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6. EtherCAT operation mode
6-1. Homing Mode
6-1-1. Overview
The user can use this mode to let the driver search the origin position, and set the way to return to the origin, the
speed and acceleration of return.
6-1-2. Operation steps
P2-06 corresponds to POT, P2-17 corresponds to NOT, and P2-08 corresponds to origin
1. set [control mode: 6060h] to homing mode (0x06).
2. set [homing mode: 6098h], setting range is 1~14, 17~30, 33, 34, 35, 37.
3. set [homing speed 6099h Sub-1], define the speed to find the origin switch (unit: command unit/s).
4. set [homing speed: 6099h Sub-2], define the speed to find the origin (unit: command unit/s).
5. set [homing acceleration: 609Ah], define the homing acceleration (unit: command unit/s
2
).
6. set [control word: 6040h] to (0x06 > 0x07 > 0x0F), enable the driver and make the motor to run.
7. set [control word: 6040h] to (0x0F > 0x1F), find the Home Switch and do the homing operation.
8. read [status word: 6041h] to know the driver status.
6-1-3. Related object list
6-2. Cyclic synchronous position mode
6-2-1. Overview
The upper computer plans the path in CSP mode and sends PDO according to the specified cycle. When
transmitting each PDO, the data of target position and control word will be transmitted to the driver at the same
time.
6-2-2. Operation steps
1. set [control mode: 6060hćto cyclic synchronous position mode (0x08).
2. set [interpolation time period: 60C2h], the set value must be the same as SYNC0 cycle.
60C2h Sub-1 can be set Interpolation time units, the range is 1ms~20ms.
60C2h Sub-2 can be set Interpolation time index. The value is fixed at -3 which means the time is 10
-3
second.
3. Drive PDO Rx:
607Ah can set the Target Pos Cmd (32-bit).
6040h Sub-0 can set the controlword.
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