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Deployment
Drive profile > Operating modes
Accessing the state
machine
Ä '0x8100-01 - Control word' on page 109
4.4.3 Operating modes
4.4.3.1
Overview
Operating modes
Controller structure and
controller parameters
52
11
Bit 3...0: x01x: Command "Quick stop"
7,8,9,12 Bit 3...0: xx0x: Command "Disable voltage"
15
Bit 7: Edge 0-1: Command "Fault reset"
At CiA 402 the total control is realized via the following two objects. Both objects are
mapped in the cyclic data exchange:
à
State machine
The communication takes place via the I/O area. The main data of the object dictionary
are mapped into the I/O area.
Ä Chapter 4.11 'In-/Output area' on page 83
The objects, which are not mapped, can be accessed by the Acyclic channel.
Ä Chapter 4.12 'Acyclic channel' on page 86
The following modes according to the device profile CiA 402 are available:
n
Ä Chapter 4.5 'Homing' on page 53
n
Ä Chapter 4.6 'PtP positioning profile' on page 60
n
Ä Chapter 4.7 'Velocity profile' on page 72
Ä Chapter 4.8 'Torque control' on page 76
n
Basis of the individual modes is the cascaded controller structure of the System SLIO
motion module. This will give you a high dynamic and position precision. The set point for
the higher-level position controller is generated by the profile generators of the individual
modes. Positioning and Velocity control loop can be closed, this means if configured the
encoder signal is used for control. This structure consists of the following components:
Start: Start parameters
Limit: Limitations
Vel control: Velocity control - 8kHz clock
Position control: Position controller - 8kHz clock
PI: PI current controller - 32kHz clock
int. PS: Internal power stage (power stage)
Encoder: Encoder current value
Ä '0x8100-02 - Status word' on page 110
à
HB300 | FM | 054-1CB00 | en | 18-06
VIPA System SLIO
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