Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
63
3 E
therC
AT c
ommunica
tion
Bit Name Value Description
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.
„
Operation in Cyclic synchronous velocity mode
Reference speed
V2
V1
0 V1 V2 0 V1
Target speed
(60FFh)
Halt
(6040h: Bit 8)
Target velocity ignored
(6041h: Bit 12)
3-6 Profile velocity mode (PV)
The Profile velocity mode operates in the internal profile of the driver. A path generation (profile generation) is
performed in the driver. The speed, 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 − − −
606Bh 00h Velocity demand value [Hz] INT32 RO TxPDO − − −
606Ch 00h Velocity actual value [Hz] INT32 RO TxPDO − − −
6083h 00h Profile acceleration [step/s
2
] U32 RW RxPDO

1 to 1,000,000,000
(Initial value: 300,000)
B
6084h 00h Profile deceleration [step/s
2
] U32 RW RxPDO

1 to 1,000,000,000
(Initial value: 300,000)
B
60FFh 00h Target velocity [Hz] INT32 RW RxPDO −
−4,000,000 to 4,000,000
(Initial value: 0)
B
4142h 00h Starting speed [Hz] INT32 RW No

0 to 4,000,000
(Initial value: 5,000)
B
„
Controlword of Profile 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
− − −