CONTENTS Drives and Motion Control CiA DSP 402 V 2.0
5
12.1.1 Input data description.............................................................................76
12.1.2 Output data description ..........................................................................76
12.1.3 Internal states........................................................................................76
12.2 Object dictionary entries...............................................................................77
12.2.1 Objects defined in this chapter................................................................77
12.2.2 Objects defined in other chapters............................................................78
12.3 Object description........................................................................................78
12.3.1 Object 607A
h
: Target position .................................................................78
12.3.2 Object 607B
h
: Position range limit ...........................................................79
12.3.3 Object 607D
h
: Software position limit.......................................................80
12.3.4 Object 607F
h
: Max profile velocity ...........................................................81
12.3.5 Object 6080
h
: Max motor speed..............................................................81
12.3.6 Object 6081
h
: Profile velocity ..................................................................81
12.3.7 Object 6082
h
: End velocity......................................................................82
12.3.8 Object 6083
h
: Profile acceleration ...........................................................82
12.3.9 Object 6084
h
: Profile deceleration ...........................................................83
12.3.10 Object 6085
h
: Quick stop deceleration...............................................83
12.3.11 Object 6086
h
: Motion profile type ......................................................83
12.3.12 Object 60C5
h
: Max acceleration........................................................84
12.3.13 Object 60C6
h
: Max deceleration........................................................84
12.4 Functional description ..................................................................................85
13 HOMING MODE...................................................................................................87
13.1 General information .....................................................................................87
13.1.1 Input data description.............................................................................87
13.1.2 Output data description ..........................................................................87
13.1.3 Internal states........................................................................................87
13.2 Object dictionary entries...............................................................................88
13.2.1 Objects defined in this chapter................................................................88
13.2.2 Objects defined in other chapters............................................................88
13.3 Object description........................................................................................88
13.3.1 Object 607C
h
: Home offset .....................................................................88
13.3.2 Object 6098
h
: Homing method ................................................................89
13.3.3 Object 6099
h
: Homing speeds.................................................................90
13.3.4 Object 609A
h
: Homing acceleration.........................................................91
13.4 Functional description ..................................................................................91
13.4.1 Homing methods ...................................................................................91
14 POSITION CONTROL FUNCTION........................................................................96
14.1 General information .....................................................................................96
14.1.1 Following error.......................................................................................96
14.1.2 Position reached....................................................................................97
14.1.3 Input data description.............................................................................97
14.1.4 Output data description ..........................................................................97
14.2 Object dictionary entries...............................................................................97
14.2.1 Objects defined in this chapter................................................................97
14.2.2 Objects defined in other chapters............................................................98
14.3 Object description........................................................................................98
14.3.1 Object 6062
h
: Position demand value......................................................98
14.3.2 Object 6063
h
: Position actual value*........................................................99
14.3.3 Object 6064
h
: Position actual value .........................................................99
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