Parker MDC Series, User Manual

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Parker Hannifin Manufacturing Srl user’s manual MDC
53
6.1.5.2 Use of controlword and statusword
The cyclic synchronous position mode uses no mode specific bits of the controlword and
three bits of the statusword for mode-specific purposes. Figure 64 shows the structure of the
statusword. Table 236 defines the values for bit 10, 12, and 13 of the statusword.
15 14 13 12 11 10 9 0
Following error Target position ignored Reserverd
MSB LSB
Name Value Description
Bit 10 0
Reserved
1 Reserved
Bit 11 0 Target position ignored
1 Target position shall be used as input to position control loop
Bit 12 0 No following error
1 Following error
Definition of bit 10, bit 12, and bit 13
6.1.5.3 Detailed object definitions
6.1.5.3.1 Object 60B0
h
: Position offset
This object shall provide the offset of the target position. The offset shall be given in user-
defined position units.
NOTE The value itself is absolute and thus independent of how often it is transmitted over the
communication system, for example, transmitted twice does not mean double value. Since the
additive position value represents an offset to the target position it can be also used to control
the drive with relative values with regard to the target position.
Object description
INDEX 60B0h
Name Position offset
Object code VAR
Data type INTEGER 32
Category Optional
Entry description
Sub-index 00h
Access rw
PDO mapping See /CiA402-3/
Range value Integer 32
Default value 0