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ASDA-A3
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CANopen Mode
12.3 CANopen operation modes
This section describes the modes of operation specified by CiA DS402 when the servo is in the
CANopen mode. The content includes basic operation settings and related object descriptions.
12.3.1 Profile Position mode
12
After receiving the position command transmitted from the controller, the servo drive controls the
servo motor to reach the target position.
In Profile Position (PP) mode, the controller only informs the servo drive of the target position,
speed command, and acceleration / deceleration settings at the beginning. The motion planning
from command triggering to the arrival of the target position is performed by the trajectory
generator in the servo drive.
The following figure shows the Profile Position mode architecture of the servo drive:
Target position (607Ah)
Software position limit (607Dh)
Position limit
function
Profile velocity (6081h)
Max profile velocity (607Fh)
Speed limit
function
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration (6085h)
Max acceleration (60C5h)
Acceleration
limit function
Max deceleration (60C6h)
Position
trajectory
generator
Position demand value
(60FCh)
Position
factor
6093h sub1
6093h sub2
Filter
(2108h)
(2119h to
211Ch)
(2124h)
(2144h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position window (6067h)
Position window time (6068h)
Target reached (6041h [Bit 10])
Timer
Position actual value (6064h)
Following error actual value (60F4h)
Window
comparator
+
-
-
+
Position
factor
6093h sub2
6093h sub1
Following error window (6065h)
Servo alarm AL009 (2001h)
Window
comparator
Position demand value
(6062h)
Max torque
(6072h)
Position
control
loop
Speed
control
loop
Torque
control loop
Servo
motor
M
Encoder
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12-17