Parker Hannifin S.p.A S.B.C. Division
SLVDN User’s Manual
Page 162 of 181
OBJECT DESCRIPTION
INDEX
6086h
Name
Motion profile type
Object Code
VAR
Data Type
INTEGER16
Category
Conditional;
Mandatory, if pp or pv supported
ENTRY DESCRIPTION
Access
rw
PDO Mapping
Possible
Value Range
INTEGER16
Default Value
0
13.1.9.3.
Functional description
Two different ways to apply
target positions
to a drive, are supported by this device profile.
Set of set-points: After reaching the
target position
the drive unit immediately processes the
next
target position
which results in a move where the velocity of the drive normally is not
reduced to zero after achieving a set-point.
Single set-point: After reaching the
target position
the drive unit signals this status to a host
computer and then receives a new set-point. After reaching a
target position
the velocity
normally is reduced to zero before starting a move to the next set-point.
The two modes are controlled by the timing of the bits ‘
new set-point
’ and ‘
change set
immediately
’ in the
controlword
and ‘
set-point acknowledge
’ in the
statusword
. These bits
allow to set up a request-response mechanism in order to prepare a set of set-points while
another set still is processed in the drive unit. This minimizes reaction times within a control
program on a host computer.
DATA
New setpoint
Change set
immediately
Setpoint
acknowledge
(1)
(2)
(3)
(4)
(5)
(6)
Figure 17: Set-point transmission from a host computer
