Table of Contents
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5.3 NMT ....................................................................................................................................54
5.3.1 NMT services ..............................................................................................................55
5.3.1 NMT error control ........................................................................................................55
5.4 SDO.....................................................................................................................................57
5.5 PDO.....................................................................................................................................58
5.6 SYNC ..................................................................................................................................59
5.7 EMCY..................................................................................................................................59
Chapter 6 Trial Run ............................................................................................................................61
6.1 Inspection Before trial Run .....................................................................................................61
6.1.1 Inspection on wiring .......................................................................... 错误!未定义书签。
6.1.2 Holding brake ................................................................................... 错误!未定义书签。
6.2 iSV2-CAN motion control procedure .......................................................................................61
6.3 CIA 402 State Machine...........................................................................................................62
6.4 Common Functions for All Modes ...........................................................................................63
6.4.1 Motor Rotation Direction ..............................................................................................63
6.2.2 Drive Stop...................................................................................................................63
6.4.3 Electronic Gear Ratio ...................................................................................................63
6.4.4 Control Word ...............................................................................................................64
6.4.5 Status Word .................................................................................................................64
6.4.6 Drive Enable ...............................................................................................................65
6.5 Profile position mode .............................................................................................................66
6.5.1 Controlword in profile position mode .............................................................................66
6.5.2 Statusword in profile position mode................................................................................67
6.5.3 Related objects.............................................................................................................67
6.5.4 Example of profile position mode...................................................................................68
6.6 Profile velocity mode .............................................................................................................68
6.6.1 Controlword in profile velocity mode .............................................................................69
6.6.2 Statusword in profile velocity mode................................................................................69
6.6.3 Related objects.............................................................................................................69
6.6.4 Example of profile velocity mode...................................................................................70
6.7 Profile torque mode................................................................................................................70
6.7.1 Controlword in profile torque mode ................................................................................70
6.7.2 Statusword in profile torque mode ..................................................................................71
6.7.3 Related objects.............................................................................................................71
6.7.4 Example of profile torque mode .....................................................................................72
6.8 Homing mode .......................................................................................................................72
6.8.1 Controlword in profile homing mode ..............................................................................72
6.8.2 Statusword in profile homing mode ................................................................................73
6.8.3 Related objects.............................................................................................................74
6.8.4 Example of homing mode..............................................................................................74
6.8.5 Homing Method...........................................................................................................75
6.9 Security Features ...................................................................................................................89
6.9.1 BRK-OFF output .........................................................................................................89
6.9.2 Servo stop mode ..........................................................................................................91
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User Manual of iSV2-CAN Servo
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