CM1-C
CM1-C
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Profile Mode (Position and/or Speed Control)

Profile Mode

Profile mode would be a typical mode used in point-to-point motion and/or continuous velocity motion. The following registers are used depending on the profile mode selected.

Registers

Register Name

Profile Mode = 2

Profile Mode = 3

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

  • Used as an incremental position in a relative control(a) move

  • Not used in speed control(a)

(a) See Controlword for switching to speed or relative control.

TargetSpeed

S1

41031

4-7

4-7

The maximum speed of the profile trajectory.

  • the sign of S1 is ignored in a position control move.

  • +ve S1 in speed control will run the motor in a +ve direction (typically CW)

  • -ve S1 in speed control will run the motor in a -ve direction (typically CCW)

TargetTorque

N1

41033

8-9

8-9

The maximum torque the motor will use.

TargetAcceleration

A1

41035

10-11

10-11

Acceleration is used when the profile is accelerating to the target speed.
This is regardless of whether the target speed will be reached or not

TargetDeceleration

A2

41037

12-13

12-13

Deceleration is used when the profile is decelerating to the target position.

Controlword

R1

41039

14-15

14-15

Bits in the Controlword dictate profile 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 profile registers

  • Do not start a new profile

  • Any profile currently in motion 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.

  • In relative mode transition is required to start the next incremental move.

    • The move is incremented from the current target position not the actual position.

1

Execute any changes in any of the profile registers immediately.

B1

Halt

0

Do nothing

1

  • Halt the current profile being executed

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

B2

Relative Mode

0

TargetPosition is an absolute position

1

TargetPosition is a relative incremental position

B3

Speed Control

0

Position control mode

1

Speed control mode

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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