Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
103
6067h
VAR
Position window
UINT32
RW
RPDO
Command
unit
6068h
VAR
Position window time
UINT16
RW
RPDO
ms
607Ah
VAR
Target position
INT32
RW
RPDO
Command
unit
607Eh
VAR
Polarity
UINT8
RW
RPDO
-
6093h
ARRAY
Position factor
UINT32
RW
RPDO
-
60F4h
VAR
Following error actual value
INT32
RO
TPDO
Command
unit
2014h.0b
VAR
Interpolation time
UINT16
RW
RPDO
us
7.4.5.2 Control word and status word
The control word in Cyclic Synchronous Position Mode (CSP) is the same as the standard definition.
Status word in Cyclic Synchronous Position Mode (CSP) :
Bit15~Bit14
Bit13
Bit12
Bit11
Bit10
Bit9~Bit0
*
Following error
Target position
ignored
*
Target
reached
*
Description of status word bits in Cyclic Synchronous Position Mode (CSP) :
Bit
Value
Description
Target reached
0
Target position not reached
1
Target position reached
Target position
ignored
0
Position instruction not followed
1
Position instruction followed
Following error
0
No position deviation
1
There is position deviation
7.4.5.3 Function description
• Running mode: Set 6060h=8;
• Target position: Use 607Ah to set the target position of the user unit, if necessary, set the position factor 6093h;
• Running enable: Enable the drive to run by the control word 6040h;
• Speed limit setting: Select the speed limit channel according to the function code object dictionary
2007.0Ah(P07.09 forward speed limit channel) and 2007.0Ch(P07.11 reverse speed limit channel), the default
bus speed limiting, using the maximum profile speed 607Fh and the maximum motor speed 6080h setting, or set
the internal speed limiting channel, then the speed limit is set according to the function code object dictionary
2007.0Bh(P07.10 forward speed limit) and 2007.0Dh(P07.12 reverse speed limit).

Megmeet M5-N Series Specifications

General

Brand	Megmeet
Model	M5-N Series
Category	Servo Drives
Language	English