Canopen Operation Mode; Profile Position Mode - Delta ASDA-A3 Series User Manual

ASDA-A3

12.3 CANopen operation mode

This section describes the servo motion mode (Mode of Operation) specified by CiA402 in
CANopen mode. The content includes basic operation settings and related object descriptions.

12.3.1 Profile Position Mode

After the servo drive receives the position command transmitted by the controller, the servo
drive controls the servo motor to reach the target position. In the position control mode, the
controller only informs the servo drive of the target position, speed command, and acceleration /
deceleration related settings at the beginning. The motion plan from command triggering to the
arrival of the target position is performed by the motion command generator in the servo drive.
The following figure shows the position control mode architecture of the servo drive:
Target position (607Ah)
Software position limit
(607Dh)
Profile velocity (6081h)
Max. profile velocity (607Fh)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration
(6085h)
Max. acceleration (60C5h)
Max. deceleration (60C6h)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position window (6067h)
Position window time (6068h)
Statusword (6041h)
Bit10 Target reached
Position actual value
(6064h)
Following error actual value (60F4h)
Following error window (6065h)
Servo alarm AL009 (2001h)
Position [PUU]
limit
function
[PUU/s]
Speed
limit
function
Trajectory
generator
[ms]
Acceleration
E-Gear ratio
limit function
6093h sub1
6093h sub2
+
Window Position
compara- window
tor comparator
-
-
+
Position demand value
(6062h)
Following
error
comparator
Positive
torque limit
(60E0h)
Max. torque
Negative
torque limit
(60E1h)
Position demand
value (60FCh)
Filter
P1.008
Position
P1.025 -
control
P1.028
loop
P1.036
P1.068
E-Gear ratio
6093h sub2
6093h sub1
CANopen Mode
(6072h)
Torque
Speed
Servo
control control
motor
loop
loop
Encoder
12
M
12-17