CANopen Technical Guide | ASDA-A2 3. CANopen Operation Modes 3.1 Profile Position Mode 3.1.1 Description Servo drive (hereinafter referred to as “Drive”)receives position command from host (external) controller (hereinafter referred to as “Host”) and then control servo motor to reach target position. Pulse of User-defined Unit Definition: Pulse of User Unit (PUU): No. of Rev PUU = 1280000 Ч Sub1 6093 - OD Sub2 6093 - OD h h 3.1.2 Operation Procedure ① Set 【 Mode of operations:6060 h 】 to profile position mode(1). ② Set 【 Target position:607Ah 】 to target position. (unit: PUU) ③ Set 【 Profile velocity:6081h 】 to profile velocity. (unit:
PUU per second) ④ Set 【 Profile acceleration:6083h 】 to plan acceleration slope. (millisecond from 0rpm to 3000rpm) ⑤ Set 【 Profile deceleration:6084h 】 to plan deceleration slope. (millisecond from 0rpm to 3000rpm) ⑥ Set 【 Controlword:6040h 】 to servo on drive and make motor work. ⑦ Query 【 Statusword:6064h 】 to get feedback position of motor. ⑧ Query 【 Statusword:6041h 】 to get drive status of following error 、 set-point acknowledge and target reached. 3.1.3 Advanced Procedure ① Host could get more information about profile position mode. Query 【 Position demand value:6062 h 】 to get internal position command. (unit:
PUU) Query 【 Position actual value*:6063 h 】 to get actual position value. (unit: increments) ② Following error Set 【 Following error window:6065 h 】 to define range of tolerated position values symmetrically to the position demand value. (unit: PUU) Query 【 Following error actual value:60F4 h 】 to get actual value of following error. (unit: PUU) accepted following error tolerance position reference position Reference position Revision Sep, 2012 14 following error following error following error window window no following error following error