Orientalmotor AZX Series Operating Manual page 3

4 Power removal function
1 Overview of power removal function ....................................................................................................................64
2 Notes when using the power removal function ...................................................................................................65
3 I/O signals ....................................................................................................................................................................66
3-1 Input signals ........................................................................................................................................................................................... 66
3-2 Output signal.......................................................................................................................................................................................... 66
4 Operation of power removal function ...................................................................................................................67
4-1 Transition to power removal status ................................................................................................................................................ 67
4-2 Return from power removal status ................................................................................................................................................ 68
4-3 Detection for failure of the power removal function ............................................................................................................... 69
5 Related functions .......................................................................................................................................................70
5-1 Input signal ............................................................................................................................................................................................. 70
5-2 Output signals ........................................................................................................................................................................................ 70
5-3 Parameters .............................................................................................................................................................................................. 71
5-4 Alarms ....................................................................................................................................................................................................... 72
5 EtherCAT communication
1 Guidance ......................................................................................................................................................................77
2 Communication specifications ................................................................................................................................79
2-1 EtherCAT communication interface ............................................................................................................................................... 79
2-2 CiA402 drive profile.............................................................................................................................................................................. 79
2-3 EtherCAT State Machine (ESM)......................................................................................................................................................... 80
2-4 Process Data Objects (PDO) .............................................................................................................................................................. 80
2-5 Service Data Objects (SDO) ............................................................................................................................................................... 83
2-6 Synchronous mode of EtherCAT ..................................................................................................................................................... 83
2-7 Distributed Clocks ................................................................................................................................................................................ 84
2-8 Emergency message ............................................................................................................................................................................ 84
3 Drive profile .................................................................................................................................................................85
3-1 Drive state machine ............................................................................................................................................................................. 85
3-2 Operation modes .................................................................................................................................................................................. 88
3-3 Cyclic synchronous position mode (CSP) ..................................................................................................................................... 88
3-4 Profile position mode (PP) ................................................................................................................................................................. 90
3-5 Cyclic synchronous velocity mode (CSV) ...................................................................................................................................101
3-6 Profile velocity mode (PV) ...............................................................................................................................................................103
3-7 Homing mode (HM) ...........................................................................................................................................................................105
4 Functions ...................................................................................................................................................................118
4-1 Touch probe ..........................................................................................................................................................................................118
4-2 Resolution ..............................................................................................................................................................................................121
4-3 Wrap function ......................................................................................................................................................................................122
4-4 Maintenance commands .................................................................................................................................................................122
4-5 Assignment of I/O functions ...........................................................................................................................................................123
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