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 47
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
7.6.2 0x6075 Motor_rated_current
This object indicates the configured motor rated current. It is taken from the motor’s
name-plate. Depending on the motor and drive technology this current is DC, peak or
rms (root-mean-square) current. All relative current data refers to this value. The value
of this object is given in mA.
7.6.3 0x6078 Current_actual_value
This object provides the actual value of the current. It shall correspond to the current in
the motor. The value of this object is given per thousand of rated current.
7.6.4 0x6087 Torque_slope
This object indicates the configured rate of change of torque. The value of this object is
given in units of per thousand of rated torque per second.
7.7 Homing Mode
This section describes the method by which a drive seeks the home position (also
called, the datum, reference point or zero point).
Figure 7-2 Homing mode function on page 47 shows the defined input objects as well
as the output objects. The user may specify the speeds, acceleration and the method of
homing. There is a further object home offset, which allows the user to displace zero in
the user's coordinate system from the home position.
There is no output data except for those bits in the statusword, which return the status or
result of the homing process and the demand to the position control loops.
Figure 7-2 Homing mode function
Table 7.49 0x6075 Motor_rated_current
0x6075 Motor_rated_current
Access: RO Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: mA
Default: 0
Description: Indicates the configured motor rated current (Pr 5.07).
Table 7.50 0x6078 Current_actual_value
0x6078 Current_actual_value
Access: RO Range: -32768 to +32767 Size: Signed 16 Unit: 0.1% of rated current
Default: 0
Description: Provides the actual value of the current.
Table 7.51 Torque_slope
0x6087 Torque_slope
Access: RW Range: 0 to 0xFFFFFFFF Size: Unsigned 32 Unit: 0.1% of rated torque per second
Default: 0
Description: Indicates the configured rate of change of torque.
Homing
method
Statusword (6041 )
h
Position demand value (6062 )
h
Controlword (6040 )
Homing method (6098 )
Homing Speeds (6099 )
Homing acceleration (609A )
Home offset (607C )
h
h
h
h
h