목차
AZDxA-KED
Summary
Condition
Test Item : Setup
Test Item : Operation
Note
Oriental
×
Oriental EtherCAT Slave에 대한 Test 항목 안내 페이지입니다.
AZDxA-KED
Summary
Date : 2020-06-21
Master : COMI-LX552
Sample
Driver :
AZD2A-KED
AZD4A-KED
Motor :
AZ Series
DRS2 Series
EAS Series
DGII Series
ESI : ORIENTALMOTOR_AZDxA-KED_rev0300.xml
VendorID : 0x2BE
Product Code : 0x13AF
RevisionNo : 0x00110300(AZD2A-KED), 0x11110300(AZD4A-KED)
CycleTime : 1ms
Condition
PC
CPU : Intel I7-7700
MainBoard : SuperMicro X11SSA-F
RAM : Samsung 8G
OS
Win7 x64
Win10 x64
Test Item : Setup
XML Parsing
PDO mapping
EtherCAT State Machine
Init / PreOP / SafeOP / OP
SyncMode : Distributed Clock
Configured Station Alias
Test Item : Operation
Cia 402 Drive Profile
Servo On (Operation Enable / Disable)
Alarm Reset
ErrorCode Read
Speed, Jerk Setup
Move : CSP Mode
Homing
Homing Speed
MotionIO
Limit, Origin
SDO Read / Write
EEPROM, Register Read / Write
Note
ServoTunes Supported
Absolute Type Motor의 경우 (PPR : 회전당 Pulse수)
-1/2 PPR ~ 1/2 PPR
1)
범위에서 동작
Command 와 Feedback의 차이가 2 * PPR 이상인 경우 알람 발생
2)
RingCounter의 Abs 기능
을 이용하여 제어해야 함.
RingCounter Maximum
3)
항목은 PPR 값 입력
1)
PPR이 180,000 인경우 -90,000 ~ 90,000
2)
PPR이 180,000 일때 편차가 360,000 이상인 경우 알람
3)
Range