fh (Max profile velocity) and 6080h (Max motor
speed).
(2) Changing the set value of 607Fh (Max profile velocity) or 6080h (Max motor speed) is not reflected in the
action.
PP control mode related object (command
・
monitor type)
Register
Explanation
Unit
TXPDO[0x6041]
Status word
-
TXPDO[0x6061]
Mode query
TXPDO[0x6063]
Internal actual position
Command unit
TXPDO[0x6064]
Position feedback (motor actual
position)
Command unit
TXPDO[0x606C]
Speed feedback
Command unit /s
TXPDO[0x6077]
Actual torque
0.1%
TXPDO[0x60F4]
Actual following error
Command unit
2.
Control word (6040h) <PP control mode function>
Index
Sub-
Index
Name/Description
Range
Date
Type
Access
PDO
Op-
mode
6040
h
00h
Controlword
0~65535
U16
rw
RxPDO
All
Set the control command of servo driver such as PDS state conversion.
Bit information
15
14
13
12
11
10
9
8
r
h
7
6
5
4
3
2
1
0
fr
oms
eo
qs
ev
so
Abs/rel
Change set
immediately
New set
point
r = reserved (Not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
