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EtherCAT Option Card CMC-EC01
5.2.5
Cyclic Synchronous Position Mode
The host plans the path in the cyclic synchronous position mode and sends PDOs periodically. In this
mode, when the host computer transmits each PDO, it simultaneously transmits the data of the target
position (target position) and the control command (controlword) to the drive.
Target Position (607A
h
Following error window (6065
Max. motor speed (6080h)
Interpolation time period (60C2
Quick-stop deceleration (6085
Quick-stop option code (605A
Max. torque (6072
)
h
The operation steps are as follows:
1. Setting mode: OD 6060h = 08h, which is the cyclic synchronous position mode
2. Set the target position: OD 607Ah (Unit: PUU)
3. 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
The corresponding control commands are as follows:
Steps
Bit 4
(1)
0
(2)
0
(3)
0
Read drive information
1. OD 6064h, to observe the motor feedback position
2. OD 6041h, status word of the drive, bit 10 target reached (0: Target position is not reached; 1:
target position is reached)
)
Software position limit (607D
)
h
)
h
)
h
)
h
Bit 3
Bit 2
Bit 1
0
1
1
0
1
1
1
1
1
Limit
Function
Multiplier
Motor rated torque (6076
)
h
Bit 0
0
Shutdown (Close)
1
Switch On (Drive Servo On Ready)
1
Enable Operation (Drive Servo On)
)
h
Drive
Control
Function
Description
CMC-EC01 Operation Manual 35
Position actual
value (6064
)
h
Following error
actual value
(60F4
)
h
Velocity actual
value (606C
)
h
Torque actual
value (6077
)
h
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