Parker SLVD7N - Object 607 Ah: Target Position; Object Dictionary Entries; Objects Defined in this Chapter

Parker Hannifin S.p.A S.B.C. Division SLVDN User’s Manual
Page 159 of 181
Name Value Description
Target
reached
0 Halt = 0:
Target position not reached Halt = 1: Axle decelerates
1 Halt = 0: Target position reached Halt = 1: Velocity of axle is 0
0
Trajectory generator has not assumed the positioning values
(yet)
Set-point
acknowledge
1 Trajectory generator has assumed the positioning values
0 No following error Following
error
1 Following error
Table 10: Profile position mode bits of the
statusword
13.1.9.2. Object dictionary entries
13.1.9.2.1. Objects defined in this chapter
Index Object Name Type Attr. M/O
607A VAR Target position INTEGER32 rw M
Index Object Name Type Attr. M/O
6081 VAR Profile velocity UNSIGNED32 rw M
6083 VAR Profile acceleration / deceleration UNSIGNED32 rw M
6085 VAR Quick stop deceleration UNSIGNED32 rw O
6086 VAR Motion profile type INTEGER16 rw M
Index Object Name Type Chapter
6040 VAR Controlword UNSIGNED16 dc
6041 VAR Statusword UNSIGNED16 dc
605A VAR Quick stop option code INTEGER16 dc
6093[1,2]
ARRA
Y
Position factor UNSIGNED32 fg
6094 [1,2]
ARRA
Y
Velocity encoder factor UNSIGNED32 fg
6097 [1,2]
ARRA
Y
Acceleration factor UNSIGNED32 fg
13.1.9.2.2. Object 607Ah: Target position
The
target position is the position that the drive should move to in position profile mode
using the current settings of motion control parameters such as velocity,
acceleration/deceleration,
motion profile type etc. The target position is given in user defined
position units. It is converted to position increments using the
position factor. The target
position
will be interpreted as absolute or relative depending on the ‘abs / rel’ flag in the
controlword.