Emerson 0471-0128-02 manual 6 0x6060 Modesofoperation, 7 0x6061 Modesofoperationdisplay

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7.3.60x6060 Modes_of_operation

This object is used to request a change in the mode of operation.

Table 7.17 Modes_of_operation

0x6060	Modes_of_operation
Access: RW		Range: 0 to 7	Size: Unsigned 8	Unit: N/A
Default:	2

Description: This object is used to request a change in the mode of operation.

Table 7.18 Modes_of_operation values

Value	Definition
0	No mode change
2	vl velocity mode

4	Profile torque mode
6	Homing mode

7	Interpolated position mode

7.3.70x6061 Modes_of_operation_display

This read only object indicates the active mode of operation.

Table 7.19 Modes_of_operation_display

0x6061	Modes_of_operation_display
Access: RO		Range: 0 to 7	Size: Unsigned 8	Unit: N/A
Default:	N/A

Description:	Used to provide the active mode of operation.

Table 7.20 Modes_of_operation_display values

Value	Definition
0	No mode change
2	vl velocity mode

4	Profile torque mode
6	Homing mode

7	Interpolated position mode

7.3.80x6085 Quick_stop_deceleration

This object is used to configure the deceleration rate used to stop the motor when the quick stop function is activated and the quick stop code object (0x605A) is set to 2 or 6. The quick stop deceleration is also used if the fault reaction code object (0x605E) is 2. The value is given in user-defined acceleration units.

Table 7.21 Quick_stop_deceleration

0x6085	Quick_stop_deceleration
Sub-index 0
Access: RW		Range:0 to 0xFFFFFFFF	Size: Unsigned 32	Unit: N/A

Default:	2

Description:	Quick stop function for the positioning related modes.

Information	Safety

Introduction

Installation	Mechanical

Installation	Electrical

Getting Started

Protocols

support	Drive profile (DSP-402)
features	Advanced

Diagnostics

Reference	Quick

Terms	Glossary
	Of

Index

SM-EtherCAT User Guide	35
Issue Number: 2	www.controltechniques.com

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Contents SM-EtherCAT General Information Contents Quick Reference Glossary Of Terms DiagnosticsSystem design and safety of personnel Safety InformationElectrical safety general warning Motor Adjusting parametersEnvironmental limits Compliance with regulationsGeneral safety considerations for remote operation Introduction FeaturesWhat is EtherCAT? Solution module identificationExample Conventions used in this guideDate code format General Installation Mechanical InstallationModule grounding Electrical InstallationSM-EtherCAT module information Minimum node-to-node cable length Network topologySM-EtherCAT XML file Getting StartedQuick start guide SM-EtherCAT version compatibilityConfiguring the SM-EtherCAT module for cyclic communications Cyclic data mapping configuration RxPDO1 TxPDO1 TxPDO6 Configuring the Sync ManagersAssigning TxPDO to the Sync Manager Assigning RxPDO to the Sync ManagerQuick start flowchart Quick start flowchartSM-EtherCAT re-initialise Re-initialise all Solutions ModulesSaving parameters to the drive Re-initialising the SM-EtherCATObject description format ProtocolsCANopen over EtherCAT CoE CoE object dictionaryIdentity object CoE communication areaDefinitions Device type object0x1600 RxPDO mappingsRxPDO mappings RxPDO mapping0x1605 0x160112 TxPDO mapping TxPDO mappings10 RxPDO mapping 11 TxPDO mappingsTransmit PDO mapping Sub-index 0 Number of mapped objects 13 TxPDO mapping14 TxPDO mapping 0x1A010x1A15 15 TxPDO mapping16 TxPDO mapping 0x1A0519 Sync manager 1 PDO assignment object Sync manager configuration17 Sync manager communication type object 18 Sync manager 0 PDO assignment object22 Feedback encoder source Feedback encoder source20 Sync manager 2 PDO assignment object 21 Sync manager 3 PDO assignment objectControlword Command codingDrive profile DSP-402 support 0x6040 ControlwordSequencing control Common profile features0x6041 Statusword Page Power disabled Transition Events Actions CoE state machine transition and events0x605A 2 0x605A Quick stop option codeQuickstopoptioncode 10 Quick stop value definitions3 0x605B Shutdownoptioncode 4 0x605C Disableoperationoptioncode5 0x605E Faultreactionoptioncode 8 0x6085 Quickstopdeceleration 6 0x6060 Modesofoperation7 0x6061 Modesofoperationdisplay 11 0x6091 Gearratio 10 0x608F Positionencoderresolution23 Positionencoderresolution Profile unitsFeed constant = feed / driving shaft revolutions 12 0x6092 FeedconstantBasic position control 24 Gearratio15 0x6064 Positionactualvalue 16 0x60F4 Followingerroractualvalue14 0x6062 Positiondemandvalue 1 0x60C0 Interpolationsub-modeselect Interpolated position mode17 0x60FB Positioncontrolparameterset object 34 Interpolationtimeperiod 2 0x60C1 Interpolationdatarecord3 0x60C2 Interpolationtimeperiod 33 0x60C1 Interpolationdatarecord37 vltargetvelocity Vl velocity mode36 vl velocity mode supported objects 1 0x6042 vltargetvelocity4 0x6046 vlvelocityminmaxamount 2 0x6043 vlvelocitydemand3 0x6044 vlvelocityactualvalue 0x6047 5 0x6047 vlvelocityminmax6 0x6048 vlvelocityacceleration 41 0x6047 vlvelocityminmax0x604A 7 0x6049 vlvelocitydeceleration8 0x604A vlvelocityquickstop 0x60499 0x604B vlsetpointfactor 10 0x604C vldimensionfactorCalculating the vl dimension factor 46 0x604C vldimensionfactor48 0x6071 Targettorque Profile Torque mode47 Profile torque mode supported objects 1 0x6071 Targettorque4 0x6087 Torqueslope Homing Mode2 0x6075 Motorratedcurrent 3 0x6078 CurrentactualvalueGeneral homing definitions Method 1 Homing on negative limit switch and index pulseSupport Drive profile DSP-402 SM-EtherCAT User Guide Method 33 and 34 Homing on index pulse Method 15 and 16 ReservedMethod 17 to 30 Homing without index pulse Homing mode object definitions 0x607C Home offset 0x2804 Freeze object55 Freeze object Freeze object0x6099 Homing speeds 0x6098 Homing method57 Homing method 58 Homing method valuesSM-EtherCAT protocol support Advanced featuresDistributed clocks SM-EtherCAT firmware version DiagnosticsModule identification parameters SM-EtherCAT module ID codeNetwork loss behavior object Network configuration objectsCommander SK / Commander SL SM-EtherCAT network loss tripRunning states Diagnostic parametersSM-EtherCAT serial number SM-EtherCAT module temperatureDrive trip display codes SM-EtherCAT error codes Default Pr MM.50 Range Access SM-EtherCAT error codes12 SM-EtherCAT error codes 13 SM-EtherCAT error codesUpdating SM-EtherCAT firmware Critical task % freeWorst case critical task % free Flash file system % freeObject Name Description Cross reference Quick ReferenceSM-EtherCAT objects reference Provides the velocity at the motor spin 3 on Pr MM.32 SM-EtherCAT parameter referenceObject Pr MM.01Polled data See Cyclic data Glossary Of TermsScan rate See Poll rate Index Secure Disable Page 0471-0128-02