Parameter Setting Examples - Acsm1; Using Position Control With The Cia 402 Profile Position; Mode - ABB FCAN-01 User Manual

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Parameter setting examples – ACSM1
Using position control with the CiA 402 Profile Position mode
This example shows how to configure a basic positioning
application for an ACSM1 motion control drive. The start/stop
commands and reference are according to the CiA 402 Profile
Position mode.
The parameter setting example results in the following PDO
configuration.
Note: Rx PDO1 and Tx PDO1 are enabled by default.
PDO
Rx PDO1
Tx PDO1
The target position and actual value are defined as 32-bit integer
values; both are scaled as defined by drive parameter settings.
The target position (reference) and the position actual value are
scaled as follows:
Drive parameter
60.05 POS UNIT (Position unit)
60.08 POS2INT SCALE
1000 / 100 = 10.00 m
Word 1
6040h
Control word
6041h
Status word
Word 2, 3
607Ah
Target position
6064h
Position actual
value
Example setting
m
100
60.05 POS UNIT
Physical value
60.08 POS2INT SCALE
Set point value
Length
48 bits
48 bits