Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
51
3 E
therC
AT c
ommunica
tion
Index Sub Name Type Access PDO Save Range Update
6084h 00h
Profile deceleration
[step/s
2
]
U32 RW RxPDO

1 to 1,000,000,000 (Initial
value: 300,000)
B
4142h 00h Starting speed [Hz] INT32 RW No

0 to 4,000,000 (Initial value:
5,000)
B
414Fh 00h Wrap positioning mode U8 RW RxPDO

0: Wrap absolute positioning
1: Wrap proximity
2: Wrap forward direction
3: Wrap reverse direction
(Initial value: 0)
B
„
Controlword of Profile position mode
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific (ms)
Reserved
oms
Halt
− Wrap Push
Base position of
Rel
−
Change on
set point
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
Abs/Rel
Change set
immediately
New set point
Details of Controlword
Bit Name Value Description
14 Wrap 1
Wrap absolute positioning operation
After the Wrap is set to 1, when the New set point (6040h: Bit 4) is set to 1 to start
operation, wrap absolute positioning operation is performed. The operating method
is in accordance with the setting of the Wrap positioning mode (414Fh).
13 Push 1
Push-motion positioning operation
After the Push is set to 1, when the New set point (6040h: Bit 4) is set to 1 to start
operation, push-motion positioning operation is performed. The Push current
(4121h) is applied to the motor current.
When the Halt (6040h: Bit 8) is set to 1 or when the STOP input is turned ON, the
operation is stopped. The Stop current (4128h) is applied to the motor current at
standstill.
12 Base position of Rel
0
Incremental positioning operation (based on command position)
Positioning operation of the set travel amount is performed from the present
command position. The travel amount is set with the Target position (607Ah).
1
Incremental positioning operation (based on actual position)
Positioning operation of the set travel amount is performed from the present actual
position. The travel amount is set with the Target position (607Ah).
10 Reserved − Reserved
9 Change on set point − Not supported.
8 Halt
0 Operation is allowed.
1
Stops the operation. The stopping method is in accordance with the setting of the
Halt option code (605Dh).
6 Abs/Rel
0
Absolute positioning operation
The Target position (607Ah) is applied to the target position of absolute positioning
operation.
1
Incremental positioning operation
The Target position (607Ah) is applied to the target position of incremental
positioning operation.