Implemented Operating Modes; Setting The Ethercat Cycle Time - Pilz PMCtendo DD5 Operating Manual

EtherCAT
Status
Switch On
Operation
Enable
Fault
Fault reac-
tion active
Quick Stop
Active
Legend
X
1/0
Additional Information
Bit 4
Bit 7
Bit 8
Bit 10
Bit 11
Bit 12
Bit 13
Bit 15
4.5

Implemented operating modes

The following operating modes are implemented via the object 0x6060:
cyclic synchronous position mode 0x08 and 0xFA
}
cyclic synchronous velocity mode 0x09 and 0xFE
}
cyclic synchronous torque mode 0x0A and 0xFD
}
homing mode 0x06 and 0xF9
}
The negative values correspond to the manufacturer-specific settings such as the OP-
MODE command.
4.6

Setting the EtherCAT cycle time

The cycle time used in the servo amplifier for the cyclical set and actual values can be
present either configured in the amplifier in the parameter PTBASE or it can be configured
in the start phase.
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
Bit 6 = Bit 5 =
Switch-on No E-
disable STOP
active active
0 1
0 1
0 1
0 0
0 0
Bits are irrelevant
Status of the individual bits
1 = Intermediate circuit voltage is present
1 = A warning is present at the device
1 = Position error present (in all position modes (OPMODE = 4, 5, 6, 8))
1 = Target reached (in position)
1 = Restrictions active (e.g. hardware or software end switch has triggered)
1 = Reference run active
1 = Reference run error
1 = Motion task active (in profile position mode)
Bit 2 =
Bit 3 = Operation
Error enabled
0 0
0 1
1 0
1 1
0 0
Bit 1 = Bit 0 =
Switched Ready to
on switch on
1 1
1 1
0 0
1 1
1 1
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