Manual

3.21 0x6502 - Supported Drive Modes ............................................................................. 22

3.22 0x67FE - Version Number ........................................................................................ 23

References.......................................................................................................................... 24

FIGURES

FIGURE 1 - FSA CONFIGURATION ............................................................................................ 10

FIGURE 2 - POWER DRIVE SYSTEM FINITE STATE AUTOMATION .................................................. 10

FIGURE 3 - VELOCITY MIN MAX AMOUNT .................................................................................. 17

TABLES

TABLE 1 - OPERATION MODES .................................................................................................. 8

TABLE 2 - SUPPORTED SDO ..................................................................................................... 9

TABLE 3 - TRANSITION EVENTS AND ACTIONS ........................................................................... 11

TABLE 4 - CONTROL WORD .................................................................................................... 12

TABLE 5 - CONTROL WORD MAPPING ...................................................................................... 12

TABLE 6 - COMMAND CODING ................................................................................................. 12

TABLE 7 - HALT BIT (BIT 8) ...................................................................................................... 12

TABLE 8 - CONTROL WORD MAPPING IN PROFILE POSITION MODE ................................................. 13

TABLE 9 - DEFINITION OF BITS 4,5,6 AND 9 IN PROFILE POSITION MODE ....................................... 13

TABLE 10 - CONTROL WORD MAPPING IN VELOCITY MODE .......................................................... 13

TABLE 11 - DEFINITION OF BITS 4,5 AND 6 IN VELOCITY MODE .................................................... 13

TABLE 12 - STATUS WORD ..................................................................................................... 14

TABLE 13 - STATUS WORD MAPPING ....................................................................................... 14

TABLE 14 - STATE CODING ..................................................................................................... 14

TABLE 15 - DEFINITION OF BIT 10 ............................................................................................ 15

TABLE 16 - STATUS WORD MAPPING IN PROFILE POSITION MODE ................................................. 15

TABLE 17 - DEFINITION OF BIT 12 IN PROFILE POSITION MODE ................................................... 15

TABLE 18 - STATUS WORD MAPPING IN PROFILE VELOCITY MODE .............................................. 15

TABLE 19 - DEFINITION OF BIT 12 IN PROFILE VELOCITY MODE ................................................... 15

TABLE 20 - TARGET VELOCITY ................................................................................................ 16

TABLE 21 - VELOCITY DEMAND ............................................................................................... 16

TABLE 22 - VELOCITY ACTUAL VALUE ...................................................................................... 16

TABLE 23 - VELOCITY MIN MAX AMOUNT ................................................................................. 17

TABLE 24 - VELOCITY ACCELERATION ...................................................................................... 18

TABLE 25 - VELOCITY DECELERATION ...................................................................................... 18

TABLE 26 - MODES OF OPERATION .......................................................................................... 19

TABLE 27 - MODES OF OPERATION DISPLAY ............................................................................. 19

TABLE 28 - POSITION ACTUAL VALUE ...................................................................................... 19

TABLE 29 - VELOCITY ACTUAL VALUE ...................................................................................... 20

TABLE 30 - TARGET TORQUE .................................................................................................. 20

TABLE 31 - TORQUE ACTUAL VALUE ........................................................................................ 20

TABLE 32 - TARGET POSITION................................................................................................. 21

TABLE 33 - PROFILE VELOCITY ............................................................................................... 21

TABLE 34 - PROFILE ACCELERATION........................................................................................ 21