Hiwin D1NCOE User Manual page 31

Drive User Guide
of drive. Under this control mode, the target velocity command will be limited by the protecting set up
value of velocity and acceleration/deceleration.
The following description describes the use of ControlWord(0x6040) and StatusWord(0x6041) by
the controller of master station under the cyclic synchronization position mode:
0x6040
Bit8
0x6041
Bit11 Internal Limit active
Bit12
The steps of using profile velocity mode to operate the motor:
(1) Confirm the target velocity command (0x60FF) has been mapping to RxPDO and the actual
position (0x6064) object has been mapping into TxPDO. Please refer to Chapter 7, the setting
method of PDO mapping.
(2) A. If drive is to be operated under the profile velocity mode, the content of 0x6060 object shall
be set to 3.
B. If drive is to be operated under the cyclic synchronization velocity mode, the content of
0x6060 object shall be set to 9.
(3) A. Confirm the content of 0x6061 object has been set to 3. It indicates that the operational
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Definition Value
0
Halt
1
Definition Value
0
1
0
Ignore Target
Velocity 1
Description
Not stop the movement of motor.
Stop the movement of motor.
Description
Motor has not triggered the limit.
Motor triggers the hardware limit signal.
Ignore target velocity.
Target velocity enters into velocity control
loop.
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