CL3-E CANopen/USB Technical Manual

Cyclic Synchronous Position

Overview

Description

In this mode, the motor controller receives an absolute positional specification at fixed time intervals (called "cycles" below) via the field bus. In this case, the motor controller no longer computes ramps but only follows the specifications.

The target position is transfered via PDO, to which the motor controller responds promptly. Bit 4 in the control word does not have to be set (in contrast to Profile Position mode).

Note
The target specification is absolute and thus independent of how often it was sent per cycle.
Note
The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches.

Control word

In this mode, the bits of control word 6040h do not have a special function.

Status word

The following bits in object 6041h (status word) have a special function:


Bit Value Description
10 0 Reserved
10 1 Reserved
12 0 The motor controller does not follow the target specification; the specification of the 607Ah (Target Position) is ignored.
12 1 The motor controller follows the target specification; the object 607Ah (Target Position) is used as the input for the position control.
13 0 No following error
13 1 Following error

Object entries

The following objects are required to control this mode:

  • 607Ah (Target Position): The position set value must be cyclically written to this object.
  • 607Bh (Position Range Limit): This object contains the specification for an overflow or underflow of the position value.
  • 607Dh (Software Position Limit): This object specifies the limits within which the position specification must be found (607Ah).
  • 6065h (Following Error Window): This object specifies a tolerance corridor in both the positive and negative direction from the set specification. If the actual position is outside of this corridor for longer than the specified time (6066h), a "following error" is issued.
  • 6066h (Following Error Time Out): This object specifies the time period in milliseconds. If the actual position is outside of the position corridor (6065h) for longer than this time period, a "following error" is issued.
  • 6085h (Quick-Stop Deceleration): This object contains the deceleration in case a Quick Stop is triggered.
  • 605Ah (Quick-Stop Option Code): This object contains the option that is to be executed in the event of a Quick Stop.
  • 60C2h:01h (Interpolation Time Period): This object specifies the time period of a cycle. Within this time period, a new set value must be written to 607Ah.

    The following applies: cycle time = value of the 60C2h:01h * 10value of 60C2:02 seconds.

    At this time, only cycle times should be used that correspond to a power of two, i.e. 1, 2, 4, 8, 16, etc. The time unit of the cycle time is defined by object 60C2h:02h.

  • 60C2h:02h (Interpolation Time Index): This object specifies the time basis for cycles. At this time, only the value 60C2h:02h=-3 is supported, which results in a time basis of 1 millisecond.
  • 2031h (Peak Current): This object specifies the maximum current in mA.

The following objects can be readout in this mode:

  • 6064h (Position Actual Value)
  • 606Ch (Velocity Actual Value)
  • 60F4h (Following Error Actual Value)
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