User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-46 C27750-001
SAMPLE SETUP
The following section gives an example of a typical setup for a profile position move. It performs an absolute move
of 36000 degrees, at a speed of 2000 rpm.
Index/Sub Index Name Value Comment
0x6040 ds402 control word 0x06 Shutdown command
0x6060 ds402 mode of operation 1 Set mode to Profile Position Mode
0x607A ds402 target position 36000 Target Position, pos dim=degrees
0x6510/32 ds402 max load speed 6000 Set Max load speed = 6000 rpm
0x607F ds402 max profile velocity 6000 Set max. profile speed = 6000 rpm
0x6081 ds402 profile velocity 2000 Set profile speed = 2000 rpm
0x6083 ds402 profile acceleration 50 Set profile acceleration = 50 rec/sec
2
0x60C5 ds402 max acceleration 50 Set max. acceleration = 50 rec/sec
2
0x6067 ds402 position window 2 Set position window = 2 degrees
0x6065 ds402 following error window 10 Set following error window = 10 degrees
0x6040 ds402 control word 0x3F Enable Drive, Set New-Setpoint, Set change
immed bit, and absolute move
0x606C ds402 velocity actual Actual Velocity, Read during move = 2000
0x6064 ds402 position actual Actual Position, Read at end of move = 36000
0x6063 ds402 position actual inc Actual Position in incs = 65536000
0x6041 ds402 status word Read at end of move = 0x1637
Table 7.17 Sample set-up for profile position mode