Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-66
Block Diagram
Velocity gear ratio
6094-01h:6094-02h
Acceleration
gear ratio
6097-01h:6097-02h
Position
trajectory
generator
Quick stop option code (605Ah)
Speed
control
Torque
control
[inc/s]
10
4
[inc/s
2
]
Velocity offset (60B1h)
Target velocity (60FFh)
Velocity gear ratio
6094-02h:6094-01h
Position gear ratio
6093-01h:6093-02h
Torque actual value (6077h)
Velocity actual value (606Ch)
Velocity
reached
window
comp arato r
Velocity window (606Dh)
Velocity window
time (606Eh)
Target
velocity
+
-
Target reached in
statusword (6041h)
Position actual value (6064h)
Position actual
internal value
(6063h)
Velocity
demand
value
(606Dh)
Encoder
Motor
[Vel. unit]
Torque offset (60B2h)
[Acc. unit]
Quick stop deceleration (6085h)
(or profile deceleration (6084h))
+
+
+
+
Speed Limit
The speed limit is determined by the smaller of 6080h value and 607F value.
Relevant Objects
Object
Bit
Name
Value Description
Controlword
6040h
0
Switch on
0
Disabled
If Bit0 to Bit3 are all 1, the Drive
starts running.
1
Enabled
1
Enable voltage
0
Disabled
1
Enabled
2
Quick stop
0
Disabled
1
Enabled
3
Enable operation
0
Disabled
1
Enabled
8
Halt
0
Executes or continues operation.
1
Stops the axis according to
Halt Option Code
(605Dh)
Statusword
6041h
10
Target reached
0
Reserved
12
Drive follows the
command value
0
Drive does not follow the target value (position,
velocity or torque)
1
Drive follows the target value (position, velocity
or torque)
13
Following error
0
No following error
1
Following error
15
Homeflag
0
Homing not completed
