Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Servo OFF:
Depending on the servo stop mode, the servo OFF timing diagram is slightly different. Here is just an example of
servo OFF.
Control power
Power supply
Servo enabled
(0x6040.3)
Motor is working
(0x6041.2)
Motor braking
action
The target values from upper
control system is valid
(0x6041.12)
Motor speed
Control power closed
Power supply closed
0: Servo disabled
1: Servo enabled
Motor brake activated
Motor brake
released
0: Motor is not exciting
1: Motor is
working
0: The host computer command is invalid
1: The target values from
upper control system is valid
Power supply
disconnected
Control power
disconnected
0msec (min)
1. Servo disabling process: control word (0x6040.[3~0]) 0x0
F→
0x07 and slope decelerates to zero, delay to stop the motor output (0x605C=9,No111)
or
control word (0x6040.[3~0]) 0x0
F→
0x06 and slope decelerates to zero, delay to stop the motor output (0x605B=9,No110)
TASADLY
TASADLY: Active Stop Delay Time (0x2092,No79)
TMBAHDLY
TMBAHDLY: Motor Brake Active Holding Delay Time (0x203A,No37)
TASE
TASE+TMBAHDLY>TASADLY
TASE+TTMBA> TASADLY
TASE: Motor Active Stop Time Consumption, affected by the Slow Ramp Deceleration (0x2090,No78)
Motor torque
TMBA
TASE+TTMBA
≤
TASADLY
TMBA: Motor brake action time (0x2233,No165)
Figure 7.7-2.
Servo OFF timing diagram
125
Содержание EtherCAT CoolDrive RC Series
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