Drive User Guide
30
I.
Using cyclic synchronization position mode under Free-run mode:
(1)
Confirm the target position (0x607A) has been mapping to RxPDO and actual position
(0x606C) mapping to TxPDO. Please refer to Chapter 7, the setting method of PDO
mapping.
(2)
Set up the content of interpolation period time (0x60C2:1) in accordance with the cycle
time of update position command. For example, if the cycle of transmitting the target
position command from the master station is 1ms, then the content of 0x60C2:1 shall be
set to (1/0.0625)=16.
(3)
Set the content of operational mode (0x6060) to 8.
(4)
Confirm the content of operational mode (0x6061) has been set to 8. It indicates that the
operational mode has been switched to the cyclic synchronization position mode.
(5)
Master station updates the new target position (0x607A) cyclically. The unit is count and
position is absolute coordinate as well. Motor will move to the target position immediately.
II.
Using cyclic synchronization position mode under synchronization mode (DC mode):
(1)
Confirm the target position (0x607A) has been mapping to RxPDO and the actual position
(0x606C) has been mapping to TxPDO. Please refer to Chapter 7, the setting method of
PDO mapping.
(2)
After switching on the distributed clock, the drive will automatically set up the content of
interpolation time period (0x60C2:1) in accordance with the synchronization signal cycle as
set up by the master station. For example, the synchronization signal cycle set up by the
master station is 500us, then the drive will set up the interpolation time period to
(0.5/0.0625=8).
(3)
Set the content of operational mode (0x6060) to 8.
(4)
Confirm the content of operational mode (0x6061) has been set up to 8. It indicates that
the operational mode has been switched to the cyclic synchronization position mode.
(5)
Master station updates the new target position (0x607A) cyclically. The unit is count and
position is absolute coordinate as well. Motor will move to the target position
immediately.
。
When the software limit signal or the limit switch of hardware is triggered during the moving
process, the bit11 of StatusWord(0x6041) will be set up to 1 and inform the motor of master station
that the limit signal has been triggered and the bit12 of StatusWord(0x6041) will be cleared to 0. If
master station still transmits the position command of the same direction, drive will ignore the new
target position. Motor will stop at the position where the limit signal is triggered. Drive will
re-designate the content of target position object (0x607A) to the current position of motor. If
master station places the position command of opposite direction, drive will receive it and set up
the bit12 of StatusWord(0x6041) to 1. Motor starts to move to the opposite direction. After the
motor leaves away from the software limit or hardware limit switch, the bit11 of
StatusWord(0x6041) will be cleared by the drive to 0.
9.2 Velocity Control Mode
The figure shown below is the control schematic diagram of profile velocity mode and cyclic
synchronization velocity mode. Master station transmits the target velocity to the velocity control loop
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