Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
50
3 E
therC
AT c
ommunica
tion
Bit Name Value Description
12
Target position
ignored
0
The target position command is disabled.
When the state is any of the followings, the value changes to 0 and the
target position is disabled.
• The drive state machine is other than "Operation enabled."
•
The motor is in a non-excitation state.
• The Halt (6040h: Bit 8) has been set to 1.
• The STOP input is being ON.
• The internal limit is in an active state.
1 The target position command is enabled.
11
Internal limit
active
0 The function limitation by the internal limit is not in an active state.
1
The function limitation by the internal limit became an active state.
The value changes to 1 when any of the following internal limit functions
is being activated.
•
Limit sensor (FW-LS/RV-LS)
• Operation prohibition input (FW-BLK/RV-BLK)
• Software limit
• Mechanism limit
9 Remote 1 The value changes to 1 when the initialization is completed.
7 Warning
0
Information is not generated.
When the cause of information is cleared, the Warning is automatically
cleared to 0.
1 Information is being generated.
For Bit 6 to Bit 0, refer to “Status output of drive state machine” on p.47.
3-4 Profile position mode (PP)
The Profile position mode operates in the internal profile of the driver. A path generation (profile generation) is
performed in the driver. The target position, velocity, acceleration and others are set in the EtherCAT master.
Related objects
Index Sub Name Type Access PDO Save Range Update
6040h 00h Controlword U16 RW RxPDO −
0000h to FFFFh
(Initial value: 0000h)
A
6041h 00h Statusword U16 RO TxPDO − − −
6060h 00h Modes of operation INT8 RW RxPDO

0 (Initial value), 1, 3, 6, 8, 9
(
_
p.48)
B
6061h 00h
Modes of operation
display
INT8 RO TxPDO − − −
6062h 00h
Position demand value
[step]
INT32 RO TxPDO − − −
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
6081h 00h Profile velocity [Hz] U32 RW RxPDO

0 to 4,000,000 (Initial value:
10,000)
B
6083h 00h
Profile acceleration
[step/s
2
]
U32 RW RxPDO

1 to 1,000,000,000 (Initial
value: 300,000)
B