Infranor XtrapulsPac - 3.2.3.3 - Profile Position Mode

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X
trapulsPac - User Guide
Chapter 3 – Reference
3.2.3.3 - Profile Position Mode
Profile Position Mode
In this mode, a trapezoidal trajectory generator gives the drive the possibility to execute a positioning with preset
parameters as target position, profile speed and acceleration.
In profile position mode, these bits in the control word are relative to the control of the trajectory:
Bit Numbe
r
Profile Position Mode
4 new set point
5 change set immediately
6 0: absolute
1: relative
The movement will be triggered by a rising edge of bit 4 (new_set_point) of the control word. The
acknowledgement of the new set point is confirmed by bit 12 (setpoint acknowledgement) of the status word. The
target position will be taken as relative to the current position if bit 6 of control word = 1.
The speed profile is trapezoidal (motion profile type = 0) or S-curve (motion profile type = -1).
Change setpoint immediately
Bit change_set_immediately = 1 :
new set point
set point acknowledgement
time
Speed
Profile Velocity
Profile
Acceleration
Profile
Deceleration
Target Position
Current Position