Technical Manual PD4-E-M (EtherCAT)
6 Operating modes
6 Operating modes
6.1 Profile Position
6.1.1 Overview
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.
Activation
To activate the mode, the value "1" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402
Controlword
The following bits in object 6040
(controlword) have a special function:
•
Bit 4 starts a travel command. This is carried out on a transition from "0" to "1". An exception occurs
if changing from another operating mode to Profile Position: If bit 4 is already set, it does not need
to be set to "0" and then back to "1" in order to start the travel command.
•
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
.
•
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
.
•
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.
1
0
The current target position is only passed through; afterwards, the new target
position is moved to with the new values.
For further information, see figure in "Setting travel commands".
Version: 1.0.1 / FIR-v1748
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