LSIS XDL-L7NH Series, User Manual, Page: 76 / 348

4. CiA402 Drive Profile
4-8
4.3.2 Profile Position Mode
Unlike the CSP mode receiving the target position, renewed at every PDO update cycle, from the upper
level controller, in the Profile Position (PP) mode, the drive generates a position profile internally to
operate up to the target position (0x607A) using the profile velocity (0x6081), acceleration (0x6083),
and deceleration (0x6084).
The block diagram of the PP mode is as follows:
 Related Objects
Index
Sub
Index
Name
Variable
type
Accessibility
PDO
assignment
Unit
0x6040 - Controlword UINT RW Yes -
0x6041 - Statusword UINT RO Yes -
0x607A - Target Position DINT RW Yes UU
0x607D
- Software Position Limit - - - -
0 Number of entries USINT RO No -
1 Min position limit DINT RW No UU