Profile Position Mode (pp)

A Target_Position (607A.0H) is applied to the trajectory generator; it generates a Position_demand_value (6062.0H) for the position control loop.

The setting of set-points is controlled by the New_set_point bit and the Change_set_immediately bit of the Controlword and the Set_point_acknowledge bit of the Statusword.

  • If the Change_set_immediately bit is set to 1, a single set-point is expected by the device.

  • If the Change_set_immediately bit is set to 0, a set of set-points is expected by the device.

After a set-point is sent to the slave device, the master device signals that the set-point is valid by a rising edge of the New_set_point bit of the Controlword. The slave device sets to 1 the Set_point_acknowledge bit of the Statusword to indicate that the new set-point has been received. Afterwards the slave device sets to 0 the Set_point_acknowledge bit when the device is ready to accept new set-points.

If one set-point is still in progress and new one is received from the slave device, two methods are supported:

  1. Single set-point (Change_set_immediately = 1, bit #5 of Controlword)

    The new set-point shall be processed immediately.

  2. Set of set-points (Change_set_immediately = 0, bit #5 of Controlword)

    The new set-point shall be processed only after the previous has been reached.

Up to two set-points can be set up. If all set-points available are busy (Set_point_acknowledge bit is 1) the reaction of the slave device depends on the Change_set_immediately bit. If it is set to 1, the new set-point shal be processed immediately as single set-point.

The Target_reached bit of the Statusword shall remain to 0 until all set-points are processed.

The trajectory generator support only linear ramp (trapezoidal profile), with separate parameters for acceleration and deceleration.

 

Figure 1-1: Single set-point

Figure 1-2: Set of set-points

Related objects

Index

Object

Name

Type

Attr.

M/O

6040.0H

VAR

Controlword

UNSIGNED16

rw

M

6041.0H

VAR

Statusword

UNSIGNED16

ro

M

6062.0H

VAR

Position_demand_value

INTEGER32

ro

O

6063.0H

VAR

Position_Actual_Internal_Value (Position actual value*)

INTEGER32

ro

O

6064.0H

VAR

Position_Actual_Value

INTEGER32

ro

M

6065.0H

VAR

Following_error_window

UNSIGNED32

rw

O

6066.0H

VAR

Following_error_time_out

UNSIGNED16

rw

O

6067.0H

VAR

Position_window

UNSIGNED32

rw

O

6068.0H

VAR

Position_window_time

UNSIGNED16

rw

O

607A.0H

VAR

Target_Position

INTEGER32

rw

M

6081.0H

VAR

Profile_Velocity

UNSIGNED32

rw

M

6083.0H

VAR

Profile_Acceleration

UNSIGNED32

rw

M

6084.0H

VAR

Profile_Deceleration

UNSIGNED32

rw

O

6085.0H

VAR

Quick_Stop_deceleration

UNSIGNED32

rw

O

6086.0H

VAR

Motion_profile_type

INTEGER16

rw

M

60F4.0H

VAR

Following_error_actual_value

INTEGER32

ro

O

2010.0H

VAR

Min_Profile_Velocity

UNSIGNED16

rw

M