TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany
Page 4 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
5.1.1 Operating condition ................................................................................................. 32
5.1.2 State transitions ...................................................................................................... 33
5.1.3 Change mode of operation ..................................................................................... 34
5.2 “Profile Position (PP)” operating mode ................................................................................... 35
5.2.1 Control word ............................................................................................................ 35
5.2.2 Status word ............................................................................................................. 36
5.2.3 Perform positioning ................................................................................................. 37
5.2.3.1 Absolute / relative positioning .................................................................... 38
5.2.3.2 Transfer of new movement records ........................................................... 39
5.2.3.3 Termination of a positioning movement .................................................... 39
5.2.3.4 Relevant parameters ................................................................................. 39
5.3 “Profile Velocity (PV)” operating mode ................................................................................... 40
5.3.1 Control word ............................................................................................................ 40
5.3.2 Status word ............................................................................................................. 41
5.3.3 Perform speed ramp ............................................................................................... 42
5.3.4 Relevant parameters ............................................................................................... 43
5.4 “Homing (HM)” operating mode .............................................................................................. 44
5.4.1 Control word ............................................................................................................ 44
5.4.2 Status word ............................................................................................................. 45
5.4.3 Perform position adjustment ................................................................................... 46
5.4.4 Relevant parameters ............................................................................................... 46
5.5 “Cyclic Synchronous Position (CSP)” operating mode ........................................................... 47
5.5.1 Control word ............................................................................................................ 47
5.5.2 Status word ............................................................................................................. 48
5.5.3 Perform operating mode ......................................................................................... 49
5.5.4 Relevant parameters ............................................................................................... 49
5.6 “Cyclic Synchronous Velocity (CSV)” operating mode ........................................................... 50
5.6.1 Control word ............................................................................................................ 50
5.6.2 Status word ............................................................................................................. 51
5.6.3 Perform operating mode ......................................................................................... 52
5.6.4 Relevant parameters ............................................................................................... 52
5.7 “Cyclic Synchronous Torque (CST)” operating mode............................................................. 53
5.7.1 Control word ............................................................................................................ 53
5.7.2 Status word ............................................................................................................. 54
5.7.3 Perform operating mode ......................................................................................... 55
5.7.4 Relevant parameters ............................................................................................... 55
5.8 Units ........................................................................................................................................ 56
5.8.1 Object 0x608F: Position encoder resolution ........................................................... 56
5.8.2 Object 0x6090: Speed encoder resolution .............................................................. 56
5.8.3 Object 0x6093: Position factor ................................................................................ 57
5.8.4 Object 0x6094: Speed factor .................................................................................. 59
5.8.5 Object 0x6097: Acceleration factor ......................................................................... 61
6 Installation- / connection notes, pin assignments ....................................................................... 66
7 Optional holding brake / ballast circuit ......................................................................................... 67
8 Commissioning ................................................................................................................................ 67
8.1 Device description file ............................................................................................................. 67
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