Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 158 of 181
13.1.9.
Profile position mode (operative mode 201)
In profile position mode (Pr31=201) the buffer of targets allowed is 2 elements long one for
the profile in execution the other for the next, the motion profile type only valid value is 0
(trapezoidal profile with linear ramp).
13.1.9.1.
Internal states
The profile position mode will control by the bits of the
controlword
and
statusword
.
Index
Object
Name
Type
Attr.
M/
O
607Ah VAR
Target position
INTEGER32
rw
M
6081h VAR
Profile velocity
UNSIGNED32 rw
M
6083h VAR
Profile acc./dec.
UNSIGNED32 rw
M
6085h VAR
Quick stop deceleration
UNSIGNED32 rw
O
6086h VAR
Motion profile type
INTEGER16
rw
M
13.1.9.1.1.
Controlword
of profile position mode
15 9 8
7 6
5
4
3
0
Halt abs/rel Change set immediately New set-point
MSB
LSB
Name Value
Description
0
Does not assume
target position
New set-
point
1 Assume
target position
0
Finish the actual positioning and then start the next
positioning
Change set
immediately
1
Interrupt the actual positioning and start the next
positioning
0
Target position
is an absolute value
abs / rel
1
Target position
is a relative value
0
Execute positioning
Halt
1
Stop axle with
profile deceleration
(if not supported with
profile acceleration
)
Table 9: Profile position mode bits of the
controlword
13.1.9.1.2.
Statusword
of profile position mode
15 14 13
12
11 10
9 0
Following error Set-point acknowledge
Target reached
MSB
LSB