Functional Description - Festo CiA 402 Manual

6 Operating modes
Object 6086 : motion_profile_type
h
The object motion_profile_type is used to select the type of positioning profile.
Index
Name
Object Code
Data Type
Access
PDO Mapping
Units
Value Range
Default Value
Value Curve form
0 Linear ramp
3 Ramp with jerk limitation
6.3.3

Functional description

There are two possibilities for passing on a target position to the motor controller:
Simple positioning task
If the motor controller has reached a target position, it signals this to the host with the bit tar-
get_reached (bit 10 in the object statusword). In this mode, the motor controller does not perform any
further positioning tasks after it has reached the target.
Sequence of positioning tasks
After the motor controller has reached a target, it immediately begins travelling to the next target. This
transition can occur smoothly, without the motor controller meanwhile coming to a standstill.
These two methods are controlled through the bits new_set_point and change_set_immediately in the
object controlword and set_point_acknowledge in the object statusword. These bits are in a question-
answer relationship to each other. This makes it possible to prepare a positioning task while another is
still running.
118
6086
h
motion_profile_type
VAR
INT16
rw
yes
–
0, 3
0
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English