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R1-EC5621
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Delta Electronics R1-EC5621 [25/49] Figure 5 2

R1-EC5621 User Guide Chapter 5 CiA402 Drive Profile

October, 2014 5-9

5.3 Touch Probe Function

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

Related Objects

Index

Sub

Index

Name

Access

PDO

Mapping

Units

Type

60B8h

Touch probe function

UINT

60B9h

Touch probe status

UINT

60BAh

Touch probe 1 position value

DINT

The figure below shows the operation of Touch probe function.

• Single Trigger Mode (60B8h bit1 = 0)

Figure 5.12

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

Delta Electronics R1-EC5621 [25/49] Figure 5 2

Содержание

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