Profile Position Mode

Axis Object Value
Axis 1 6060h ((see "6060h, 6860h Modes of operation - AxisX")) 1
Axis 2 6860h ((see "6060h, 6860h Modes of operation - AxisX")) 1

Fieldbus

Profile Position Mode is supported by the following fieldbuses:

  • CAN bus/CANopen
  • EtherCAT/CANopen over EtherCAT (CoE)

Description

Profile Position Mode is a CANopen (DS402) mode of operation used for point to point moves. The CANopen objects define the motion profile like a motion task saved in the drive. However, the profile is not contained in any of the drive’s motion tasks.

Drive Opmode and Command Source

The AKD2G opmode and command source are automatically configured when the mode of operation is set through objects 6060h, 6860h Modes of operation - AxisX.

Drive Command Value
AXIS#.OPMODE 2 - Position
AXIS#.CMDSOURCE 1 - Fieldbus

Motion Settings:

  • Absolute or relative
  • Target position or distance
  • Profile velocity
  • Profile acceleration
  • Profile deceleration
  • Scaling

Common PDO Data

Essential Objects
Index Sub-index Object Name Drive Command Data Type Access
607Ah, 687Ah Target position - AxisX 0h Target position AXIS#.FBUS.P Signed32 Read/Write
6081h, 6881h Profile velocity in pp-mode - AxisX 0h Profile velocity AXIS#.FBUS.V Unsigned32 Read/Write
6083h, 6883h Profile acceleration - AxisX 0h Profile acceleration AXIS#.FBUS.ACC Unsigned32 Read/Write
6084h, 6884h Profile deceleration - AxisX 0h Profile deceleration AXIS#.FBUS.DEC Unsigned32 Read/Write
6040h, 6840h Controlword - AxisX 0h Controlword

AXIS#.CANOPEN​.CONTROLWORD

Unsigned16 Read/Write
Useful Objects
Index Sub-index Object Name Drive Command Data Type Access
6041h, 6841h Statusword - AxisX 0h Statusword AXIS#.CANOPEN​.STATUSWORD Unsigned16 Read Only
6063h, 6863h Position actual internal value - AxisX 0h Position actual internal value AXIS#.PL.FB Signed32 Read Only
6064h, 6864h Position actual value - AxisX 0h Position actual value AXIS#.PL.FB Signed32 Read Only
606Ch, 686Ch Velocity actual value - AxisX 0h Velocity actual value AXIS#.VL.FB Signed32 Read Only
605Ah, 685Ah Quick stop option code - AxisX 0h Quick stop option code N/A Signed16 Read/Write
5000h, 5100h AXIS#.* 4h Axis specific objects AXIS#.MOTIONSTAT Unsigned32 Read Only

Motion Functionality

Profile Position Mode follows the CANopen (DS402) State Machine. The drive must be in Operation enable state prior to issuing a start motion command. The profile can be defined while in other states.

The Controlword is used to control the state machine and command motion. See objects 6040h, 6840h Controlword - AxisX and 6041h, 6841h Statusword - AxisX.

Controlword Bits Motion Function
Bit 2 Stop motion (Quick stop)
Bit 4 Starts the move
Bit 5 Starts from standstill or starts immediately
Bit 6 Absolute or relative move type
Bit 8 Pause/halt
Bit 9 Starts from standstill or blend / on the fly move

Controlword Bit 2 (Quick Stop):

Controlword Bit Value Function
Bit 2 0 Stops motion
Bit 2 1 Allows motion

Controlword Bit 4:

  • Starts the move
  • Uses the current profile settings when bit 4 is set
  • Edge triggered, active high (toggle off and on again to start the next move)
  • Can be taken low during the move without stopping the move
Controlword Bit Value Function
Bit 4 0

Reset this bit before triggering the next move or restarting a move

Does not stop motion

Bit 4 1 Starts the move on rising edge

Controlword Bit 5:

• Sets the behavior of how the profile move is started when bit 4 is set.

Controlword Bit Value Function
Bit 5 0

Start after current move completion

  • Waits for the current move to complete before starting the move
  • Bit 9 determines whether motion stops between the moves
Bit 5 1

Start immediately

  • Move will start immediately, causing interruption (termination) of the previous move
  • Velocity will immediately ramped to the new profile “on the fly”
  • Motion will not stop if the new move is in the same direction as the current move
Bit 5 = 0 Bit 5 = 1

Controlword Bit 6:

  • Used to select between absolute and relative move types
  • Absolute moves will move the motor to the target position regardless of the current position
  • Relative moves will move the motor a specified distance
  • Relative move direction is based on the sign of the target position value
Controlword Bit Value Function
Bit 6 0

Absolute move
Bit 6 1 Relative move

Controlword Bit 8 (Halt):

Controlword Bit Value Function
Bit 8 0 Allows/resumes motion
Bit 8 1 Pauses motion

Controlword Bit 9:

  • Allows blending moves together when setting a new setpoint with bit 4 while one is in progress
  • Requires that Bit 5 = 0

Controlword Bit

Value

Function

Bit 9

0

Start from standstill

  • Waits for previous move to complete before starting the move
  • Motion must be stopped before starting the move.

Bit 9

1

Blends from current move into the next move

  • Behaves like AXIS#.MT.TRANSITION type 2 blend into acceleration
  • The in-progress move’s velocity is maintained until the target position is reached
  • Once the target position is reached, velocity will be ramped following the new setpoint’s trajectory
  • If the new trajectory cannot be completed with the specified values (for example: the previous velocity is moving too fast to be able to decelerate to 0 and reach the new target position), the axis will ramp to 0 and trigger fault 6004
Bit 9 = 0 Bit 9 = 1

  • If bit 5 (Start immediately) is set, it will override the bit 9 behavior and the new setpoint will start immediately without continuing to its current target.

Status

The Statusword (6041h, 6841h Statusword - AxisX) can be read for handshaking purposes. It can indicate a fault or warning condition, status of the power stage, home attained, setpoint acknowledged, target position reached, etc.

Mode-Specific Statusword Bits

Statusword Bits Status
Bit 10 Target position reached (within AXIS#.SETTLE.P) The behavior can be configured by AXIS#.CANOPEN​.TARPOSMODE.
Bit 12 Setpoint acknowledge
Bit 13 Following error
Statusword Bit Value Controlword Bit 8 Value Function
Bit 10 0 0 Target position not reached
1 Axis decelerating
Bit 10 1 0 Target position reached
1 Velocity dropped to AXIS#.ZEROV
Bit 12 0   Previous setpoint already processed; waiting for new setpoint.
Bit 12 1

Previous setpoint still in process; setpoint overwriting will be accepted.

Bit 12 stays high after the move is complete, as long as Controlword bit 4 is high. Bit 12 turns off when Controlword bit 4 is turned off.
Bit 13 0   No following error.
Bit 13 1

This bit is set when the drive faults with F6001 “following error magnitude.”

Example Sequence of Events

Step Object Name Object Sub-index User Value
Set operation mode Modes of operation 6060h, 6860h Modes of operation - AxisX 0 0x01h
Set parameters Target position 607Ah, 687Ah Target position - AxisX 0 User specified
Profile velocity 6081h, 6881h Profile velocity in pp-mode - AxisX 0 User specified
Profile acceleration 6083h, 6883h Profile acceleration - AxisX 0 User specified
Profile deceleration 6084h, 6884h Profile deceleration - AxisX 0 User specified
Ready for switch-on Controlword 6040h, 6840h Controlword - AxisX 0 0x06h
Operation enable Controlword 6040h, 6840h Controlword - AxisX 0 0x0Fh
Option1: Start from Standstill and Absolute Move
Start from standstill (bit 5=0); absolute move (bit 6=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x0Fh
Start move (bit 4=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x1Fh
Halt (bit 8=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x11Fh
Resume from halt (bit 8=0) Controlword 6040h, 6840h Controlword - AxisX   0x1Fh
Quick stop (bit 2=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x1Bh
Resume from Quick stop Controlword 6040h, 6840h Controlword - AxisX 0 Step through state machine
Option 2: Start from Standstill and Relative Move
Start from standstill (bit 5=0); relative move (bit 6=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x4Fh
Start move (bit 4=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x5Fh
Halt (bit 8=1) Controlword 6040h, 6840h Controlword - AxisX 0

0x15Fh
Resume from halt (bit 8=0) Controlword

6040h, 6840h Controlword - AxisX

0 0x5Fh
Quick stop (bit 2=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x5Bh
Resume from Quick stop Controlword 6040h, 6840h Controlword - AxisX 0 Step through state machine
Option 3: Start Immediate and Absolute Move
Start immediate (bit 5=1); absolute move (bit 6=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x2Fh
Start move (bit 4=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x3Fh
Halt (bit 8=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x13F
Resume from halt (bit 8=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x3Fh
Quick stop (bit 2=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x3Bh
Resume from Quick stop Controlword 6040h, 6840h Controlword - AxisX 0 Step through state machine
Option 4: Start Immediate and Relative Move
Start immediate (bit 5=1); relative move (bit 6=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x6Fh
Start move (bit 4=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x7F
Halt (bit 8=1) Controlword 6040h, 6840h Controlword - AxisX 0 0x17F
Resume from halt (bit 8=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x7F
Quick stop (bit 2=0) Controlword 6040h, 6840h Controlword - AxisX 0 0x7B
Resume from Quick stop Controlword 6040h, 6840h Controlword - AxisX 0 Step through state machine
Reset Start Move Bit Any Time During or After Move
Option 1 Start from standstill and absolute move Controlword 6040h, 6840h Controlword - AxisX 0 0x0Fh
Option 2 Start from standstill and relative move Controlword 6040h, 6840h Controlword - AxisX 0 0x4Fh
Option 3 Start immediate and absolute move Controlword 6040h, 6840h Controlword - AxisX 0 0x2Fh
Option 4 Start immediate and relative move Controlword 6040h, 6840h Controlword - AxisX 0 0x6Fh

Monitor

Step Object Name Object Sub-index Value
Read status Statusword bit 12 (setpoint acknowledge) 6041h, 6841h Statusword - AxisX 0 0 or 1
Read status Statusword bit 13 (following error) 6041h, 6841h Statusword - AxisX 0 0 or 1
Read status Statusword bit 10 (target reached)

6041h, 6841h Statusword - AxisX

0 0 or 1
Read position actual internal value Position actual internal value 6063h, 6863h Position actual internal value - AxisX 0  
Read position actual value Position actual value 6064h, 6864h Position actual value - AxisX 0  

CANopen Scaling

The motion setpoints and actual values can be scaled using CANopen objects or the associated drive parameters. These include values for position, velocity, acceleration, deceleration and current (torque). See CANopen Scaling for details.

Scale factors affect the values of the motion setpoint objects and should be set prior to writing/changing the setpoint objects.