Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
61
3 E
therC
AT c
ommunica
tion
3-5 Cyclic synchronous velocity mode (CSV)
In the Cyclic synchronous velocity mode, a path generation (profile generation) is performed by the EtherCAT master.
By cyclic synchronous communication, when the Target velocity (60FFh) is sent from the EtherCAT master to the
driver, the driver performs speed controls.
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 − − −
606Bh 00h Velocity demand value [Hz] INT32 RO TxPDO − − −
606Ch 00h Velocity actual value [Hz] INT32 RO TxPDO − − −
60FFh 00h Target velocity [Hz] INT32 RW RxPDO −
−4,000,000 to 4,000,000
(Initial value: 0)
A
„
Controlword of Cyclic synchronous velocity mode
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer specific (ms)
Reserved
oms
Halt
− − Type − −
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
13
Type
−
Selects the operation mode of the Cyclic synchronous velocity mode. The operation
mode changed is updated immediately. For details, refer to "Operation mode of
Cyclic synchronous velocity mode"
12 −
8 Halt
0 Operation is allowed.
1 Stops the 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.
„
Operation mode of Cyclic synchronous velocity mode
The operation mode of the Cyclic synchronous velocity mode is set with the Type (6040h: Bit 13, Bit 12). The operation
modes are listed in the table.
Bit 13 Bit 12 Operation mode Description
0 0
Continuous operation
(position control)
Performs continuous operation at the Target velocity (60FFh).
Since operation is performed while the position deviation is
monitored, an alarm of Overload or Excessive position deviation is
generated when a load exceeding the motor torque is applied.
If the position deviation suddenly occurs, for example, when a
large load is removed, the motor accelerates suddenly or puts into
a state of overspeed to remove the deviation.
0 1
Continuous operation
(speed control)
Performs continuous operation at the Target velocity (60FFh).
When a load exceeding the motor torque is applied, an alarm of
Overload is generated.