Oriental motor aSTEP AZ mini Driver, Руководство пользователя

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Drive profile
56
3 E
therC
AT c
ommunica
tion
z
Wrap absolute positioning operation
After the Target position (607Ah) is set and the Wrap (6040h: Bit 14) is set to 1, wrap absolute positioning operation is
started when the New set point (6040h: Bit 4) is set to 1. With wrap absolute positioning operation, absolute
positioning operation is performed regardless of the value of the Abs/Rel (6040h: Bit 6).
When wrap absolute positioning operation is performed, set the Wrap setting (41C7h) to "1: Enable."
Velocity
Target position
(607Ah)
Wrap
(6040h: Bit 14)
Wrap positioning mode
(414Fh)
New set point
(6040h: Bit 4)
Target reached
(6041h: Bit 10)
Set point acknowledge
(6041h: Bit 12)
Reference speed
„
Operation mode of Profile position mode
The operation mode of the Profile position mode is set with the Controlword (6040h) and the Wrap positioning mode
(414Fh). The operation modes are listed in the table.
Operation mode
Wrap
positioning
mode (414Fh)
Controlword (6040h)
Wrap
(Bit 14)
Push
(Bit 13)
Base position of Rel
(Bit 12)
Abs/Rel
(Bit 6)
Absolute positioning − 0 0 − 0
Incremental positioning (based on
command position)
− 0 0 0 1
Incremental positioning (based on
actual position)
− 0 0 1 1
Absolute positioning push-motion − 0 1 − 0
Incremental positioning push-motion
(based on command position)
− 0 1 0 1
Incremental positioning push-motion
(based on actual position)
− 0 1 1 1
Wrap absolute positioning 0 1 0 − −
Wrap proximity positioning 1 1 0 − −
Wrap forward direction absolute
positioning
2 1 0 − −
Wrap reverse direction absolute
positioning
3 1 0 − −
Wrap absolute push-motion 0 1 1 − −
Wrap proximity push-motion 1 1 1 − −
Wrap forward direction push-motion 2 1 1 − −
Wrap reverse direction push-motion 3 1 1 − −