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Digitax HD M753 Control User Guide

109

Issue Number: 3

9.18.8

0x6061 Modes_of_operation_display

This read only object indicates the active mode of operation.

Table 9-50 Modes_of_operation_display

Table 9-51 Modes_of_operation_display values

9.18.9

0x6084 Profile deceleration

This object is used to configure the deceleration rate used to stop the
motor when the quick stop function is activated and the quick stop code
object (0x605A) is set to 1 or 5. This object is also used for shutdown
when shutdown option code (0x605B) is set to 1, and for disable
operation when disable operation option code (0x605C) is set to 1. It is
also used if the fault reaction code object (0x605E) is 1. The value is
given in user defined acceleration units. This object will not be used for
vl velocity mode. This object will not be used for vl velocity mode.

Table 9-52 Profile deceleration

9.18.10 0x6085 Quick_stop_deceleration

This object is used to configure the deceleration rate used to stop the
motor when the quick stop function is activated and the quick stop code
object (0x605A) is set to 2 or 6. The quick stop deceleration is also used
if the fault reaction code object (0x605E) is 2. The value is given in user-
defined acceleration units. This object will not be used for vl velocity
mode.

Table 9-53 Quick_stop_deceleration

9.18.11 Profile units

The EtherCAT interface implementation provides a means to convert
profile units into position controller and drive units. All scaling values are
standard profile objects. The following objects are supported:

Table 9-54 Supported profile units

The initial value of the feed constant object (0x6092) shall be calculated
from the normalization turns parameter of the associated encoder
channel if the default values have not been modified.

If either value is non default the values will be taken as is.
For positions, the scaling control will include a feed constant, a gear ratio
and an encoder resolution. These values will be combined together to
scale the drive position (i.e. encoder increments) to position in user-
defined unit by the following formula.

It will be possible to change these values non-cyclically (i.e. using
SDOs), It will not, however, be possible to change these values cyclically
(i.e. by mapping PDOs to them).
The position encoder resolution object 0x608F will be read-only and its
value will be derived from drive parameter values. The numerator of
0x608F will be derived from the normalization turns parameter of the
associated encoder channel. The denominator of 608F will be always 1.
The user-defined position and velocity values will be handled in signed
32-bit values. The scaled position will rollover the boundary if it is too
large.
When the gear ratio or the feed constant is applied, the combination of

will be calculated and simplified.

The result will be applied to the AMC slave user unit’s ratio and its
inverse value will be put in the AMC output user unit’s ratio. To prevent
the overflow risk of AMC ratio parameters, before being applied, the size
will be checked to make sure the numerator and the denominator of the
combined results are within 1 to 2

-1 range. If not, the module will trip

‘Scaling failure’ and the AMC scaling ratios will stay previous value.

The Gear ratio object will not be used for Homing mode.

9.18.12 0x608F Position_encoder_resolution

This read only object indicates the configured encoder increments per
number of motor revolutions.
The information is read from the drive's encoder configuration.

Table 9-55 Position_encoder_resolution

0x6061

Modes_of_operation_display

Sub-index 0
Access: RO

Range: 0 to 10

Size: 1 byte

Unit: N/A

Default: N/A

Type:

SINT

Description:

Used to provide the active mode of operation.