Xinje DP3C Series User Manual

20
6-2-3. Related object list
Index
Name
Unit
Read/write
6040h
Control word
-
RW
6072h
Max torque
0.1%
RW
607Ah
Target Position
Command unit
RW
607Dh
Soft Position Limit
-
RW
Number of entries
-
RW
607Bh
Position range limit
-
RW
HighestSub-Index numbers
-
RW
60C5h
Max acceleration
Command unit /s
2
RW
60C6h
Max deceleration
Command unit /s
2
RW
60F2h
Positioning option code
-
RW
Csp control mode related detection types
Index
Name
Unit
Read/write
6041h
Statusword
-
RO
6062h
Position demand value
Command unit
RO
6063h
Position actual internal value
pulse
RO
6064h
Position actual value
Command unit
RO
6065h
Following error window
Command unit
RW
6066h
Following error timeout
1ms
RW
606Ch
Velocity actual value
Command unit /s
RO
6076h
Motor rated torque
mN·m
RO
6077h
Torque actual value
0.1%
RO
60F4h
Following error actual value
Command unit
RO
60FAh
Control effort
Command unit
RO
60FCh
Position deamnd internal value
Command unit
RO
6-3. Profile position mode
6-3-1. Overview
After receiving the position command from the upper computer controller, the servo driver controls the servo
motor to reach the target position.
6-3-2. Operation steps
1. set [control mode: 6060h] to profile position mode (0x01).
2. set [target position: 607Ah] to target position (unit: command unit).
3. set [profile speed: 6081h] to profile velocity control (unit: command unit/s).
4. set [profile acceleration: 6083h], plan the acceleration slope (unit: command unit/s²).
5. set [profile deceleration: 6084h], plan the deceleration slope (unit: command unit/s²).
6. set [control word: 6040h] to (0x06 > 0x07 > 0x0F), make the driver start and the motor run.
7. read [position feedback: 6064h], get the present feedback position of motor
8. read [status word: 6041h], get the driver status, including following error, set-point acknowledge, target
reached.

Xinje DP3C Series Specifications

General

Brand	Xinje
Model	DP3C Series
Category	Servo Drives
Language	English