Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 CANopen Mode
11-17
11
11.3 CANopen operation mode
This section describes the servo motion mode (Mode of Operation) specified by CiA402 in
CANopen mode. The content includes basic operation settings and related object descriptions.
11.3.1 Profile Position Mode
After the servo drive receives the position command transmitted by the controller, the servo
drive controls the servo motor to reach the target position. In the position control mode, the
controller only informs the servo drive of the target position, speed command, and acceleration /
deceleration settings at the beginning. The motion plan from command triggering to the arrival
of the target position is performed by the motion command generator in the servo drive.
The following figure shows the position control mode architecture of the servo drive:
Target position (607Ah)
Software position limit
(607Dh)
Position
limit
function
Profile velocity (6081h)
Max profile velocity (607Fh)
Speed
limit
function
Trajectory
generator
E-Gear ratio
6093h sub1
6093h sub2
Filter
P1.008
P1.025 -
P1.028
P1.036
P1.068
Position
control
loop
Speed
control
loop
Torque
control
loop
Max torque
(6072h)
Encoder
Servo
motor
M
Profile acceleration (6083h)
Profile deceleration (6084h)
Acceleration
limit function
Quick stop deceleration
(6085h)
Max acceleration (60C5h)
Max deceleration (60C6h)
[PUU]
[PUU/s]
[ms]
Torque actual value (6077h)
Velocity actual value (606Ch)
E-Gear ratio
6093h sub2
6093h sub1
Position actual value
(6064h)
Position window (6067h)
Position
window
comparator
Statusword (6041h)
Bit 10 Target reached
Following error actual value (60F4h)
Following
error
comparator
Following error window (6065h)
Servo alarm AL009 (2001h)
Position demand
value (60FCh)
Position demand value
(6062h)
-
+
+
-
Position window time (6068h)
Window
compara-
tor