Switch User Manual
Table Of Contents
- Contents
- 1 Safety Information
- 2 Introduction
- 3 Mechanical Installation
- 4 Electrical Installation
- 5 Getting Started
- 6 Protocols
- 7 Drive profile (DSP-402) support
- 7.1 0x6040 Controlword
- 7.2 0x6041 Statusword
- 7.3 Common profile features
- 7.3.1 Sequencing control
- 7.3.2 0x605A Quick stop option code
- 7.3.3 0x605B Shutdown_option_code
- 7.3.4 0x605C Disable_operation_option_code
- 7.3.5 0x605E Fault_reaction_option_code
- 7.3.6 0x6060 Modes_of_operation
- 7.3.7 0x6061 Modes_of_operation_display
- 7.3.8 0x6085 Quick_stop_deceleration
- 7.3.9 Profile units
- 7.3.10 0x608F Position_encoder_resolution
- 7.3.11 0x6091 Gear_ratio
- 7.3.12 0x6092 Feed_constant
- 7.3.13 Basic position control
- 7.3.14 0x6062 Position_demand_value
- 7.3.15 0x6064 Position_actual_value
- 7.3.16 0x60F4 Following_error_actual_value
- 7.3.17 0x60FB Position_control_parameter_set object
- 7.4 Interpolated position mode
- 7.5 vl velocity mode
- 7.5.1 0x6042 vl_target_velocity
- 7.5.2 0x6043 vl_velocity_demand
- 7.5.3 0x6044 vl_velocity_actual_value
- 7.5.4 0x6046 vl_velocity_min_max_amount
- 7.5.5 0x6047 vl_velocity_min_max
- 7.5.6 0x6048 vl_velocity_acceleration
- 7.5.7 0x6049 vl_velocity_deceleration
- 7.5.8 0x604A vl_velocity_quick_stop
- 7.5.9 0x604B vl_setpoint_factor
- 7.5.10 0x604C vl_dimension_factor
- 7.6 Profile Torque mode
- 7.7 Homing Mode
- 8 Advanced features
- 9 Diagnostics
- 9.1 Module identification parameters
- 9.2 Network configuration objects
- 9.3 Diagnostic parameters
- 9.4 Drive trip display codes
- 9.5 SM-EtherCAT module temperature
- 9.6 SM-EtherCAT serial number
- 9.7 SM-EtherCAT error codes
- 9.8 Critical task % free
- 9.9 Worst case critical task % free
- 9.10 FLASH file system % free
- 9.11 Updating SM-EtherCAT firmware
- 10 Quick Reference
- 11 Glossary Of Terms
- Index
SM-EtherCAT User Guide 39
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting Started Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
7.3.17 0x60FB Position_control_parameter_set object
The APC position controller kernel is used by the basic internal position control.
The position_demand_value object contains the value supplied by either the
interpolated position mode or the profile position mode (in user units). It is updated
every control loop cycle. This object can be mapped as cyclic data.
7.4 Interpolated position mode
Interpolated position mode operates on the Unidrive SP in servo mode, closed-loop
vector mode and RFC mode. This mode also operates on the Digitax ST and Mentor
MP.
Table 7.31 lists the objects that are supported:
7.4.1 0x60C0 Interpolation_sub-mode_select
Table 7.30 Position_control_parameter_set object
0x60FB Position_control_parameter_set
Sub-index 0
Access: RO Range: N/A Size: Unsigned 8 Unit: N/A
Default: 2
Description: The number of control loop parameters.
Sub-index 1
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: 0.01 rad/s/rad
Default: 2500
Description: The position controller proportional gain.
Sub-index 2
Access: RW Range: 0 to 65535 Size: Unsigned 16 Unit: 1 / 1000
Default: 1000 (i.e. a gain of 1)
Description: The position controller speed feed forward gain.
Table 7.31 Supported Interpolated position mode objects
Index Name
0x60C0 interpolation_submode_select
0x60C1 interpolation_data_record
0x60C2 interpolation_time_period
Table 7.32 0x60C0 Interpolation_sub-mode_select
0x60C0 Interpolation_sub-mode_select
Access: RW Range: 0 Size: Signed 16 Unit: N/A
Default: 0 (Linear interpolation)
Description: Specifies the interpolation type. The values have the following meanings:0 = Linear
Interpolation.