CiA 402 Standard parameters POSITIONING OPERATION
index |
Subindex |
Type |
Access |
Name [Units] |
Description |
6060h |
0h |
integer8 |
R/W |
modes of operation |
1 = Profile Positioning Mode |
6040h |
0h |
unsigned16 |
R/W |
Controlword |
Control of position operation via CiA 402 Operating states 31 (001Fh) = Next target position is accepted. Each activated movement is executed completely ("Set of Setpoints") 63 (003Fh) = Next target position is approached directly. |
607Ah |
0h |
integer32 |
R/W |
target position |
Target position |
6083h |
0h |
unsigned32 |
R/W |
profile acceleration linear: [1000x position units/s²] |
Acceleration value Rotative drive: Always related to motor revolutions/minute. No user-defined scaling. |
6084h |
0h |
unsigned32 |
R/W |
profile deceleration |
Braking value |
6067h |
0h |
unsigned32 |
R/W |
position window |
Position window +/- of the target position for reaching the "Target Reached" state. NOTE: A larger window must be specified here than for 3403h.03h movingcap position window (see below). The different scaling must be taken into account: 6067h.0h is in "user defined units". 3403h.3h is always in internal increments. |
6068h |
0h |
unsigned16 |
R/W |
position window time |
Minimum time in milliseconds in which the actual position must be within the "position window" before the "Target Reached" status is set. |
6081h |
0h |
unsigned32 |
R/W |
profile velocity |
Maximum speed for positioning mode ("profile position mode") |
*1) The internal resolution of the measuring system (encoder resolution) is used if the position units/scaling is not set differently.
*2) If no other setting is made for position units/scaling, the unit used is revolutions/minute.
*3) For rotary drives and larger braking values (e.g. > 1000), as well as larger moving masses, the energy/feedback generated during braking must be taken into account. If necessary, the regenerative energy generated must be absorbed with an appropriately dimensioned braking energy system.
Example CiA 402 Positioning Mode
To test CiA 402 Positioning Mode, the following RefGo command sequence can be executed via the web interface or terminal/TCP connection:
RefGo Command OW6060,0,1 --> modes of operation = 1 Velocity Mode
RefGo Command OW6040,0,6 --> shutdown
RefGo Command OW6040,0,7 --> switch on
RefGo Command OW6040,0,15 --> switch on + enabled
RefGo Command OW6081,0,1000 --> profile velocity
RefGo Command OW607A,0,30000 --> target position
RefGo Command OW6040,0,31 --> activate single setpoint
Der Antrieb führt jetzt die Fahrt zur Zielposition aus.
... während der Fahrt ...
RefGo Command OR6041,0,h --> Query statusword (hex format)
RefGo Response OR6041,0,127h --> Statusword = 0x027 , destination not yet reached
... after reaching the destination ...
RefGo Command OR6041,0,h --> Query statusword
RefGo Response OR6041,0,427h --> Statusword = 0x0427 , "Target Reached" bit is set, target reached
MovingCap controller parameters: Positioning accuracy
Index |
Subindex |
Type |
Access |
Name [Units] |
Description |
3401h |
3h |
unsigned32 |
R/W |
movingcap position window |
Positioning accuracy of the MovingCap controller. The unit is always the internal resolution of the position controller / position measuring system. (see 6067h.0h target reached position window above). |
CiA 402 Limitation of the positioning range / soft limit
Index |
Subindex |
Type |
Access |
Name [units] |
Description |
607Dh |
1h |
integer32 |
R/W |
min position limit |
Minimum possible target position for 607Ah.0h target position (see above). |
607Dh |
2h |
integer32 |
R/W |
max position limit |
Maximum permitted target position for 607Ah.0h target position (see above) |
*1) The internal resolution of the measuring system (encoder resolution) is used if no other setting is made for position units/scaling.
NOTE: If both values 607Dh.1h = 0 and 607dh.2h = 0 --> no soft limit active / no limitation of the positioning range.
CiA 402 ROTATING and relative movement
Index |
Subindex |
Type |
Access |
Name [units] |
Description |
60F2h |
0h |
unsigned16 |
R/W |
position option code |
Supports options for relative movements via Bit0 (0001h) and Bit1 (0002h): Supports rotating coordinate systems via bit6 (0040h) and bit7 (0080h): |
MovingCap supports the quick stop / quick switch-off via the CiA 402 control word.
The behavior when activating a "Quick Stop" is defined via the following objects:
Index |
Subindex |
Type |
Type Access |
Name [Units] |
Description |
6085h |
0h |
unsigned32 |
R/W |
quick stop deceleration |
Brake value for quick stop / ("quick stop") |
605Ah |
0h |
integer16 |
R/W |
quick stop option code |
Configuration of the quick stop behavior ("quick stop"). MovingCap drives support the following options of the CiA 402 standard: 0, 1, 2, 5, 6 |
605Ah.0h Value |
Definition according to CiA 402 |
Description: 0 |
0 |
Disable drive function |
Switch off drive directly |
1 |
Slow down on slow down ramp and transit into switch on disabled |
Brake to zero speed with 6084h.0h profile deceleration, then switch off. |
2 |
Slow down on quick stop ramp and transit into switch on disabled |
Brake to zero speed with 6085h.0h quick stop deceleration, then switch off. |
5 |
Slow down on slow down ramp and stay in quick stop active |
Brake to zero speed with 6084h.0h profile deceleration, then remain in quick stop active status. |
6 |
Slow down on quick stop ramp and stay in quick stop active |
Brake to zero speed with 6085h.0h quick stop deceleration, then remain in quick stop active status. |
