通过CK3E进行驱动器CDHD2初始化（EtherCat）

一、CDHD2驱动器基本配置

1.6060h: Modes of Operation

0 = No mode change / no mode assigned
1 = Profile position mode
3 = Profile velocity mode
4 = Profile torque mode
5 = Reserved
6 = Homing mode
7 = Interpolated position mode
8 = Cyclic synchronous position mode
9 = Cyclic synchronous velocity mode
10 = Cyclic synchronous torque mode
-x = Manufacturer specific

2.6040h: Controlword

bit 0: Switch on
bit 1: Enable voltage
bit 2: Quick stop
bit 3: Enable operation
bits 4-6: Mode specific
bit 7: Fault reset
bit 8: Halt
bit 9: Mode specific
bit 10: Reserved
bits 11-15: Manufacturer specific

3.6041h: Statusword

bit 0: Rready to switch on
bit 1: Switched on
bit 2: Operation enabled
bit 3: Fault
bit 4: Voltage enabled
bit 5: Quick stop
6: Switch on disabled
7: Warning
8: Manufacturer specific
9: Remote
bit 10: Target reached
bit 11: Internal limit active
bits 12-13: Mode specific
bits14-15: Manufacturer specific

4.6098h: Homing Method

由于方式较多暂不列出，自己根据实际需要进行选择。

二、CDHD2驱动器自身运动

在ServoStudio 2中配置好motor setup,feedback,limits，确保enable&faults中没有报错信息，然后在operation中选择serial position模式，再进行autotuning，匹配电机负载。完成后电机可以正常运动。

三、CK3E与CDHD2驱动器的运动

基本运动功能此处省略，没有难度。

四、home开始

1.ModesofOperation设置为6，Homing mode。

2.Controlword设置为&F.

3.Homingmethod=34,设置合适多home方式。

4.将CK3E的使能方式改为开环使能。

5.开始回零运动，Controlword =$1F。

6.回零成功判别，成功后需要更改的：

ModesofOperation=8
Controlword = $F
再将CK3E开环使能改为闭环使能。

7.初始化程序只能在plc中执行，不能在运动程序中运行，部分代码如下：

在这里插入代码片
OPEN plc 3
Coord[1].SegMoveTime=5
Motor[1].MaxSpeed=0.0