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AKD CANopen/EtherCAT Profile Position Mode Settings

AKD CANopen/EtherCAT Profile Position Mode

Objects and Parameters:

0x6060 = 6 for Homing mode

0x6060 = 1 for Profile Position mode

0x607A = Target Position

0x6081 = Profile Velocity

0x6082 = Profile Acceleration

0x6083 = Profile Deceleration

FBUS.PARAM05 bit4 selects how the units are configured

 

Operation Mode:

Profile Position Mode is one of the CANopen/EtherCAT Modes of Operation.  It is configured with Object 0x6060.  In this mode, the master will send data to Motion Task 0 in the AKD, and the drive will execute the motion task.

 

Command Source:

The drive will be in Position mode and have a command source of “Service” (DRV.CMDSOURCE = 0).  This is the same configuration used to run motion tasks regardless of Fieldbus communications.  The “Service” command source means that the actual motion command is generated within the AKD drive.  The internal motion task profile generator gives the position command to the position loop.

 

Homing:

The drive must be homed before it can run a motion task.  DS402 standard uses Operation Mode 6 for homing.  Change the Mode of Operation to mode 6 (Homing Mode) and set Control Word bit4 to start homing.  After the homing sequence is complete, the Operation Mode can be change to mode 1 (Profile Position).

 

CAN Objects:

Target Position = 0x607A (This is the target position or the relative distance of Motion Task 0.)

Profile Velocity = 0x6081 (This is the velocity command of Motion Task 0.)

Profile Acceleration = 0x6082 (This is the acceleration command of Motion Task 0.)

Profile Deceleration = 0x6083 (This is the deceleration command of Motion Task 0.)

 

Units:

The units are configured based on the setting of FBUS.PARAM05 bit4.

Bit4 = 0 means that the position units are based on UNIT.PIN = 1 rev (UNIT.POUT is not used).

Bit4 = 1 means that the position units are based on CANopen gear ratio and feed rate objects.

The velocity units used by the master are “position unit/s”, and accel/decel units are “position unit/s^2”.

 

Control Word:

Bit6 = 0 means the motion task is an absolute move.

Bit6 = 1 means the motion task is a relative move.

Bit4 = 1 starts motion with a new target setpoint.

Bit5 = 1 will terminate an existing move and motion to a new target setpoint without stopping motion.