Megmeet M5-N Series User Manual

Chapter 7 EtherCAT Communication
66
7.4.2.3 Function description
• Control mode: set P02.00 = 8;
• Running mode: Set 6060h = 3;
• Target speed setting: Use 60FFh to set the target speed of the user unit, if necessary, set the speed factor
6095h;
• Acceleration curve setting: If necessary, set the profile acceleration time 6083h and profile deceleration time
6084h
• Running enable: Enable the drive to run through 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).
• 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).
• Speed arrival judgment: When the deviation between the feedback speed 606Ch and the target speed 60FFh is
less than 606Dh, and the time reaches 606Eh, it indicates that the speed has arrived, and the bit10 of the status
word 6041h is set to 1;
• Zero-speed operation judgment: When the speed feedback 606Ch of the user unit is less than 606Fh, and the
time reaches 6070h, it indicates that the zero speed has arrived, and the bit12 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;
Bit
Value
Description
Bit
BIT5
Torque
instruction
polarity
0
Torque instruction positive logic
1
Torque instruction inverse logic
BIT6
Speed
instruction
polarity
0
Speed instruction positive logic
1
Speed instruction inverse logic
BIT7
Position
instruction
polarity
0
Position instruction positive logic
1
Position instruction inverse logic

Megmeet M5-N Series Specifications

General

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