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7.3 Profile Position Mode
7.3
Profile Position Mode
The Profile Position mode is used to start positioning to the Target position with the Profile velocity and the
Profile acceleration.
The following figure shows the block diagram of the Profile Position mode.
Target Position (607Ah)
Position
limit function
Software Position Limit (607Dh)
Profile Velocity (6081h)
Max. Profile Velocity (607Fh)
Profile Acceleration (6083h)
Profile Deceleration (6084h)
Quick Stop Deceleration (6085h)
[Pos unit]
Position unit
multiplier
(2301:1/2301:2)
[inc]
Velocity unit
[inc/s]
multiplier
(2302:1/2302:2)
Velocity
limit function
[Vel unit]
Acceleration
limit function
[Acc unit] Acceleration unit 104[inc/s2]
multiplier
(2303:1/2303:2)
Position
trajectory
generator
Position
Demand
Internal
Value
(60FCh)
Position
control
loop
Velocity
control
loop
Torque
control
loop
Motor
Encoder
Controlword (6040h)
Quick Stop Option Code (605Ah)
Torque Actual Value (6077h)
Velocity Actual Value (606Ch)
Position Actual Value (6064h)
Output of position
limit function
Position Window (6067h)
Target Reached in
Statusword (6041h)
Position reached
window
comparator
Position Window
Time (6068h)
+
Velocity unit
multiplier
(2302:2/2302:1)
Position Actual
Position unit
Internal Value (6063h)
multiplier
(2301:2/2301:1)
-
 Related Objects
Sub
6040h
–
Name
Controlword
Access
PDO
Mapping
Units
RW
Yes
–
Type
UINT
6041h
–
Statusword
RO
Yes
–
UINT
607Ah
–
Target Position
RW
Yes
Pos units
DINT
–
Software Position Limit
–
–
–
1
Min. position limit
RW
No
Pos units
607Dh
–
DINT
2
Max. position limit
RW
No
Pos units
DINT
607Fh
–
Max. Profile Velocity
RW
No
Vel units
UDINT
6081h
–
Profile Velocity
RW
Yes
Vel units
UDINT
6083h
–
Profile Acceleration
RW
Yes
Acc units
UDINT
6084h
–
Profile Deceleration
RW
Yes
Acc units
UDINT
6085h
–
Quick Stop Deceleration
RW
Yes
Acc units
UDINT
CiA402 Drive Profile
Index
7
7-5