Drive User Guide
31
of drive. Under this control mode, the target velocity command will be limited by the protecting set up
value of velocity and acceleration/deceleration.
The following description describes the use of ControlWord(0x6040) and StatusWord(0x6041) by
the controller of master station under the cyclic synchronization position mode:
0x6040
Definition
Value
Description
Bit8
Halt
0
Not stop the movement of motor.
1
Stop the movement of motor.
0x6041
Definition
Value
Description
Bit11
Internal Limit active
0
Motor has not triggered the limit.
1
Motor triggers the hardware limit signal.
Bit12
Ignore Target
Velocity
0
Ignore target velocity.
1
Target velocity enters into velocity control
loop.
The steps of using profile velocity mode to operate the motor:
(1)
Confirm the target velocity command (0x60FF) has been mapping to RxPDO and the actual
position (0x6064) object has been mapping into TxPDO. Please refer to Chapter 7, the setting
method of PDO mapping.
(2)
A. If drive is to be operated under the profile velocity mode, the content of 0x6060 object shall
be set to 3.
B. If drive is to be operated under the cyclic synchronization velocity mode, the content of
0x6060 object shall be set to 9.
(3)
A. Confirm the content of 0x6061 object has been set to 3. It indicates that the operational
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