Profile Velocity Mode(Pv ); Cyclic Synchronous Position Mode Mode(Csp); Related Objects - Econ EtherCAT EHS-580 User Manual

SHENZHEN ECON TECHNOLOGY CO.,LTD
(6040h) is invalid triggered (for example 6040h = 0x2F/4F), it can be interrupted
C: The logic of bit 5 and bit 12 is always reverse in PP mode.

2.2 Profile velocity mode(PV )

Profile velocity mode is a relatively simple operating mode via execution related command sending by EtherCAT
master
Data write/read
RXPDO
6083+00h
6084+00h
TXPDO
2.2.1Controlword and Status word
In PV Mode, bits 4~6of Control word (6040h) are not effective, the movement will be active by setting some
movement parameters, including target velocity (60FFh), acceleration/deceleration (6083h/6084h).
Bit
8(quickly stop)
10(speed reached)
12 (speed is 0)
2.3Cyclic synchronous position mode(CSP)
Cyclic Synchronous Position mode (CSP Mode) assigns target position to EHS-580hybrid servo drives by Master's
profile creation function through cyclic communication. Drives internally execute position/velocity control with
receipt of target position in each cycle.
The supported synchronizing cycles are: 250us, 500us, 750us, 1000us, 2000us and 4000us.

2.3.1 Related objects

Data write/read
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Object Description
6060h Operation Mode
6040h Control word
60FFh Target Position
Profile Acceleration
Profile Deceleration
6041h Status word
6064h Actually position Feedback
606Ch Actual velocity feedback
Value
0
1
0
1
0
1
Object Description
6060h Operation Mode
User self-defined
User self-defined
User self-defined
User self-defined
Description
Quickly stop is disabled
Quickly stop is enabled
The current speed has not reach to target speed
The current speed reach to target speed
Speed is not 0 , the movement is not completed
Speed is 0 or the speed is ready to be 0 with Dec
Value Unit
1 -
-
Unit
Unit/S^2
Unit/S^2
Read only -
Read only Unit
Read only Unit/s
Value Unit
1 -