14.4.1 Velocity mode [rpm] ............................................................................................ 178
14.4.1.1 Example Sequence ........................................................................................ 181
14.4.2 Profile Velocity mode [u/s] ................................................................................... 183
14.4.2.1 Example Sequence ........................................................................................ 186
14.4.3 Profile position mode ........................................................................................... 187
14.4.3.1 Example Sequence ........................................................................................ 193
14.4.4 Interpolated position mode ................................................................................... 195
14.4.4.1 Example Sequence ........................................................................................ 199
14.4.5 Homing mode ...................................................................................................... 200
14.4.5.1 Example Sequence ........................................................................................ 202
14.4.6 Table travel record ............................................................................................... 203
14.4.6.1 Example Sequence ........................................................................................ 210
14.4.7 Move away from Limit switches ............................................................................. 211
14.4.7.1 Example Sequence ........................................................................................ 214
14.4.8 Electronic Gear: Slave .......................................................................................... 215
14.4.8.1 Example Sequence ........................................................................................ 222
15 Parameter list ............................................................................................................. 224
15.1 Actual values .................................................................................................... 224
15.2 Parameters ....................................................................................................... 224
16 Annex ......................................................................................................................... 227
16.1 Control Word overview ..................................................................................... 227
16.2 Status Word overview ...................................................................................... 228
16.3 Warning messages ........................................................................................... 229
16.4 Warning Messages Application ......................................................................... 230
16.5 Fault messages ................................................................................................. 231
16.6 Conversions ...................................................................................................... 232
16.6.1 Speed [rpm] to Frequency [Hz] ............................................................................. 232
16.6.2 Frequency [Hz] to Speed [rpm] ............................................................................. 232
16.6.3 Speed in user units [u/s] to Frequency [Hz] ........................................................... 232
16.6.4 Frequency [Hz] to Speed in user units [u/s] ........................................................... 232
16.6.5 Speed in user units [u/s] to Speed [rpm] ............................................................... 232
16.6.6 Speed [rpm] to Speed in user units [u/s] ............................................................... 232
16.7 Object support in the Software versions and EDS files .................................... 233
17 Motion-control-interface for Profibus connection ..................................................... 236
Index ................................................................................................................................ 237
04/13 CM-CAN ACU 7
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