13.3 Position Control Modes
13.3.1 Profile Position Mode
13-6
13.3
Position Control Modes
13.3.1
Profile Position Mode
The Profile Position Mode is used to position to the target position at the profile velocity and the
profile acceleration.
The following figure shows the block diagram for the Profile Position Mode.
Related Objects
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
6040 hex
0
Controlword
RW
Yes
−
UINT
6041 hex
0
Statusword
RO
Yes
−
UINT
607A hex
0
Target position
RW
Yes
Pos unit
DINT
607D hex
Software position limit
1
Min position limit
RW
No
Pos unit
DINT
2
Max position limit
RW
No
Pos unit
DINT
607F hex
0
Max profile velocity
RW
Yes
Vel unit
UDINT
6081 hex
0
Profile velocity
RW
Yes
Vel unit
UDINT
6083 hex
0
Profile acceleration
RW
Yes
Acc unit
UDINT
6084 hex
0
Profile deceleration
RW
Yes
Acc unit
UDINT
6085 hex
0
Quick stop deceleration
RW
Yes
Acc unit
UDINT
6086 hex
–
Motion profile type
RW
Yes
–
INT
60A4 hex
Profile jerk
1
Profile jerk 1
RW
No
%
UDINT
+
+
-
-
Profile jerk (60A4 hex)
Motion profile type (6086 hex)
Position
limit function
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Position
trajectory
generator
Target position (607A hex)
Software position limit (607D hex)
Velocity
limit function
Velocity
user unit
(2702 hex: 1, 2702 hex: 2)
Profile velocity (6081 hex)
Max profile velocity (607F hex)
Acceleration
limit function
Acceleration
user unit
(2703 hex: 1, 2703 hex: 2)
Profile acceleration (6083 hex)
Quick stop deceleration (6085 hex)
Profile deceleration (6084 hex)
[Pos unit]
[Vel unit]
[Acc unit]
[inc]
[inc/s]
104 [inc/s2]
Quick stop option code (605A hex)
Controlword (6040 hex)
Position
control
Position
demand
internal
value
(60FC hex)
Position demand
value (6062 hex)
Following error
window
comparator
Position
user unit
(2701 hex: 1, 2701 hex: 1)
Velocity
user unit
(2702 hex: 1, 2702 hex: 1)
Position reached
window
comparator
Position
user unit
(2701 hex: 1, 2701 hex: 2)
Position window
time (6068 hex)
Following window
time out (6066 hex)
Output of position
limit function
Position actual value (6064 hex)
Velocity actual value (606C hex)
Torque actual value (6077 hex)
Position window (6067 hex)
Target reached in statusword
(6041 hex)
Following error in statusword
(6041 hex)
Following error window (6065 hex)
Following error actual value (60F4 hex)
Motor
Encoder
Speed
control
Torque
control
Position actual internal
value (6063 hex)
Multiplier
Multiplier
Multiplier
Multiplier
Torque
user unit
(2704 hex: 2, 2704 hex: 1)
