Index
(hex)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
0 B42 Min. Position Range
Limit
RW No 80000000h Pos. units DINT
1 B44 Max. Position Range
Limit
RW No 7FFFFFFFh Pos. units DINT
14.3.3 Program Submode
The motion controller for Program submode consists out of the position closed loop con-
trol, the path interpolation, the program interpreter and the program storage (see figure
below). The path interpolation cyclically generates position setpoints for the position
closed loop control of the axis. The input to the path interpolation is a motion command
which consists out of the new target position (TARPOS), and the velocity, acceleration
and deceleration for the calculation of the path from the actual axis position to the new
target position. With the Program submode the motion command is provided by the pro-
gram interpreter out of a motion program. One or several motion programs are stored by
motion records in a device specific manner in the program storage. Controlling of the pro-
gram interpreter is done by the dedicated bits of STW1 and the signal SATZANW out of
the DO IO Data.
The start of a motion program or the change to a new program while a program is still
running, is done by selecting the first motion record of the new program via SATZANW
(while SATZANW bit 15 = 0) and a positive edge of STW1 bit 6. The motion program is
than executed by the program interpreter motion record for motion record as long as
there is no stop or terminate condition in a motion record and the program is not termi-
nated by STW1 Bit 4 = 0 (reject traversing task). Also the motion of the axis may be
stopped intermediately by STW1 bit 5 = 0 (intermediate stop).
Index
(hex)
Sub
Pn No.
Name
Access
PDO Mapping
Default value
Units
Type
6040h 0 B11 Controlword 1(STW1) RW RPZD 0 - UINT
6041h 0 B12 Statusword 1 (ZSW1) RO TPZD - - UINT
2503h 0 BB0 Controlword 2 (STW2) RW RPZD 0 - UINT
2504h 0 BB1 Statusword 2 (ZSW2) RO TPZD - - UINT
2532h 0 BD0 Traversing Block Selec-
tion (SATZANW)
RW RPZD 0 - UINT
2610h - Traversing Block Task
Mode
- - - - -
0 to
63
- Task Mode Value RW No 0 - UDINT
2611h - Traversing Block Target
Position
- - - - -
Related Objects
Sigma-7 Series SERVOPACKs
PROFIdrive Drive Profile
PROFIdrive Position Mode > Program Submode
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 507
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