Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Number Index Name Unit Setting range
Default
value
Effective
time
4 0x2004
software
position limit
Minimum
inc -2147483648~2147483647 -2147483648 Immediately
User permission:
User/Engineer.
Parameter permission: Read and Write
Number Index Name Unit Setting range
Default
value
Effective
time
5 0x2005
software
position limit
Maximum
inc -2147483648~2147483647 2147483647 Immediately
Parameter description: The soft limit function is enabled/disabled through parameter 0x2000.Byte0. If the
soft limit function is enabled, the position command remains unchanged when the motor reaches the soft limit
unidirectionally; when the motor exceeds the soft limit, the drive will shutdown and report fault 0xFF16 or 0xFF17.
At this point, the fault can be cleared and reverse operation is allowed.
User permission: User/Engineer.
Parameter permission: Read and Write
Velocity Control
7.9
Velocity modes can be selected through parameter 0x6060.
Parameter setting:
0x6060=0003
h
Profile velocity mode (PV);
0x6060=0009
h
Cyclic synchronous velocity mode (CSV);
Parameter Description: PV mode can be realized through the commissioning of DriveStarter. There are four
velocity profile types including TTV1, TTV2, TTV3 and STV, corresponding to simple jogging, programming
jogging 1, programming jogging 2 and sinusoidal jogging respectively in DriveStarter. CSV mode is realized
through the coordination between EtherCAT master and PDO object
0x60FF (target velocity).
CSV Mode Running 7.9.1
CSV mode running is realized by receiving the velocity command from the EtherCAT master. The servo drive
receives the velocity command through PDO object 0x60FF and then feeds back the actual velocity value through
0x606C . For object description of 0x60FF and 0x606C, please refer to Chapter 6.3.2.
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