huty_2022 发表于 2024-7-10 18:16:53

GD350主轴绝对定位如何通过EtherCat通讯下发指令

<p style="line-height: 2em;">1、在控制模式1状态下，上位机将目标位置、目标速度、加减速等信息发送给驱动器，并通过控制字来进行触发，目前变频器只支持单点模式的定位。&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</p><p style="line-height: 2em;">2、控制模式下发1（相对定位模式），SDO对象字典0x6060配置为1后，相对应的P21.00参数会自动进行变化为0011&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;</p><p style="line-height: 2em;">3、控制字需要下发两次指令来进行触发。首先下发0x4F启动运行命令（其中bit6为设置增量模式，bit3~bit0为 使能驱动器）；&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</p><p style="line-height: 2em;">4、设置对象字典607Ah为目标位置；（如果需要上位机给定目标位置，将P21.16的bit9位选为1，通过通讯给定）；&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;</p><p style="line-height: 2em;">5、再下发0x5F，触发位置指令生效（其中bit4的0→1跳变沿为触发目标位置指令生效）；&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;</p><p style="line-height: 2em;">6、设置对象字典6081h为到目标位置的速度（如果需要通过上位机给定目标速度，P21.18需要设置为6，通过通讯给定）；</p>
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