Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

Страница: 41 / 95

4. CiA402 Drive Profile
Bit Value Description
4 0
→
1 Execute the motion command to a new location. The motion command method is de-
termined by the values of bit 5.
5
0 If the motor is moving when the new motion command is executed, the new motion
command is executed after the previous command is completed.
1 If the motor is moving when the new motion command is executed, it ignored the pre-
vious command and moves to the new position immediately.
6
0 The value of Target position (607Ah) is destination position. (absolute position)
1 The value of Target position (607Ah) is distance. (relative position)
8 1 Cancels the motion command and stops it according to the value of Halt option code
(605Dh).
Table 4.15: Bit description of Control word under Profile Position Mode
For other bits, please refer to 4.3 Control word .
Status word
Status word (6041h) under Profile Position Mode are as follows.
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Safety Acti-
vated - Following
Error Set-Point
Acknowl-
edge Internal
Limit Active Target
Reached Remote -
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- Switch on
disabled
Quick stop Voltage en-
abled Fault Operation
enabled Switched on Ready to
switch on
Table 4.16: Status word under Profile Position Mode
The functions of bits added in Profile Position Mode are as follows.
Bit Value Description
10
0 The motor is moving through a motion command.
1 The motor has stopped.
12
0 Control Word of New Set-Point(Bit 4) has reset and previous position movement com-
mand processed. Able to input new position.
1 Control word of New Set-Point(Bit 4) is already set or previous position movement com-
mand is under processing.
13 1 Following Error generated.
Table 4.17: Bit description of Status word under Homing Mode
Please refer to drive status control for the rest of bits.
4.5.4 Position movement method
General Movement
Movement command to new target position can be requested by changing Control word (6040h) of New
Set-Point (Bit 4) from RESET to SET. Once controller receives this request, Set-Point Acknowledge of
Status word (Bit 12) is going to be SET and position movement command executed. Target position
refers to Target position (607Ah) and Position value can be absolute coordinates or relative coordinates
by Control word of Relative (Bit 6).
Rev.37
FASTECH Co., Ltd.
41