ECT Series User Manual
32
2.4.2 PP Profile Position Mode
Profile position mode description:
Standard position mode is a point-to-point operation mode that uses a set point composed of
speed, acceleration, deceleration and target position. Once all these parameters are set, the
driver will buffer these commands and start executing the set point.
Enable PP mode
To enable the profile position mode, the value of the object dictionary 6060h (operation mode)
must be set to 0001h. The object dictionary 6061h (operation mode display) can be used to
confirm whether the driver has entered the correct operation mode.
Set operating parameters
Use object dictionary 607Ah, 6081h, 6083h, 6084h to set position, velocity, acceleration,
deceleration respectively.
Start and stop
After power on, the driver is in the disabled state. Writing 0006h into the control word 6040h will
make the drive enter the "ready to switch on" state.
By sending 001Fh to the object dictionary 6040h of the control word, to indicate a new set point
and start movement.
To enable the operation of the driver, the value 001Fh must be written into the object dictionary
address 6040h of the control word. This also means that a new set point is ready. The driver
uses Bit12 of the status word (6041h) to indicate that a valid setpoint is received. Because the
set point is edge triggered, once the driver receives and processes the set point, the control
word must be cleared by writing 000FH to the control word register.
Controlword Bits
New set point (bit 4) - set this bit high to clock in a new set-point. Once the driver receives the
set point, Bit12 of the status word will be set to high (1), and bit4 of the control word needs to be
set to 0;
Setpoint Change (bit 9) - If it is low, the driver enters an idle state after executing the current
setpoint and waits for the next new setpoint. If it is high, the driver will run to the last set point at
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