Can Open Manual - Drives for electric motors
Contents
1. Profile Position Mode objects Tab 4 Index PDO 1 OPD Explorer Parameter E40 E41 hex Object Type Name Description Mapping Access This object provides the actual hai position 6064 VAR di ai See Yes Reading OPD Explorer Parameters D66 D67 This object indicates the configured range of tolerant A ition values symmetrically to UNSIGNED Following Position EN 6065 VAR 32 error window the position demand value Yes Reading writing OPD Explorer Parameters E16 E17 This object indicates the configured symmetrical range of s accepted positions relative to the UNSIGNED Position a m 6067 VAR 32 window target position Yes Reading writing OPD Explorer Parameter E14 E15 This object indicates the Velocit configured velocity threshold 606F VAR UNSIGNED han Yes Reading writing 16 OPD Explorer Parameter E18 E19 This object indicates the commanded position that the drive Target should move to in position profile 607A VAR INTEGER32 9 mode Yes Reading writing position OPD Explorer Parameter E10 E11 Highest sub index supported Highest sub index supported No Reading Sub index 0 SUND ARRAY Mi a This object indicates the maximal in position ft ition limit INTEGER limit software position limit 7 SEN A 32 Sub index es eading writing MB00201E00 V_1 2 This object indicates the maximal INTEGER CLON software posit2. State Machine of DSP 402 Yes reading OPD Explorer Parameter D64 This object indicates the requested operation modes OPDE drive supports the following modes 1 Profile position mode 3 Profile velocity mode 6060 VAR INTEGERS Modes of 5 Homing mode Yes dede operation 7 Interpolation position mode writing 8 Cyclicsync position mode 9 Cyclic sync velocity mode OPD Explorer Parameter E01 Modes of U provides the actual operation 6061 VAR INTEGER8 operation Yes reading SERE OPD Explorer Parameter D65 MB00201E00 V 1 2 This object indicates what action is performed when the quick stop function is executed OPDE drive supports the following codes Quick Slow down on quick stop ramp and sio transit into Switch On Disabled 605A VAR INTEGER16 a na Slow down on quick stop ramp and stay No Reading p in Quick Stop Active code Note if the inserted code is not expected the quick stop option code executes the code 1 OPD Explorer Parameter E38 Quick This object configures the deceleration stop used to stop the motor when the quick stop 6085 VAR UNSIGNED32 ER function is activated Yes Reading ion OPD Explorer Parameters E08 E09 Tab 1 Device Control Objects 2 2 1 SECOND SENSOR The parameter E51 pENSECONDSENS Yes allows to select the second sensor and close the position loop on this There is the possibility to set a gear ratio between motor revolutio
3. changes state Homing on negative home switch without index pulse The home position is at the right of the point where the home switch changes state Homing on home switch and index pulse without positive limit switch The home position is at the left of the point where the home switch has falling edge Homing on home switch without index pulse with positive limit switch The home position is at the right of the point where the home switch has falling edge Homing on home switch without index pulse with negative limit switch The home position is at the right of the point where the home switch has falling edge Homing on home switch without index pulse with negative limit switch The home position is at the left of the point where the home switch has falling edge Homing on index pulse The home position is at first index pulse found on the left Homing on index pulse The home position is at first index pulse found on the right Homing on index pulse The home position is the current position MBO0201E00 V_1 2 OPDE drive supports the following Homing Mode objects Tab 6 Index e PDO hex Object Type Name Description Mapping Access This object indicates the Velocity configured velocity threshold 606F VAR ne threshold OPD Explorer Parameter E18 yes Reading writing E19 This object indicates the configured difference between the INTEGER Home zero position for th
4. drive device In cyclic synchronous manner it provides a target position to the drive device which performs position control velocity control and torque control Optionally additive velocity and torque values can be provided by the control system in order to allow for velocity and or torque feedforward Measured by sensors the drive device may provide actual values for position velocity and torque to the control device The behavior of the control function is influenced by control parameters like limit functions which are externally applicable The drive internal control function is not specified more precisely in this part of profile specification as it is highly manufacturer specific but the format and content of the control parameters are provided gt Object Type Name Description ar Access This object indicates what action is performed when the quick stop function is executed OPDE drive supports the following codes Quick Slow down on quick stop ramp and UNSIGNED stop transit into Switch On Disabled 605A VAR 16 option Slow down on quick stop ramp and stay Reading code in Quick Stop Active Note if the inserted code is not expected the quick stop option code executes the code 1 OPD Explorer Parameter E38 Position This object provides the actual position 6064 VAR INTEGER32 actual Yes Reading value OPD Explorer Parameters D66 D67 MB00201E00 V_1 2 This
5. measurement used by CAN Open DSP 402 are the following o Positions are expressed in ie encoder pulse One mechanical motor revolution is 65536 ie or encoder pulses o Speed are expressed in ie s One revolutions per second is 65536 ie s o Accelerations are expressed in ie s One revolutions per second is 65536 ie s MB00201E00 V_1 2 2 CAN OPEN DSP402 PROFILES 2 1 CAN OPEN DS402 PROFILES SUPPORTED In OPDE drive are implemented the following CAN Open DSP 402 profiles Device Control Profile Velocity Mode Profile Position Mode Interpolation Position Mode Homing Mode Cyclic synchronous velocity mode Cyclic synchronous position mode For more information see CiA Draft Standard Proposal 402 specifications 2 2 DEVICE CONTROL Device controls is a profile that define the behaviour of the control device The master controls like the slave works with the following objects Control Word Status word Modes of operation Modes of operation display Quick stop option code Quick stop deceleration The object descriptions are in Tab 1 Index Obje ae PDO hex ct Type Name Description Mapping Access This object controls the Finite State Control Machine of DSP 402 Reading 6040 VAR UNSIGNED16 Word Yes writing OPD Explorer Parameter E100 This object provides the status of Finite 6041 VAR UNSIGNED16 Status
6. object indicates the configured range Following of tolerant position values symmetrically to 6065 VAR UNSIGNED error the position demand value Yes Reading 32 writing window OPD Explorer Parameters E16 E17 This object indicates the commanded ition that the drive should move to in a Target Beau a Reading 607A VAR INTEGER32 position position profile mode Yes writing OPD Explorer Parameter E10 E11 Following This object shall ee aka actual value of rar the following error The value is given in 60F4 VAR INTEGER32 selual user defined position units Yes Reading value OPD Explorer Parameter d70 d71 Tab 11 Profile sync position mode These parameters are available from Dsp402 06 software release see Errore L origine riferimento non stata trovata 2 9 OTHER MAPPED OBJECTS Index hex Object Type Name Description PDO Mapping Access 6075 VAR UNSIGNED 32 Motor rated current This object indicates the configured motor rated current It is taken from the motor s name plate The value is given in mA Yes Reading 6076 VAR UNSIGNED 32 Motor rated torque This object indicates the configured motor rated torque It is taken from the motor s name plate The value is given in mNm milli Newton metre Yes Reading 6077 VAR INTEGER16 Torque actual value This object indicates the actual value of the torque It corresponds to the instantan
7. 1 Touch probe 2 is Enabled 0 Touch probe 2 no positive edge value stored d 1 Touch probe 2 positive edge value stored 0 Touch probe 2 no negative edge value stored ki 1 Touch probe 2 negative edge value stored 11 to 13 Reserved 14 15 User defined e g for testing Tab 9 Touch probe status bits 2 7 PROFILE SYNC VELOCITY MODE The cyclic synchronous velocity mode covers the following sub functions e Demand value input e Velocity capture using position sensor or velocity sensor e Velocity control function with appropriate input and output signals e Limitation of torque demand Various sensors may be used for velocity capture In particular the aim is that costs are reduced and the drive power system is simplified by evaluating position and velocity using a common sensor such as is optional using a resolver or an encoder The behavior of the control function is influenced by control parameters such as limit functions which are externally applicable The drive internal control function is not specified more precisely in this part of profile specification as it is highly manufacturer specific but the format and content of the control parameters are provided The input from the control device point of view are the target velocity The drive device may support limitation of motor speed and a quick stop function for emergency reasons The interpolation time period defines the time period between two updates of the target veloc
8. User s Manual BLU Can Open DSP402 attachment K O INDEX 1 INTRODUCTION anna 2 1 1 ABOUT THIS MANUAL 00 ccc cece ccc cece ee ceccecceceseee cece ceseeaueeeeseeeseuaeaaaeseeeeseeseaueesaeeeeueeaueaeeeeeeneeaeas 2 1 2 COMMON SYMBOLS AND ABBREVIATIONS 222uuuusannnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 2 1 3 INTENDED AUDIENCE 000uuuuuneeanannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnannnnnnannnnnnn 2 1 4 UNIT MEASURING SYSTEM uuusssssssnenunnnsnnnnannnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnn 2 CAN OPEN DSP402 PROFILES csccssccsssssccssecssessesssecssecsesssecesessesssesssessesssesssessvesseee 3 2 1 CAN OPEN DS402 PROFILES SUPPORTED ccccccninnccncnnnononononononononononononcnnnnononannnnnncnnononennnncnnnns 3 2 2 DEVIGE GONTROL eti ti obi kis A dabas 3 2 2 1 SECOND SENSOR 0222illtteeeeettoeteeaaeaeaettoeoeeeeeaeseooeooeoeaeaeoeeoeooooeneaeooooooooeneseoeouoooaesesoeooooooooosaneaeresononooenean 4 2 3 PROFILE VELOCITY MODE cooooocccccnnonononononcnnnononononononcnnnnnnnnnannnnnnononnnnnnnnnnnnnnnnnnanananannnnononanacanininnn 5 2 4 PROFILE POSITION MODE a ai 6 2 5 INTERPOLATE POSITION MODE uuuusssnnansnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 7 2 6 HOMING MODE mae 8 2 6 1 HOMINGSWITCHES siones 9 2 6 2 HOMING WITH TOUCH PROBE c occcccccnnonoccnonononono
9. b index 0 60C1 ARRAY This object indicates data words nterpolate d data 1 which are necessary to perform as set point the interpolation algorithm Vise Reading writing Aub OPD Explorer Parameter E24 index 1 E25 Tab 5 Interpolated Position Mode Objects MB00201E00 V_1 2 2 6 HOMING MODE Homing Mode implements the methods which a drive seeks the home position or initial reference point also called the datum or zero point There are various methods of achieving this using limit switches at the ends of travel or a home switch zero point switch in mid travel most of the methods also use the index zero pulse train from an incremental encoder OPDE drive supports the following methods 1 2 3 10 11 12 13 14 17 18 19 21 23 26 27 30 33 34 35 Homing on negative limit switch and index pulse Homing on positive limit switch and index pulse Homing on positive home switch and index pulse The home position is at the left of the point where the home switch changes state Homing on positive home switch and index pulse The home position is at the right of the point where the home switch changes state Homing on negative home switch and index pulse The home position is at the right of the point where the home switch changes state Homing on negative home switch and index pulse The home position is at the left of the point where the home swi
10. e application N 6076 VARI 32 offset and the machine home position w Reading writing OPD Explorer Parameters E28 E29 This object indicates the configured homing method 6098 VAR nr The supported methods are those Yes Reading writing descripted above OPD Explorer Parameters E26 Highest sub index supported Highest sub index supported No Reading Sub index 0 a This object indicates the configured speed during search 6099 ARRAY m a Penal pr for switch Yes Reading writing Sub OPD Explorer Parameter E30 index 1 ES a This object indicates the configured speed during search Sn Se tor for zero Yes Reading writing Sub OPD Explorer Parameter E32 index 2 EY This object indicates the Homing configured acceleration and UNSIGNED deceleration to be used during A v 609A VAR 32 on homing operation Yes Reading writing OPD Explorer Parameters E34 E35 Tab 6 Homing Mode Objects 2 6 1 HOMING SWITCHES The homing switches are implemented with the following Logic Input Functions positive limit switch is the input logic function 128 negative limit switch is the input logic function 129 home switch is the input logic function 130 For more information about input logic functions see OPDE manual 2 6 2 HOMING WITH TOUCH PROBE In this method the position is not sampled by control device but by the drive device itself When the switch is triggered the corresponding actual position together will the switch signa
11. eous torque in the motor The value is given per thousand of rated torque Yes Reading 6078 VAR INTEGER16 Current actual value This object indicates the actual value of the current It correspond to the current in the motor The value is given per thousand of rated current Yes Reading 6079 VAR UNSIGNED 32 DC link circuit voltage This object indicates the instantaneous DC link current voltage at the drive device The value is given in mV Yes Reading 60F4 VAR INTEGER32 Following error actual value This objects indicates the actual value of the following error The value is given in user defined position units OPD Explorer Internal Value d70 d71 Yes Reading 60FD VAR UNSIGNED 32 Digital inputs This object shall provide digital inputs The object structure is bit 0 Negative Limit Switch bit 1 Positive Limit Switch bit 2 Home Switch bit 3 Interlock bit 4 bit 15 Reserved bit 16 Run command Manufacturer specific bit 17 External enable Manufacturer specific bit 18 Reset alarms Manufacturer specific bit 19 Motor thermo switch Manufacturer specific bit 20 Touch Probe 1 Manufacturer specific bit 21 Touch Probe 2 Manufacturer specific Yes Reading MB00201E00 V_1 2 2 10 ALARMS ALARM DESCRIPTION CORRECTION Life A 4 0 H A4 0 guarding Master s time out Check the correc
12. ion limit 32 Sub index Yes Reading writing 2 OPD Explorer Parameter E42 E43 This object indicates the configured velocity normally attained at the end of the UNSIGNED Profile acceleration ramp during a A ave 6081 VAR 32 velocity profiled motion Yes Reading writing OPD Explorer Parameter E12 E13 This object indicates the configured acceleration 6083 VAR ko ai ee Yes Reading writing OPD Explorer Parameter E04 E05 This object indicates the configured deceleration 6084 VAR ne ie Yes Reading writing OPD Explorer Parameter E06 E07 Tab 4 Profile Position Mode Objects 2 5 INTERPOLATE POSITION MODE Interpolated position mode is used to control multiple coordinated axes or a single axis with the need for time interpolation of set point data The interpolated position mode normally uses time synchronisation mechanisms for a time coordination of the related drive units e g Distributed Clock in EtherCAT protocol OPDE drive supports the following Interpolated Position Mode objects Tab 5 en Object Type Name Description ne Access This object provides the actual Position position 6064 var NTEGER actual Yes Reading value OPD Explorer Parameters D66 D67 This object indicates the Velocity configured velocity threshold 606F VAR UNSIGNED threshald Yes Reading writing 16 OPD Explorer Parameter E18 E19 Highest sub index ze supported Highest sub index supported No Reading Su
13. ity and shall be used for intercycle interpolation The velocity actual value is used as mandatory output to the control device MB00201E00 V_1 2 Index some PDO hex Object Type Name Description Mapping Access This object indicates what action is performed when the quick stop function is executed OPDE drive supports the following codes Quick Slow down on quick stop ramp and UNSIGNED stop transit into Switch On Disabled 603A VAR 16 option Slow down on quick stop ramp and pe Reading code stay in Quick Stop Active Note if the inserted code is not expected the quick stop option code executes the code 1 OPD Explorer Parameter E38 SIGNED Velocity This object provides the actual velocity 606C VAR 32 actual Yes Reading value OPD Explorer Parameters D68 D69 This object indicates the configured 606D VAR UNSIGNED rae velocity window Yes Reading writing e OPD Explorer Parameter E22 E23 Quick This object configures the deceleration UNSIGNED stop used to stop the motor when the quick Es VAR 32 deceler stop function is activated OS Bess ation OPD Explorer Parameters E08 E09 Target This object indicates the configured 60FF VAR SIGNED32 V lo target velocity Yes Reading writing eoclty OPD Explorer Parameter E02 E03 Tab 10 Profile sync velocity mode 2 8 PROFILE SYNC POSITION MODE With this mode the trajectory generator is located in the control device not in the
14. l shall be reported MB00201E00 V_1 2 Index Obje ee PDO hex et Type Name Description Mapping Access Touch This object indicates the configured w 60B8 VAR ak a probe function of touch probe Yes nn we function OPD Explorer Parameter E104 9 Touch This object indicates the status of 60B9 VAR Wii Se probe touch probe Yes Reading status OPD Explorer Parameters E105 This object indicates the position Touch values of touch probe 1 at positive INTEGER edge The value shall be given in BOB VAR 32 nn A user defined position units Yes Reading p OPD Explorer Parameters E106 E107 This object indicates the position Touch values of touch probe 1 at negative INTEGER probe posi edge The value shall be given in SUBE VAR 32 negative user defined position units Y rece value OPD Explorer Parameters E108 E109 This object indicates the position Touch values of touch probe 2 at positive INTEGER probe pos2 edge The value shall be given in SOBE VAR 32 positive user defined position units des Reading value OPD Explorer Parameters E110 E111 This object indicates the position Touch values of touch probe 2 at positive INTEGER probe pos2 edge The value shall be given in Even VAR 32 negative user defined position units Yes Reene value OPD Explorer Parameters E112 E113 Tab 7 Touch probe objects For touch probe functio
15. n the setting is bit value definition 0 Switch off touch probe 1 0 1 Enable touch probe 1 0 Trigger first event 4 1 continuous 0 Trigger with touch probe 1 input 2 1 Trigger with zero impulse signal or position encoder 3 0 Reserved a 0 Switch off sampling at positive edge of touch probe 1 1 Enable sampling at positive edge of touch probe 1 5 0 Switch off sampling at negative edge of touch probe 1 1 Enable sampling at negative edge of touch probe 1 6 7 User defined 0 Switch off touch probe 2 8 1 Enable touch probe 2 0 Trigger first event 9 1 continuous 10 0 Trigger with touch probe 2 input MB00201E00 V_1 2 1 Trigger with zero impulse signal or position encoder 11 0 Reserved 0 Switch off sampling at positive edge of touch probe 2 sa 1 Enable sampling at positive edge of touch probe 2 0 Switch off sampling at negative edge of touch probe 2 J 1 Enable sampling at negative edge of touch probe 2 14 15 User defined Tab 8 Touch probe function bits And for touch probe status bit value definition 0 Touch probe 1 is switched off 4 1 Touch probe 1 is enabled 0 Touch probe 1 no positive edge value stored i 1 Touch probe 1 positive edge value stored 0 Touch probe 1 no negative edge value stored 1 Touch probe 1 negative edge value stored 3to5 0 Reserved 6 7 User defined e g for testing 0 Touch probe 2 is Switched off di
16. n and driving shaft revolution parameters E60 E61 pNUM_GEAR_BOX and parameters E62 E63 pDEN_GEAR_BOX Tab 2 shows second sensor function parameters Default Description E60 E61 Gear box E62 E63 Gear box E64 Enable correction for BENMUETSORBEET absolute multi turn sensor Tab 2 Second sensor device control P260 P261 Gear box numerator P251 Enable second sensor Yes y P17 Number of encoder2 pulses revolution 4086 P262 P263 Gear box denominator Fig 1 Second sensor graphic interface The example shown in Fig 1 regards a system with a reduction ratio 10 1 between the motor shaft and the driving shaft with a revolution of the driving shaft The second sensor is an encoder with 4096 pulses revolution set in the parameter P17 ENC2_PPR This parameter is located in the directory All Parameters gt Application I O Parameters gt Input gt Second Sensor MB00201E00 V_1 2 The internal software realizes a possible correction for incremental sensor s which have zero pulse In these kind of sensor when comes the zero pulse signal the position goes to zero For the homing method s without index pulses metods 17 30 take place the correction when the zero pulse comes and the position doesn t go to zero The correction is allowed for both sensors first or second If the second sensor is enabled the value of position velocity and acceleration in all the operation m
17. nononononononinonononononenanoncnonononenarcnnnnnnnnnnnnnnnnononnnnncncnnnninnnnns 9 2 7 PROFILE SYNG VELOCITY MODE ccoo dci een yok la tre ann sea ka ad aan rive dese 11 2 8 PROFILE SYNC POSITION MODE Lbeieeeeeeeeooooeeeeeoooooouoeeeaeooeoeooooaoeeenseoeoooouoaoeaeeoeououoaoaeseoesooeaonnnan 12 2 9 OTHER MAPPED OBJEC Soon daa dada ii 13 2 10 ALARMS v kn ati dio ba kaa ai a e st adas 14 MB00201E00 V 1 2 FIRMWARE VERSIONS 12 0 22 0 d INTRODUCTION 1 1 ABOUT THIS MANUAL This manual is meant as a brief explanation of OPDE CAN OPEN DSP402 The manual contains the following chapters e Revision Table contains the history revision of the manual e Introduction provides information background about the manual e CAN OPEN DSP402 Profiles contains the DSP402 Profiles cabling instruction and general information about EtherCAT connections 1 2 COMMON SYMBOLS AND ABBREVIATIONS Abbreviations Explanations CAN Controller Area Network CiA CAN in Automation EMCY Emergency Object or Service OPDE Open Drive Exp or OPDExp OPD Explorer OPD Explorer Supervisory Software SDO Service Data Object 1 3 INTENDED AUDIENCE The manual is intended for those persons who are responsible for commissioning and using an OPDE CAN Module The reader should have some basic knowledge of networking electrical fundamentals electrical wiring practices and how to work the OPDE drive and OPD Explorer 1 4 UNIT MEASURING SYSTEM The units of
18. ode available al referred to the motor shaft side For example if the gear ratio is 10 1 1 turn of the motor shaft 10 turns of the driving shaft and the position target pTARGETPOS E10 E11 is 655360 i e the motor turns for 10 revolutions and the driving shaft for 1 revolution For each PWM period a pulses difference is calculated delta pulses depending on the second sensor mechanical position read This value is reported to motor side by relationship pNUM_GEAR_BOX E60 E61 motor side delta pulses delta pulses sec Sensor pDEN_GEAR_BOX E62 E63 The parameter E64 pENMULTICORRECT if enabled consent to correct the overflow for absolute sensor multi turn when the high mechanical position number of turns reach the maximum number of turn For example for ENDAT BISS 12bit after 4095 turns high position goes to zero value this could be a problem 2 3 PROFILE VELOCITY MODE The profile velocity mode covers the following sub functions Demand value input via trajectory generator Velocity capture using position sensor or velocity sensor Velocity control function with appropriate input and output signals Monitoring of the profile velocity using a window function Monitoring of velocity actual value using a threshold OPDE drive supports the following Profile Velocity Mode objects Tab 3 Index oe PDO hex Object Type Name Description Mapping Access This object pro
19. t time setting of the master alarm SYNC Period too much Time difference between A 4 1 H A4 1 different two sync is greater than Check the correct time setting of the master from the value set in E65 theoretical value Following error between Verify the drive s correct functioning check the Following reference and real speed and current loop A 4 2 H A4 2 error alarm position is greater than Verify the position control a e Increase if possible the maximum admitted maximum admitted error error MBO0201E00 V_1 2 a
20. tch changes state Homing on home switch and index pulse with positive limit switch The home position is at the left of the point where the home switch has falling edge Homing on home switch and index pulse with positive limit switch The home position is at the right of the point where the home switch has rising edge Homing on home switch and index pulse with positive limit switch The home position is at the left of the point where the home switch has rising edge Homing on home switch and index pulse with positive limit switch The home position is at the right of the point where the home switch has falling edge Homing on home switch and index pulse with negative limit switch The home position is at the right of the point where the home switch has falling edge Homing on home switch and index pulse with negative limit switch The home position is at the left of the point where the home switch has rising edge Homing on home switch and index pulse with negative limit switch The home position is at the right of the point where the home switch has rising edge Homing on home switch and index pulse with negative limit switch The home position is at the left of the point where the home switch has falling edge Homing on negative limit switch without index pulse Homing on positive limit switch without index pulse Homing on positive home switch without index pulse The home position is at the left of the point where the home switch
21. vides the actual Velocity velocity 606C VAR INTEGER32 actual Yes Reading value OPD Explorer Parameters D68 D69 This object indicates the configured velocity window O UN S ENEDTS a Ye eka OPD Explorer Parameter E22 9 E23 Velocit This object indicates the 606E VAR UNSIGNED16 wo configured velocity window time Yes Reading writing time OPD Explorer Parameter E24 UNSIGNED32 This object indicates the Velocity configured velocity threshold Reading 606F VAR UNSIGNED16 threshold writing k OPD Explorer Parameter E18 E19 Velocit This object indicates the 6070 VAR UNSIGNED16 ehd configured velocity threshold time Yes Reading writing ame OPD Explorer Parameter E20 Profile This object indicates the 6083 VAR UNSIGNED32 accelerati Configured acceleration Yes a an OPD Explorer Parameter E04 E05 MBOO201E00 V 1 2 Profile This object indicates the 6084 VAR UNSIGNED32 decelerat figured deceleration Yes oo cal OPD Explorer Parameter E06 E07 This object indicates the Target configured target velocity Reading 60FF VAR INTEGER32 velocity Yes writing OPD Explorer Parameter E02 E03 Tab 3 Profile Velocity Mode Objects 2 4 PROFILE POSITION MODE In profile position mode a target position is applied to the trajectory generator The trajectory generator produces a position demand value for the position control loop OPDE drive supports the following
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