Lust ServoOne - Profile Position Mode

User Manual CANopen/EtherCAT
57
[Chapter 9]
9.4 Profile position mode
In this operation mode (mode of operation =1) the axle executes relative or absolute
single positioning movements.
Object
No.
Object
Name
Object
Code
Type Attr.
0x607A Target_Position VAR Integer32 rw
0x607d Software Position Limit ARRAY Integer32 rw
0x6081 Profile_Velocity VAR Unsigned32 rw
0x6083
Profile_Acceleration VAR Unsigned32 rw
0x6084
Profile_Deceleration VAR Unsigned32 rw
0x6085 Quick Stop deceleration VAR Unsigned32 rw
0x6064
Position actual value VAR Integer32 r
0x607E Polarity VAR UInt8 rw
Table Profile Position Mode
Units of the parameters are set by way of the Scaling Wizard or the objects from the
factor group.
Structure of operation mode
Figure Structure Profile Position Mode
target_position
(607Ah)
[position
units]
position_factor
(6093h)
polarity (607Eh)
Limit
Function
Multiplier
position
velocity
acceleration
Limit Function
Limit Function
Multiplier
Minimum
Comparator
positio_range_limit (607Bh)
software_position_limit
(607Dh)
home_offset (607Ch)
velocity
limit
[speed units]
[speed units]
[speed units]
[acceleration units]
[acceleration units]
[acceleration units]
velocity_factor_1
(6095h)
profile_velocity
(6081h)
end_velocity
(6082h)
max_profile_velocity
(607Fh)
max_motor_speed
(6080h)
profile_acceleration
(6083h)
profile_deceleration
(6084h)
quick_stop_deceleration
(6084h)
max_acceleration
(60C5h)
max_deceleration
(60C8h)