Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 159 of 181
Name
Value Description
Target
reached
0
Halt = 0:
Target position
not reached Halt = 1: Axle decelerates
1
Halt = 0:
Target position
reached Halt = 1: Velocity of axle is 0
0
Trajectory generator has not assumed the positioning values
(yet)
Set-point
acknowledge
1
Trajectory generator has assumed the positioning values
0
No following error
Following
error
1 Following
error
Table 10: Profile position mode bits of the
statusword
13.1.9.2.
Object dictionary entries
13.1.9.2.1.
Objects defined in this chapter
Index
Object
Name
Type
Attr.
M/O
607A
VAR
Target position
INTEGER32
rw
M
Index
Object
Name
Type
Attr.
M/O
6081
VAR
Profile velocity
UNSIGNED32
rw
M
6083
VAR
Profile acceleration / deceleration
UNSIGNED32
rw
M
6085
VAR
Quick stop deceleration
UNSIGNED32
rw
O
6086
VAR
Motion profile type
INTEGER16
rw
M
Index
Object
Name
Type
Chapter
6040
VAR
Controlword
UNSIGNED16
dc
6041
VAR
Statusword
UNSIGNED16
dc
605A
VAR
Quick stop option code
INTEGER16
dc
6093[1,2]
ARRA
Y
Position factor
UNSIGNED32
fg
6094 [1,2]
ARRA
Y
Velocity encoder factor
UNSIGNED32
fg
6097 [1,2]
ARRA
Y
Acceleration factor
UNSIGNED32
fg
13.1.9.2.2.
Object 607A
h
: Target position
The
target position
is the position that the drive should move to in position profile mode
using the current settings of motion control parameters such as velocity,
acceleration/deceleration,
motion profile type
etc. The
target position
is given in user defined
position units. It is converted to position increments using the
position factor
. The
target
position
will be interpreted as absolute or relative depending on the ‘abs / rel’ flag in the
controlword
.