Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Position Control
7.8
Select the position control mode through 0x6060 .
Parameter setting:
0x6060=0001
h
Profile position mode (PP);
0x6060=0006
h
Homing mode (HM);
0x6060=0008
h
Cyclic synchronous position mode (CSP);
Parameter Description:
PP mode can be realized through the commissioning of DriveStarter, while CSP
mode is realized through the coordination between the EtherCAT master and the PDO object 0x607A (target
position).
CSP Mode Running 7.8.1
CSP mode running is realized by receiving the position command from EtherCAT master. The servo drive
receives the position command through PDO object 0x607A, and then feeds back the actual position through object
0x6064 . For object description of 0x607A and 0x6064, please refer to Chapter 6.3.2.
Basic Setting of Position Control 7.8.2
Number Index Name Unit Setting range
Default
value
Effective
time
0 0x2000
Position
control switch
— 0x00000000~0x01010303 0x01000000 Restart
Byte0: Soft limit enable/disable
0x00 - Software position limit is disabled in all modes;
0x01 - Software position limit is enabled in all modes;
0x02 - Software position limit is only enabled in position control mode.
Byte1: Infinite position mode switch
0x00 - Infinite position control mode is disabled;
0x01 - Enable infinity position control mode, and enable power on position control overflow detection;
0x02 - Enable infinity position control mode, and disable power on position control overflow detection.
Byte2: Position compensation control switch
0x00 - Position compensation control is disabled;
0x01 - Infinite position control mode is enabled.
Byte3: Detection switch of position following error
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