76
4.
PP control mode action explanation
The working principles of object dictionary 0x607a, 0x6081, 0x6083 and 0x6084 are as follows:
The relative mode or absolute mode can be determined by bit6 (absolute / relative) of 6040h (control word).
Action 1: set-point
①
Main station: set the value of 607Ah (Target position), change 6040h (Controlword) bit4 (new set-point) from
0 to 1. At this time, please set 6081h (Profile velocity).
Motor has no action when 6081h (Profile velocity) is 0.
②
Slave station: confirm the rising edge of 6040h (Controlword) bit4 (new set-point) is from 0 to 1, 607Ah
(Target position) is considered as target position to start positioning action. At this time, 6041h (status word) bit12
(set-point acknowledge) is from 0 to 1.
③
Main station: confirm 6041h (Statusword) bit12 (set-point acknowledge) is from 0 to 1, 6040h (Controlword)
bit4 (new set-point) returns 0.
④
Slave station: confirm 6040h (Controlword) bit4 (new set-point) is 0, 6041h (status word) bit12 (set-point
acknowledge) becomes to 0.
⑤
When reaching the target position, 6041h (Controlword) bit10 (target reached) changes from 0 to 1.
Actual speed
Main station
Slave station
new set-point
(controlword bit 4)
Target position
(set-point)
set-point
acknowledge
statusword bit 12)
Target reached
(statusword bit 10)
t
t
t
t
t
< Set-point example >
