20.6.11 Profile Position Mode (pp) 114
20.6.11.1 General Information 114
Objects that are defined in this section 114
Objects that are defined in other sections 114
20.6.11.2 Object Description 115
Object 607Ah: target position (DS402) 115
Object 607Dh: Software position limit (DS402) 115
Object 6081h: profile velocity (DS402) 116
Object 6083h: profile acceleration (DS402) 116
Object 6084h: profile deceleration (DS402) 116
Functional Description 117
20.7 Appendix 119
20.7.1 Object Dictionary 119
20.7.1.1 Float Scaling 119
20.7.1.2 Communication SDOs 119
20.7.1.3 Manufacturer specific SDOs 122
20.7.1.4 Profile specific SDOs 130
20.7.2 Examples 132
20.7.2.1 Examples, setup 132
Basic testing of the connection to the AKD controls 132
Example: Operating the Status Machine 133
Example: Jog Mode via SDO 134
Example: Torque Mode via SDO 134
Example: Jog Mode via PDO 135
Example: Torque Mode via PDO 137
Example: Homing via SDO 138
Example: Using the Profile Position Mode 140
Example: ASCII Communication 143
Test for SYNC telegrams 144
20.7.2.2 Examples, special applications 145
Example: External Trajectory with Interpolated Position Mode 145
20.8 Index 152
21 Ethercat Manual 1
21.1 General 30
21.1.1 About this Manual 31
21.1.2 Target Group 31
21.1.3 Abbreviations Used 32
21.2 Safety 33
21.2.1 Safety Instructions 34
21.2.2 Use as directed 34
24 Kollmorgen | December 2010
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