Profile Position Mode（Pp; Related Objects - Parker FL20-CA Series Product Manual

7.3 Profile position mode（PP）
In this mode of operation, host controller uses the path generation function (an operation profile
calculation function) inside the servo drive to perform PTP positioning operation. It executes
path generation, position control, speed control, and torque control based on the target position,
profile acceleration, profile deceleration, and other information.
Target position 607Ah
Profile velocity 6081h Position
Profile acceleration6083h
feedback
+
Gear ratio
Profile deceleration6084h
6091h : 01h
6091h : 02h
-
Fig 7.3.1 Block diagram for the PP mode

7.3.1 Related objects

Control word 6040h
Bit Name
0 Switch on
1 Enable voltage
If bit0 to bit3 are all 1, the servo drive starts running.
2 Quick stop
3 Enable operation
Starts positioning at rising edge from 0 to 1 of the signal.
In this timing, the values of 607Ah (target position), 6081h
4 New set-point
(Profile velocity), 6083h (Profile acceleration), and 6084h
(Profile deceleration) are obtained.
Change set 0: Not change set immediately.
5
immediately 1: Change set immediately.
6 abs/rel 0: Target position being absolute position reference.
Position feedward
2003h : 04h
+
+
Position loop gain Max. motor speed
2003h ： 02h
607Fh
Speed
calculation
Torque amplitude Torque
Motor
6072h
regulator
Actual torque feedback
6063 h
Description
149
Torque regulator
+
2001h : 02h
2001h : 03h
-
Encoder