Parker TPDM - Profile Position Mode (Operative Mode 201); Internal States; Controlword of Profile Position Mode; Statusword of Profile Position Mode

Parker Hannifin Manufacturing Srl user’s manual TPDM
159
12.1.9 Profile position mode (operative mode 201)
In profile position mode (Pr31=201) the buffer of targets allowed is 2 elemets 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).
12.1.9.1 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
12.1.9.1.1 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
New set-
point
0
Does not assume target position
1
Assume target position
Change set
immediately
0
Finish the actual positioning and then start the next
positioning
1
Interrupt the actual positioning and start the next
positioning
abs / rel
0
Target position is an absolute value
1
Target position is a relative value
Halt
0
Execute positioning
1
Stop axle with profile deceleration (if not supported with
profile acceleration)
Table 9: Profile position mode bits of the controlword
12.1.9.1.2 Statusword of profile position mode
15
14
13
12
11
10
9
0
Following error
Set-point acknowledge
Target reached
MSB
LSB