Ethercat Operation Mode; Profile Position Mode - Delta CMC-EC01 Operation Manual

5.2

EtherCAT Operation Mode

5.2.1

Profile Position Mode

After the drive receives the position command sent by host, it controls the motor to reach the target
position. In this mode, host only gives drive target position, speed command and acceleration and
deceleration settings at the beginning. The motion planning, from command triggering to target
position reaching, is planned and executed by the drive motion command generator.
Target position (607A
Software position limit (607D
Profile velocity (6081
Max motor speed (6080
Profile acceleration (6083
Profile deceleration (6084
Quick-stop deceleration (6085
Quick-stop option code (605A
The operation steps are as follows:
1. Setting mode: OD 6060h = 01h, which is the profile position mode
2. Set the target position: OD 607Ah (Unit: user unit PUU)
3. Set speed command: OD 6081h (Unit: PUU/sec)
4. Set acceleration time slope: OD 6083h (Unit: Pulse/sec
5. Set deceleration time slope: OD 6084h (Unit: Pulse/sec
6. Set the control command: OD 6040h, the control word command makes the drive operate
according to the above settings by using the following steps. For the state machine of the drive,
refer to OD 6041h.
(1) OD 6040h = 06h, the drive enters Ready to Switch On state
(2) OD 6040h = 0Eh, the drive enters Switch On state (Servo On)
(3) OD 6040h = 0Fh, the drive enters Operation Enable state
(4) OD 6040h = 1Fh, rising-edge of the control word Bit 4 triggers the drive to start moving (See
OD 6040h PP mode Bit 4
Object Group".)
CMC-EC01 Operation Manual
26
)
h
Limit Function
)
h
)
h
Limit Function
)
h
)
h
)
Limit Function
h
)
h
)
h
6 action options in Section "A.3.3. OD 6000h Communication
–
EtherCAT Option Card CMC-EC01
Target position [inc]
Profile velocity [inc/s]
Profile acceleration
or profile deceleration
or quick-stop deceleration
[inc/s
inc: internal increments
)
2
)
2
Trajectory
Generator
2
]