Profile Position Mode (Operative Mode 201); Internal States; Controlword Of Profile Position Mode; Statusword Of Profile Position Mode - Parker TPDM User Manual

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12.1.9 Profile position mode (operative mode 201)

In profile position mode (Pr31=201) the buffer of targets allowed is 2 elemets long one for the
profile in execution the other for the next, the motion profile type only valid value is 0
(trapezoidal profile with linear ramp).

12.1.9.1 Internal states

The profile position mode will control by the bits of the controlword and statusword.
Index Object
607Ah VAR
6081h VAR
6083h VAR
6085h VAR
6086h VAR

12.1.9.1.1 Controlword of profile position mode

15 9 8
Halt
MSB
Name
New set-
point
Change set
immediately
abs / rel
Halt
Table 9: Profile position mode bits of the controlword

12.1.9.1.2 Statusword of profile position mode

15 14 13
Following error Set-point acknowledge
MSB
Name
Target position
Profile velocity
Profile acc./dec.
Quick stop deceleration UNSIGNED32 rw
Motion profile type
7 6 5
abs / rel Change set immediately New set-point
Value
0 Does not assume target position
1 Assume target position
Finish the actual positioning and then start the next
0
positioning
Interrupt the actual positioning and start the next
1
positioning
0 Target position is an absolute value
1 Target position is a relative value
0 Execute positioning
Stop axle with profile deceleration (if not supported with
1
profile acceleration)
12
user's manual TPDM
Type Attr. M/O
INTEGER32 rw
UNSIGNED32 rw
UNSIGNED32 rw
INTEGER16 rw
4
Description
11 10
Target reached
M
M
M
O
M
3 0
LSB
9 0
LSB
159