Nidec Digitax HD M753 User Manual

Also see for Digitax HD M753 EtherCAT: Installation and technical guide

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Nidec Digitax HD M753 User Manual Manual pdf 113 page image

SafetyinformationProductinformationMechanicalinstallationElectricalinstallationGettingstartedBasicparametersRunningthe motor Optimization EtherCATinterfaceSD CardOperationOnboardPLCAdvancedparameters Diagnostics UL listinginformationDigitax HD M753 Control User Guide 113Issue Number: 39.18.25 Supported drive modesThis object provides information on the supported drive modes.Table 9-72 Supported drive modes9.19 Interpolated position modeInterpolated position mode operates in RFC-A and RFC-S modes.Table 9-73 lists the objects that are supported:Table 9-73 Supported Interpolated position mode objectsWhen using one of the CiA402 positioning modes, Distributed Clocksmust be enabled. Failure to do so may result in the EtherCAT interfacegoing into the SAFEOPERATIONAL state.9.19.1 0x60C0 Interpolation_sub-mode_selectTable 9-74 0x60C0 Interpolation_sub-mode_select9.19.2 0x60C1 Interpolation_data_recordThis object is used to specify the target position. Linear interpolationis used to generate position demand values every 250 μs. The positionis specified in user-defined position units. The value is written into sub-index 1.Table 9-75 0x60C1 Interpolation_data_record9.19.3 0x60C2 Interpolation_time_periodTable 9-76 Interpolation_time_periodThe implementation of interpolated position mode allows synchronousoperation only, where a fixed, common interpolation interval is defined.The time specified must always be an integer multiple of the control loopcycle time. The time period index has a minimum value of -6 (i.e. thesmallest time unit will be microseconds), see Table 9-77 for moreinformation.Table 9-77 Interpolation time period unitsThe time period is checked to ensure that it is an integer multiple of thecontrol loop cycle time. Only linear interpolation is currently supported,this type inserts a delay of one interpolation time period.The input buffer has a maximum size of 1 data record, and a data recordcontains one position in profile-defined units. The buffer is a FIFO buffer.On each interpolator time period, a value is read from this buffer. Thecorrect number of data points for a specific interpolation mode are storedinternally. When a new position command is loaded in, the oldestposition command in the data set is discarded.0x6502 Supported drive modesSub-index 0Access: RO Range: 0 to0xFFFFFFFF Size: 4 bytes Unit: N/ADefault: N/A Type: UDINTDescription:Provides information on the supported drive modes as shownbelow.Index Name0x60C0 interpolation_submode_select0x60C1 interpolation_data_record0x60C2 interpolation_time_period0x60C0 Interpolation_sub-mode_selectSub-index 0Access: RW Range: 0 Size: 2 bytes Unit: N/ADefault: 0 (Linear interpolation) Type: INTDescription: Specifies the interpolation type. At present the only supportedInterpolation Sub-Mode is ‘Linear Interpolation’.31 16ms hmr tq pv vI ppcstca cst csv csp ip r15 11 10 9 8 7 6 5 4 3 2 1 0Mnemonic Description Valuer Reserved 0ms Manufacturer specificbits0 = Function is notsupported1 = Function is supportedcstcaCyclic sync torquemode withcommunication angle0 = Mode is not supported1 = Mode is supportedcst Cyclic sync torquemodecsv Cyclic sync velocitymodecsp Cyclic sync positionmodeip Interpolated positionmodehm Homing modetq Torque profile modepv Profile velocityvl Velocity modepp Profile position modeNOTE0x60C1 Interpolation_data_recordSub-index 0Access: RO Range: N/A Size: 1 byte Unit: N/ADefault: 1 Type: USINTDescription: This object is used to specify the target position.Sub-index 1Access: RWRange:0x80000000 to0x7FFFFFFFSize: 4 bytes Unit: N/ADefault: N/A Type: DINTDescription: The set-point.0x60C2 Interpolation_time_periodSub-index 0Access: RO Range: N/A Size: 1 byte Unit: N/ADefault: 2 Type: USINTDescription: The number of the last sub-index in this object.Sub-index 1Access: RW Range: 0 to 255 Size: 1 byte Unit:(sub-index 2)Default: 250 (units are dependent onthe value in sub-index 2) Type: USINTDescription:The number of time units between interpolator re-starts. A time unitis defined by sub-index 2. The interpolator time period value ischecked to ensure that it is valid. Valid values are 250 μs, 500 μs orany multiple of 1 ms. An attempt to write other values results in anSDO Abort code.Sub-index 2Access: RW Range: -6 to 0 Size: 1 byte Unit: N/ADefault: -6 (a time unit of 1 μs) Type: SINTDescription:This specifies the time unit for the interpolation time period.Sub-index 2 specifies the unit exponent. The time unit, therefore,is 10 (sub-index 2) . The range of values allows for the shortest timeunit to be 1 μs, and the longest to be 1 s.Value in 0x60C2,sub-index 2 Description0 1 second-1 0.1 of a second-2 0.01 of a second-3 0.001 of a second-4 0.0001 of a second-5 0.00001 of a second-6 0.000001 of a second