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

Parker Hannifin Manufacturing Srl user’s manual TPDM
160
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
Set-point
acknowledge
0
Trajectory generator has not assumed the positioning values
(yet)
1
Trajectory generator has assumed the positioning values
Following
error
0
No following error
1
Following error
Table 10: Profile position mode bits of the statusword
12.1.9.2 Object dictionary entries
12.1.9.2.1 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]
ARRAY
Position factor
UNSIGNED32
fg
6094 [1,2]
ARRAY
Velocity encoder factor
UNSIGNED32
fg
6097 [1,2]
ARRAY
Acceleration factor
UNSIGNED32
fg
12.1.9.2.2 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.