SMC Networks LECSN-T Series, Руководство по эксплуатации

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8.4 Positioning operation (Profile position mode)
The procedure for positioning operation in profile position mode is shown below. Note that the profile
position mode conforms to the CiA402 drive profile, so the procedure is the same for all networks.
(1)
Set the Modes of operation (6060h) to "1" (Profile position mode).
(2)
Sets the related objects in profile position mode.
Typical related objects (target position, target speed, target acceleration/deceleration) are
shown below.
Index Name Default Description
607Ah Target position Command position (Pos units)
6081h Profile velocity 10000
Speed after acceleration completed
Unit: Vel unit (0.01 r/min or 0.01 mm/s)
6083h Profile Acceleration 0
Acceleration at start of movement to target position
Unit: ms
6084h Profile deceleration 0
Deceleration at arrival at target position
Unit: ms
[Setting example]
If you set the recommended parameter values for each actuator (LECSN-T Operation Manual
Appendix 9), the minimum unit for actuator movement is 1 [µm]. For the descriptions of target
position, target speed, acceleration time constant, and deceleration time constant, refer to
Section 5.3 of this manual.
When operating actuator with the following set values.
Target position: 100.000[mm] (=100000 [μm] = 186A0h)
Target speed: 100[r/min] (=10000 [0.01r/min] = 2710h)
Acceleration time constant: 100 [ms] (= 64h)
Deceleration time constant: 100 [ms] (= 64h)
The setup value is as follows.
Target position 607Ah = 186A0h
Target velocity 6081h = 2710h
Profile acceleration time constant 6083h=64h
Profile deceleration time constant 6084h=64h
(3)
Start positioning operation by setting New set-point (Bit 4) of Controlword (6040h) to "1".
(4)
When positioning operation is completed, Target reached (Bit 10) of Statusword (6041h)
changes to "1".
Modes of Operation (6060h)
6 1
Servo motor rotation speed 0 r/min
Status Word (6041h)
Operation-enabled (Bit 2)
Target reached (Bit 10)
Control Word (6040h)
Switch On (Bit 0)
Enable Voltage (Bit 1)
Quick Stop (Bit 2)
Enable Operation (Bit 3)
New set-point (Bit 4)
Timing chart