LXM32M | 6 Operation |
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6.2.8Operating mode Profile Position
Starting the operating mode The operating mode is set and started in the process data channel with the transmit data (master to slave).
Method | dmControl | Reference value RefA32 | Reference value RefB32 |
| Bits 0 ... 6 |
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| MODE+ACTION |
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Absolute | 01h | As PPv_target | As PPp_target |
Relative with reference to the currently | 21h | As PPv_target | As PPp_target |
set target position |
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Relative with reference to the current | 41h | As PPv_target | As PPp_target |
motor position |
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Status information The word "driveStat" provides information on the operating mode.
Bit | Name | Meaning |
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13 | X_ADD1 | 0: Target position not reached |
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| 1: Target position reached |
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14 | X_END | 0: Operating mode started |
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| 1: Operating mode terminated |
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15 | X_ERR | 0: No error |
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| 1: Error |
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Terminating the operating mode The operating mode is terminated when the motor is at a standstill and one of the following conditions is met:
•Target position reached
•Stop caused by "Halt" or "Quick Stop"
•Stop caused by an error
0198441113843, V1.01, 01.2012
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