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

ASDA-A3

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

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)
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)
Target reached (6041h [Bit 10])
Position actual value (6064h)
Following error actual value (60F4h)
Following error window (6065h)
Servo alarm AL009 (2001h)
Position limit
function
Speed limit
function
Position
trajectory
generator
Position
Acceleration
factor
limit function
6093h sub1
6093h sub2
+
Window
Timer
comparator
-
-
+
Position demand value
(6062h)
Window
comparator
Position demand value
(60FCh)
Filter
(2108h)
Position
(2119h to
control
211Ch)
loop
(2124h)
(2144h)
Position
factor
6093h sub2
6093h sub1
CANopen Mode
Max torque
(6072h)
Speed
Servo
Torque
control
motor
control loop
loop
Encoder
12
M
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