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Delta Electronics R1-EC5621 [19/49] Cyclic synchronous position mode
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R1-EC5621 User Guide Chapter 5 CiA402 Drive Profile
October, 2014 5-3
5.2.2 Cyclic Synchronous Position Mode
Cyclic Synchronous Position mode is used to control the offset of single-axis or
multi-axis per cycle via cyclic synchronization time and thus achieving multi-axis
interpolation.
The interpolation time period defines the time period between two updates of the target
position and/or additive position and shall be used for intercycle interpolation. Target
position shall be interpreted absolute value.
The following is block diagram of Cyclic Synchronous Position mode:
Figure 5.2 Block Diagram of Cyclic Synchronous Position Mode
Related Objects
Index
Sub
Index
Name
Access
PDO Mapping
Units
Type
607Ah
-
Target position
RW
Yes
Pos Units
DINT
607Dh
-
Software position limit
-
-
-
-
1
Min. position limit
RW
No
Pos Units
DINT
2
Max. position limit
RW
No
Pos Units
DINT
607Fh
-
Max. profile velocity
RW
No
Vel Units
UDINT
Target Position
(607Ah)
Position
Position
trajectory
generator
Position
control
loop
Position Actual
Value
(6064h)
DDA Output Mode
(2000h)
DDA Input Mode
(2001h)
Содержание
- R1 ec 5621 1
- R1 ec 5621 cover 1
- Technical support and service 2
- User information 2
- User information technical service 2
- Table of contents 3
- 1 2 3 4 5 6 7
- Chapter 1 preface 7
- Inspection 7
- Model explanation 7
- R 1 ec 5 6 2 1 7
- Using r1 ec5621 7
- Chapter 2 specifications 9
- Product figure 9
- Product figurefigure 9
- Electrical specifications 10
- Specifications and dimensions of r1 ec5621 10
- Dimensions 11
- Dimensions 100 mm x 73 mm x 17 mm 11
- Chapter 3 product description 13
- Description of each part 13
- Chapter 4 wiring 15
- Wiring example of input point 15
- Wiring example of output point 16
- Wiring of output point pa pa pb pb 16
- Wiring of output point svon ralm 16
- Chapter 5 cia402 drive profile 17
- Operation mode 17
- Operation modes can be switched via 6060h the host station is in charge of synchronously updating all data of operation modes if the host station switches to another operation mode r1 ec5621 will immediately switch to the given mode the following table illustrates the behavior during switching modes 17
- R1 ec5621 supports the following operation modes profile position mode homing mode cyclic sync position mode 17
- Related objects 17
- Switching operation modes 17
- Figure 5 block diagram of profile position mode 18
- Position control mode 18
- Profile position mode 18
- Related objects 18
- The function of profile position mode is to specify the velocity and acceleration allowing the motor to reach the target position from the start position below is the block diagram of profile position mode 18
- Control loop 19
- Cyclic synchronous position mode 19
- Cyclic synchronous position mode is used to control the offset of single axis or multi axis per cycle via cyclic synchronization time and thus achieving multi axis interpolation the interpolation time period defines the time period between two updates of the target position and or additive position and shall be used for intercycle interpolation target position shall be interpreted absolute value the following is block diagram of cyclic synchronous position mode 19
- Figure 5 block diagram of cyclic synchronous position mode 19
- Position 19
- Related objects 19
- Trajectory generator 19
- Figure 5 block diagram of homing mode 20
- Homing 20
- Homing method 20
- Related objects 20
- The block diagram below shows the input and output objects of homing mode users may specify the speed acceleration and method of homing there is a further object home offset which allows user to displace zero in the user s coordinate system from the home position 20
- Figure 5 2 25
- Related objects 25
- The feedback position can be latched with the following trigger events org signal trigger qz signal trigger supporting one set of touch probe function latch control 60b8h bit 0 to 7 latch status 60b9h bit 0 to 7 latch position is always stored to the touch probe1 position value 60bah trigger signal org signal qz signal 25
- The figure below shows the operation of touch probe function single trigger mode 60b8h bit1 0 25
- Touch probe function 25
- Chapter 6 object dictionary 27
- Object list 27
- Additional information bit0 15 0004 stepping motor 28
- Device type 1000h 28
- Error register 1001h 28
- General information bit16 31 0192 ds402 28
- General objects 28
- Identity object 1018h 28
- Manufacturer device name 1008h 28
- Manufacturer software version 100ah 28
- The current version is 1 0 28
- This object is an error register for the device the value of this object is stored in the emergency message 28
- This object shall acquire basic information about the device 28
- This object shall acquire information about the software version of r1 ec8124 28
- This object shall acquire the device name of r1 ec5621 28
- This object shall indicate the type of device and its functionality 28
- Ethercat in canopen protocol allows users to map objects to process data objects 29
- Pdo and use these pdos to conduct data transmission 29
- Pdo mapping objects 29
- Receive pdo mapping 1601h 29
- Transmit pdo mapping 1a00h 29
- Sync manager communication objects 30
- Sync manager communication type 1c00h 30
- Sync manager pdo assignment 1c12h to 1c13h 30
- Data description 31
- Dda input mode 2001h 31
- Dda output mode 2000h 31
- Manufacturer specific objects 31
- Org inverse 2002h 31
- This object shall be used to indicate the signal of qz inverse 31
- This object shall configure dda input mode 31
- This object shall indicate the configured dda output mode 31
- Data description 32
- H 0 home special mode uint rw no 0 to 1 no 32
- H 0 qz inverse uint rw no 0 to 1 no 32
- Home special mode 2010h 32
- Inverse 32
- Mode 0 normal 32
- Mode 1 32
- Normal 32
- Qz inverse 2003h 32
- The speed of homing but making it stop at the edge signal limit with higher precision 32
- This object shall indicate the configured special mode of homing which will slow down 32
- This object shall indicate the configured the inverse of qz signal inverse 32
- Bit 0 to 3 control commands of the module status 33
- Controlword 6040h 33
- Controlword bits 33
- Device control 33
- Error code 603fh 33
- This object shall indicate the module status including control of operating modes and manufacturer defined operation 33
- This object shall provide the error code of the last alarm or warning which occurred in r1 ec5621 33
- Bit 4 and 8 homing mode control bits 34
- Bit 4 pp mode control bits 34
- Bit 6 and 8 pp mode control bits 34
- Bit 0 to 7 current status of the module 35
- Statusword 6041h 35
- Statusword bits 35
- Statusword indicates the current status of the module statusword bits include current module status and status of current operation mode 35
- Bit 8 and 10 homing mode 36
- Bit 8 and10 pp mode 36
- Bit11 internal limit active internal limit is active under the following condition 36
- El el signals are activated 36
- Bh 0 statusword int rw no 0 no 37
- Ch 0 disable operation option code int rw no 0 no 37
- Corresponds to the feedback value is identical to 6060h 37
- Cyclic sync position mode 37
- Data description 37
- Disable drive function transit into switch on disabled 37
- Disable operation option code 605ch 37
- H 0 modes of operation display sint ro no 0 no 37
- H 0 modes of operation sint rw no 0 to 10 no 37
- Homing mode 37
- Modes of operation 6060h 37
- Modes of operation display 6061h 37
- No mode change no mode assigned 37
- Operation enable state to switched on state 37
- Profile position mode 37
- Shutdown option code 605bh 37
- This object shall indicate the requested operation mode 37
- This object shall indicate what action is performed if there is a transition from 37
- This object shall indicate what action is performed if there is a transition from operation enabled state to ready to switch on state 37
- This object shall provide the actual operation mode the operation mode that 37
- Data description 38
- Supported drive modes 6502h 38
- This object shall provide information about the supported operation modes on this device 38
- Max position limit 39
- Max profile velocity 607fh 39
- Profile position mode 39
- Software position limit 607dh 39
- Target position 607ah 39
- This object shall indicate the configured maximal allowed velocity in forward reverse direction 39
- This object shall indicate the configured maximal and minimal software position limits these parameters shall define the absolute position limits for the position demand value and the position actual value every new target position shall be checked against 39
- This object shall indicate the target position of pp mode and csp mode in pp mode the value of this object shall be interpreted as absolute or relative depending on the abs rel flag in the controlword in addition in csp mode the value of this object will be absolute only 39
- Data description 40
- Deceleration 40
- Default 0 vel unit 40
- Default 3000 acc unit 40
- H 0 motion profile type int rw no 0 to 1 default 0 no 40
- H 0 profile acceleration udint rw no 40
- H 0 profile deceleration udint rw no 40
- H 0 profile velocity udint rw no 40
- Motion profile type 6086h 40
- Profile acceleration 6083h 40
- Profile deceleration 6084h 40
- Profile velocity 6081h 40
- Quick stop 40
- Quick stop deceleration 6085h 40
- S curve 40
- T curve 40
- This object shall indicate the configured acceleration of profile modes 40
- This object shall indicate the configured deceleration of profile modes 40
- This object shall indicate the configured deceleration used to stop the motor when the quick stop function is activated 40
- This object shall indicate the configured type of motion profile used to perform a profiled motion 40
- This object shall indicate the configured velocity normally attained at the end of the acceleration ramp 40
- To 4294967295 40
- Udint rw no 40
- Data description 41
- Home offset 607ch 41
- Homing method 6098h 41
- Homing mode 41
- This object shall indicate the configured difference between the zero position for the application and the machine home position found during homing during homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position 41
- This object shall indicate the configured homing method that shall be used please refer to chapter 5 homing 41
- Homing acceleration 609ah 42
- Homing speeds 6099h 42
- This object shall indicate the configured acceleration and deceleration to be used during homing operation 42
- This object shall indicate the configured speed used during homing procedure 42
- Position actual value 6064h 43
- Position control function 43
- Position demand value 6062h 43
- Profile velocity mode 43
- Target velocity 60ffh 43
- This object shall indicate the configured target velocity in profile velocity and cyclic synchronous velocity according to the user defined value 43
- This object shall provide actual value of position measurement of the module 43
- This object shall provide the actual value of velocity 43
- This object shall provide the demanded position value 43
- Velocity actual value 606ch 43
- Data description 44
- In homing mode touch probe function is disabled if touch probe function is enabled touch probe will be prohibited 44
- This object shall indicate the configured function of the touch probe 44
- This object shall provide the status of touch probe 44
- Touch probe function 44
- Touch probe function 60b8h 44
- Touch probe status 60b9h 44
- Bah 0 touch probe 1 position value dint ro no no 45
- This object shall be used to store the position value acquired after latching 45
- Touch probe 1 position value 60bah 45
- Abort codes 47
- Chapter 7 sdo error message 47
- Chapter 7 sdo error message abort codes 47
- Sdo error message abort codes 47
- Americas 49
- Delta electronics inc 49
- Europe 49
- Industrial automation headquarters 49
- 台達電子工業股份有限公司 49
- 機電事業群 49
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