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4.6.3 CIA402 motion control mode
4.6.3.1 PP mode
PP (Profile position control mode) is a position control mode in which the target position, target speed,
acceleration and deceleration are specified, and the position command is generated inside the servo driver.
1. Related parameters
PP control mode related objects (command・setting type)
Register
RXPDO[0x6040]
RXPDO[0x6060]
RXPDO[0x607A]
RXPDO[0x6072]
RXPDO[0x607F]
RXPDO[0x6080]
RXPDO[0x6081]
RXPDO[0x6083]
RXPDO[0x6084]
RXPDO[0x60C5]
RXPDO[0x60C6]
Note:
(1) 6081h (Profile velocity) is limited by the smaller one of 607Fh (Max profile velocity) and 6080h (Max motor
speed).
(2) Changing the set value of 607Fh (Max profile velocity) or 6080h (Max motor speed) is not reflected in the
action.
PP control mode related object (command・monitor type)
Register
TXPDO[0x6041]
TXPDO[0x6061]
TXPDO[0x6063]
TXPDO[0x6064]
TXPDO[0x606C]
TXPDO[0x6077]
TXPDO[0x60F4]
2. Control word (6040h) <PP control mode function>
Index
Sub-
Index
00h
h
6040
Position setting
Max internal speed
Max motor speed
Internal speed setting
Internal acceleration speed
Internal deceleration speed
Max acceleration speed
Max deceleration speed
Internal actual position
Position feedback (motor actual
Speed feedback
Actual following error
Name/Description
Controlword
Set the control command of servo driver such as PDS state conversion.
Bit information
15
14
7
6
fr
Abs/rel
Change set
immediately
r = reserved (Not corresponding)
oms = operation mode specific
(control mode based on bit)
h = halt
Explanation
Control word
Set to 1
Max torque
Explanation
Status word
Mode query
position)
Actual torque
Range
Date
Type
0~65535
U16
13
12
11
r
5
4
oms
New set
point
eo = enable operation
qs = quick stop
ev = enable voltage
so = switch on
74
Unit
-
-
Command unit
0.1%
Command unit/s
r/min
Command unit/s
Command unit/s²
Command unit/s²
Command unit/s²
Command unit/s²
Unit
-
Command unit
Command unit
Command unit /s
0.1%
Command unit
Access
PDO
rw
RxPDO
10
9
3
2
1
eo
qs
ev
fr = fault reset
Op-
mode
All
8
h
0
so
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