CM1-C
CM1-C
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Dynamic Position Mode

Dynamic Position Mode

This mode can be used to dynamically stream a target position only and have the motor track it. There is a filter that filters the responsiveness of the position change as no speed or acceleration is defined. For best performance try used a fixed time interval on the position update. 

Register Name

Profile Mode = 4

Profile Mode = 5

Description

CML Registers

Modbus Registers(1)

TCP/UPD Bytes(2)

Ethernet/IP O2T Bytes(3)

TargetPosition

P1

41029

0-3

0-3

The target position the motor will move to.

  • Used as an absolute position

TargetTorque

N1

41033

8-9

8-9

The maximum torque the motor will use.

Filter Gain

A1

41035

10-11

10-11

The A1 register is used to store the filter gain.

Controlword

R1

41039

14-15

14-15

Bits in the Controlword dictate the execution. A more detailed description can be found below.

ModeOfOperation

Set with "_mop"

41041

16

16

Sets the mode of operation see Setting Mode of Operation

DigitalOUT

N/A

41043

17

17

Binary value to set the digital output (Register K34=44 to enable this function)

(1) See Modbus-TCP for additional details
(2) See TCP/UDP Port 10002 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

Controlword Usage

Profile mode uses some specific bits in the Controlword

Bit

Name

Value

Description

B0

Start/New Set Point

0

  • Do not execute any changes in target position register

  • Do not start a new mode

  • Any active move will be completed

0 → 1

  • Start a profile move defined by the profile registers

  • 0 → 1 transition is required to start a profile after

    • an error has been cleared

    • a home has been completed

    • a stop command has been given from CML or an input.

1

Execute any changes in any of the profile registers immediately.

B1

Halt

0

Do nothing

1

  • Halt the tracking position executed

  • Prohibit execution of a profile if no profile is being run

B2-B3

N/A

B4

Disable

0

Enable the motor

1

Disable the motor

B5

Reset Error

0 → 1

Reset any error

B6

Set to Zero

0 → 1

Set the current position to 0

B7

Home

0 → 1

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