Jenaer Antriebstechnik ECOSTEP 54, Руководство пользователя, Страница: 41 / 48

Subject to change without notice!
User Manual ECOSTEP®54
41
9.1.3 Operation mode 1 (Profile Positioning Mode): Absolute positioning after setting
the control word
Flowchart positioning mode absolute (1) after homing for ECO54 axis 0.
Status: control word = 0x000F, status word = 0x8437
For safety reasons every movement of an axis should be monitored by the PLC via timeout. The relevant
parameters profile_velocity, profile_acceleration, profile_deceleration, quick_stop_deceleration and
target_position cannot be manipulated by the PLC if a mapping to other controller parameters (analog input, etc.)
exists!
no
yes
yes
no
no
yes
yes
no
The objects to be written or to be read, resp. for the individual axes are (incl. sub index and length):
Axis 0 Axis 1 Axis 2 Axis 3
control word 60400010 68400010 70400010 78400010
status word 60410010 68410010 70410010 78410010
profile_velocity 60810020 68810020 70810020 78810020
target_position 607A0020 687A0020 707A0020 787A0020
modes_of_operation
60600008 68600008 70600008 78600008
profile_acceleration
60830020 68830020 70830020 78830020
profile_deceleration
60840020 68840020 70840020 78840020
Set modes_of_operation = 0x01
Start positioning with timeout
control word = 0x001F
Target position acknowledged
and not yet reached,
status word = 0x9137 ?
Error
target_position = 0xXXXXXXXX;
Position reached,
status word = 0x8437 ?
control word = 0x000F
Further positioning?
Timeout?
Switch off drive:
control word = 0x0006
Error
Optional:
profile_acceleration =
0xXXXXXXXX;
profile_deceleration =
0xXXXXXXXX;
profile_velocity = 0xXXXXXXXX;