6 Operating modes
6 Operating modes
6.1 Profile Position
6.1.1 Note regarding USB
Note
Because this controller is not equipped with a fieldbus, the following operating mode can only be used
with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter
Programming with NanoJ.
6.1.2 Overview
6.1.2.1 Description
Profile Position Mode is used to move to positions relative to the last target position or to an absolute
position (last reference position). During the movement, the limit values for the speed, starting acceleration/
braking deceleration and jerks are taken into account.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.1.2.2 Activation
To activate the mode, the value "1" must be set in object 6060
(Modes Of Operation) (see "CiA 402 Power
6.1.2.3 Controlword
The following bits in object 6040
h
(controlword) have a special function:
●
Bit 4 starts a travel command. This is carried out on a transition from "0" to "1".
●
Bit 5: If this bit is set to "1", a travel command triggered by bit 4 is immediately executed. If it is set to "0",
the just executed travel command is completed and only then is the next travel command started.
●
Bit 6: With "0", the target position (607A
) is absolute and with "1" the target position is relative. The
reference position is dependent on bits 0 and 1 of object 60F2
h
.
●
Bit 8 (Halt): If this bit is set to "1", the motor stops. On a transition from "1" to "0", the motor accelerates
with the set start ramp to the target speed. On a transition from "0" to "1", the motor brakes and comes to
a standstill. The braking deceleration is dependent here on the setting of the "Halt Option Code" in object
605D
h
.
●
Bit 9 (Change on setpoint): If this bit is set, the speed is not changed until the first target position is
reached. This means that, before the first target is reached, no braking is performed, as the motor should
not come to a standstill at this position.
Controlword 6040
h
Bit 9
Bit 5
Definition
X
1
The new target position is moved to immediately.
0
0
Positioning is completed before moving to the next target position with the new
limits.
Version: 2.0.1 / FIR-v1650
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