Cyclic Synchronous Velocity Note regarding USB Note: Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ. Overview Description In this mode, the controller passes a speed preset via the fieldbus at fixed time intervals (referred to in the following as a cycle). The controller then no longer calculates any ramps, but rather only follows the presets. Activation To activate the mode, the value "9" must be set in object 6060h (Modes Of Operation) (see "CiA 402 Power State Machine"). Controlword In this mode, the bits of controlword 6040h have no special function. Statusword The following bits in object 6041h (statusword) have a special function: Bit Value Description 8 0 The controller is not in sync with the fieldbus 8 1 The controller is in sync with the fieldbus 10 0 Reserved 10 1 Reserved 12 0 Controller does not follow the target; the preset of 60FFh (Target Velocity) is ignored 12 1 Controller follows the target; object 60FFh (Target Velocity) is used as the input for position control. 13 0 Reserved 13 1 Reserved Object entries The following objects are necessary for controlling this mode: 60FFh (Target Velocity): This object must be written cyclically with the speed set value. 6085h (Quick-Stop Deceleration): This object contains the braking deceleration for the case that a quick-stop is triggered (see "CiA 402 Power State Machine"). 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the event of a quick-stop (see "CiA 402 Power State Machine"). 6080h (Max Motor Speed): Maximum speed 60C2h:01h (Interpolation Time Period): This object specifies the time of a cycle; a new set value must be written in 60FFh in these time intervals.The following applies here: cycle time = value of 60C2h:01h * 10value of 60C2:02 seconds. 60C2h:02h (Interpolation Time Index): This object specifies the time basis of the cycles. Currently, only value 60C2h:02h=-3 is supported; this yields a time basis of 1 millisecond. 60B1h (Velocity Offset): Offset for the speed set value in user-defined units 60B2h (Torque Offset): Offset for the torque set value in tenths of a percent The following objects can be read in this mode: 606Ch (Velocity Actual Value) 607Eh (Polarity)
Cyclic Synchronous Velocity Note regarding USB Note: Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ. Overview Description In this mode, the controller passes a speed preset via the fieldbus at fixed time intervals (referred to in the following as a cycle). The controller then no longer calculates any ramps, but rather only follows the presets. Activation To activate the mode, the value "9" must be set in object 6060h (Modes Of Operation) (see "CiA 402 Power State Machine"). Controlword In this mode, the bits of controlword 6040h have no special function. Statusword The following bits in object 6041h (statusword) have a special function: Bit Value Description 8 0 The controller is not in sync with the fieldbus 8 1 The controller is in sync with the fieldbus 10 0 Reserved 10 1 Reserved 12 0 Controller does not follow the target; the preset of 60FFh (Target Velocity) is ignored 12 1 Controller follows the target; object 60FFh (Target Velocity) is used as the input for position control. 13 0 Reserved 13 1 Reserved Object entries The following objects are necessary for controlling this mode: 60FFh (Target Velocity): This object must be written cyclically with the speed set value. 6085h (Quick-Stop Deceleration): This object contains the braking deceleration for the case that a quick-stop is triggered (see "CiA 402 Power State Machine"). 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the event of a quick-stop (see "CiA 402 Power State Machine"). 6080h (Max Motor Speed): Maximum speed 60C2h:01h (Interpolation Time Period): This object specifies the time of a cycle; a new set value must be written in 60FFh in these time intervals.The following applies here: cycle time = value of 60C2h:01h * 10value of 60C2:02 seconds. 60C2h:02h (Interpolation Time Index): This object specifies the time basis of the cycles. Currently, only value 60C2h:02h=-3 is supported; this yields a time basis of 1 millisecond. 60B1h (Velocity Offset): Offset for the speed set value in user-defined units 60B2h (Torque Offset): Offset for the torque set value in tenths of a percent The following objects can be read in this mode: 606Ch (Velocity Actual Value) 607Eh (Polarity)
Note regarding USB Note: Because this controller is not equipped with a fieldbus, the following operating mode can only be used with a NanoJ program. You can find further information on the programming and use of a NanoJ program in chapter Programming with NanoJ.
Overview Description In this mode, the controller passes a speed preset via the fieldbus at fixed time intervals (referred to in the following as a cycle). The controller then no longer calculates any ramps, but rather only follows the presets. Activation To activate the mode, the value "9" must be set in object 6060h (Modes Of Operation) (see "CiA 402 Power State Machine"). Controlword In this mode, the bits of controlword 6040h have no special function. Statusword The following bits in object 6041h (statusword) have a special function: Bit Value Description 8 0 The controller is not in sync with the fieldbus 8 1 The controller is in sync with the fieldbus 10 0 Reserved 10 1 Reserved 12 0 Controller does not follow the target; the preset of 60FFh (Target Velocity) is ignored 12 1 Controller follows the target; object 60FFh (Target Velocity) is used as the input for position control. 13 0 Reserved 13 1 Reserved
Description In this mode, the controller passes a speed preset via the fieldbus at fixed time intervals (referred to in the following as a cycle). The controller then no longer calculates any ramps, but rather only follows the presets.
Activation To activate the mode, the value "9" must be set in object 6060h (Modes Of Operation) (see "CiA 402 Power State Machine").
Statusword The following bits in object 6041h (statusword) have a special function: Bit Value Description 8 0 The controller is not in sync with the fieldbus 8 1 The controller is in sync with the fieldbus 10 0 Reserved 10 1 Reserved 12 0 Controller does not follow the target; the preset of 60FFh (Target Velocity) is ignored 12 1 Controller follows the target; object 60FFh (Target Velocity) is used as the input for position control. 13 0 Reserved 13 1 Reserved
Object entries The following objects are necessary for controlling this mode: 60FFh (Target Velocity): This object must be written cyclically with the speed set value. 6085h (Quick-Stop Deceleration): This object contains the braking deceleration for the case that a quick-stop is triggered (see "CiA 402 Power State Machine"). 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the event of a quick-stop (see "CiA 402 Power State Machine"). 6080h (Max Motor Speed): Maximum speed 60C2h:01h (Interpolation Time Period): This object specifies the time of a cycle; a new set value must be written in 60FFh in these time intervals.The following applies here: cycle time = value of 60C2h:01h * 10value of 60C2:02 seconds. 60C2h:02h (Interpolation Time Index): This object specifies the time basis of the cycles. Currently, only value 60C2h:02h=-3 is supported; this yields a time basis of 1 millisecond. 60B1h (Velocity Offset): Offset for the speed set value in user-defined units 60B2h (Torque Offset): Offset for the torque set value in tenths of a percent The following objects can be read in this mode: 606Ch (Velocity Actual Value) 607Eh (Polarity)
