Orientalmotor AZX Series Operating Manual page 91

Index Sub Name
Profile deceleration
6084h 00h
2
[step/s ]
4142h 00h Starting speed [Hz]
Wrap positioning
414Fh 00h
mode
„ Controlword of Profile position mode
Bit 15
−
Bit 7
Fault reset
Details of Controlword
Bit Name
14 Wrap
12 Base position of Rel
10 Reserved
9 Change on set point
8 Halt
6 Abs/Rel
5 Change set immediately
Type Access
U32 RW
INT32 RW
U8 RW
Bit 14 Bit 13
Manufacturer specific (ms)
Base position
Wrap −
Bit 6 Bit 5
Operation mode specific (oms)
Change set
Abs/Rel
immediately
Value
Wrap absolute positioning operation
After the Wrap is set to 1, when the New set point (6040h: bit 4) is set to 1 to start
1
operation, wrap absolute positioning operation is performed. The operating
method is in accordance with the setting of the Wrap positioning mode (414Fh).
Incremental positioning operation (based on command position)
0 Positioning operation of the set travel amount is performed from the present
command position. The travel amount is set with the Target position (607Ah).
Incremental positioning operation (based on feedback position)
1 Positioning operation of the set travel amount is performed from the present
feedback position. The travel amount is set with the Target position (607Ah).
− Reserved
− Not supported.
0 Operation is allowed.
Stop operation. The stopping method is based on the setting of the Halt option
1
code (605Dh).
Absolute positioning operation
0 The Target position (607Ah) is applied to the target position of absolute
positioning operation.
Incremental positioning operation
1 The Target position (607Ah) is applied to the target position of incremental
positioning operation.
When the New set point (6040h: bit 4) is set from 0 to 1 during operation, the
0 new operation command is saved. When the present operation is completed, the
stored new operation command is started.
When the New set point (6040h: bit 4) is set from 0 to 1 during operation, the
1
new operation command is immediately applied.
PDO Save
1 to 1,000,000,000
RxPDO

(Initial value: 300,000)
0 to 4,000,000
No

(Initial value: 5,000)
0: Wrap absolute positioning
1: Wrap proximity
RxPDO 2: Wrap forward direction

3: Wrap reverse direction
(Initial value: 0)
Bit 12 Bit 11
−
of Rel
Bit 4 Bit 3
Enable
Quick stop
New set
operation
point
Description
Drive profile
Range
Bit 10 Bit 9
oms
Reserved
Change on
set point
Bit 2 Bit 1
Enable
Switch on
voltage
Update
B
B
B
Bit 8
Halt
Bit 0
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