Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
49
3 E
therC
AT c
ommunica
tion
Index Sub Name Type Access PDO Save Range Update
6064h 00h
Position actual value
[step]
INT32 RO TxPDO − − −
607Ah 00h Target position [step] INT32 RW RxPDO −
−2,147,483,648 to
2,147,483,647 (Initial value: 0)
A
607Dh
01h Min. position limit [step] INT32 RW No

−2,147,483,648 to
2,147,483,647 (Initial value:
−2,147,483,648)
A
02h
Max. position limit
[step]
INT32 RW No

−2,147,483,648 to
2,147,483,647 (Initial value:
2,147,483,647)
A
„
Controlword of Cyclic synchronous position mode
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific (ms)
Reserved
oms
Halt
− − − − − −
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset
Operation mode specific (oms)
Enable
operation
Quick stop
Enable
voltage
Switch on
− − −
Details of Controlword
Bit Name Value Description
8 Halt
0 Operation allowed
1 Stop operation. The stopping method is "Immediate stop."
For Bit 7 and Bit 3 to Bit 0, refer to “State transition of drive state machine” on p.46.
„
Statusword of Cyclic synchronous position mode
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific Operation mode specific
Internal
limit active
− Remote
ms
TLC −
Following
error
Target position
ignored
−
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Warning
Switch on
disabled
Quick stop Voltage enabled Fault
Operation
enabled
Switched
on
Ready to
switch on
Details of Statusword
Bit Name Value Description
15 TLC
0 A load does not reach the upper limit of the motor output torque.
1 A load reached the upper limit of the motor output torque.
13 Following error
0 The position deviation error does not occur.
1
The position deviation error occurs.
The position deviation exceeded the value set in the Following error
window (6065h). The value changes to 0 if an alarm of Excessive position
deviation (alarm code 10h) or an alarm of Overload (alarm code 30h) is
reset.