Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
Page 158 of 181
13.1.9. Profile position mode (operative mode 201)
In profile position mode (Pr31=201) the buffer of targets allowed is 2 elements long one for
the profile in execution the other for the next, the motion profile type only valid value is 0
(trapezoidal profile with linear ramp).
13.1.9.1. Internal states
The profile position mode will control by the bits of the
controlword and statusword.
Index Object Name Type Attr.
M/
O
607Ah VAR Target position INTEGER32 rw M
6081h VAR Profile velocity UNSIGNED32 rw M
6083h VAR Profile acc./dec. UNSIGNED32 rw M
6085h VAR Quick stop deceleration UNSIGNED32 rw O
6086h VAR Motion profile type INTEGER16 rw M
13.1.9.1.1. Controlword of profile position mode
15 9 8 7 6 5 4 3 0
Halt abs/rel Change set immediately New set-point
MSB LSB
Name Value Description
0 Does not assume target position New set-
point
1 Assume
target position
0
Finish the actual positioning and then start the next
positioning
Change set
immediately
1
Interrupt the actual positioning and start the next
positioning
0 Target position is an absolute value
abs / rel
1
Target position is a relative value
0 Execute positioning Halt
1
Stop axle with
profile deceleration (if not supported with
profile acceleration)
Table 9: Profile position mode bits of the controlword
13.1.9.1.2. Statusword of profile position mode
15 14 13 12 11 10 9 0
Following error Set-point acknowledge Target reached
MSB LSB
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