TR-Electronic MP-200 - Profile Position (PP) Operating Mode

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 35 of 153
5.2 “Profile Position (PP)” operating mode
5.2.1 Control word
Bit
CONTROL WORD
0
Value 1:
Switch ready for operation
These bits are used to control the state
machine
1
Value 1:
Enable voltage
2
Value 0:
Decelerate with intermediate
stop ramp
3
Value 1:
Execute operating mode
4
New target position
0
Do not accept target position
1
Accept target position
5
Accept parameter immediately
0
End current positioning,
start next positioning
1
Abort current positioning,
start next positioning
6
Absolute / relative positioning
0
Target position is an absolute value
1
Target position is a relative value
7
Transition 0->1: Reset error
8
Stop
0
Execute positioning
1
Stop axis
9-15
not used
Table 8: Control word (object 0x6040), “Profile Position” operating mode