Parker TPDM - Functional Description

Parker Hannifin Manufacturing Srl user’s manual TPDM
163
OBJECT DESCRIPTION
INDEX
6086h
Name
Motion profile type
Object Code
VAR
Data Type
INTEGER16
Category
Conditional;
Mandatory, if pp or pv supported
ENTRY DESCRIPTION
Access
rw
PDO Mapping
Possible
Value Range
INTEGER16
Default Value
0
12.1.9.3 Functional description
Two different ways to apply target positions to a drive, are supported by this device profile.
Set of set-points: After reaching the target position the drive unit immediately processes the
next target position which results in a move where the velocity of the drive normally is not
reduced to zero after achieving a set-point.
Single set-point: After reaching the target position the drive unit signals this status to a host
computer and then receives a new set-point. After reaching a target position the velocity
normally is reduced to zero before starting a move to the next set-point.
The two modes are controlled by the timing of the bits ‘new set-point’ and ‘change set
immediately’ in the controlword and ‘set-point acknowledge’ in the statusword. These bits
allow to set up a request-response mechanism in order to prepare a set of set-points while
another set still is processed in the drive unit. This minimizes reaction times within a control
program on a host computer.
Figure 17: Set-point transmission from a host computer
DATA
New setpoint
Change set
immediately
Setpoint
acknowledge
(1)
(2)
(3)
(4)
(5)
(6)