Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
63
Status word in Profile Position Mode (PP) :
Bit15~Bit14
Bit13
Bit12
Bit11
Bit10
Bit9~Bit0
*
Following
error
Set-point
acknowledge
*
Target reached
*
Status word description in Profile Position Mode (PP) :
Bit
Value
Description
Target reached
0
Target position not reached
1
Target position reached
Set-point
acknowledge
0
The target position can be updated
1
The target position cannot be updated
Following error
0
No position deviation
1
There is position deviation
7.4.1.3 Function description
• Running mode: Set 6060h=1;
• Target position: Use 607Ah to set the target position of the user unit, if necessary, set the position factor 6093h;
• Positioning mode: Set the positioning mode through the control word 6040h (absolute position/relative position,
immediate update/non-immediate update, etc.);
• Positioning speed setting: Use 6081h to set the positioning speed of the user unit. If necessary, set the speed
factor 6095h, profile acceleration time 6083h, profile deceleration time 6084h;
• Positioning enable: Enable drive operation through object 6040h and enable positioning through Bit4;
• 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).
• Torque limiting setting: Select the torque limiting channel according to the function code object dictionary
2006.0Dh(P06.12 positive torque limiting channel) and 2006.0Eh(P06.13 negative torque limiting channel), the
default bus torque limiting channel, use the maximum torque 6072h, positive torque limiting 60E0h, negative
torque limiting 60E1h smaller value to set the positive and negative torque limiting value, or set the internal torque
limiting channel, then the torque limiting is set according to the function code object dictionary 2006.0Fh(P06.14
positive torque limit value) and 2006.10h(P06.15 reverse torque limit value).
• Positioning arrival judgment: When the position deviation of the user unit is less than 6067h and the time
reaches 6068h, the position is reached, and the bit10 of the status word 6041h is set to 1;
• The position deviation is too large: When the position deviation 60F4h of the user unit is greater than 6065h, the
fault is set, and the bit13 of the status word 6041h is set to 1.
• Instruction polarity 0x607E: Torque, speed, position instruction logic is set according to the bit corresponding to
the object dictionary 0x607E;

Megmeet M5-N Series Specifications

General

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