The maximum allowable acceleration speed of servo motor during
acceleration, the unit is command unit/s2, it is valid in PP, PV and HM
modes. The default value is 4294967295.
The maximum allowable deceleration speed of servo motor during
deceleration, the unit is command unit/s2, it is valid in PP, PV and HM
modes. The default value is 4294967295.
Following Error Actual
Value
The position deviation of servo drive system in position control, which
is 0x60f4 = 0x6062 – 0x6064, it is effective in PP and HM modes.
Position Demand Internal
Value
The motion polarity processing result of object dictionary
0x607E(Polarity) processed 0x6062, it is the input of position loop.
To represent the input status of POT, NOT, SPD-D through the function
signal distributed by panel parameter P5-22 (POT), P5-23 (NOT), P5-27
(SPD-D), it is 32-bit, shown as the following:
The user's target speed when the servo driver is in PV mode, the unit is
instruction unit/s, which is only valid in PV mode.
4.6.2 CiA402 motion control explanation
4.6.2.1 PDS (Power Drive Systems) specification
The core of CiA402 motion control protocol is PDS (power drive system) state machine, which defines and
controls the state of servo drive system and the transformation between different states. The transformation of
PDS state machine depends on 0x6040 (control word) drive. The detailed transformation relationship between the
eight states is shown in the figure below:
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