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
Register Name	CML Registers	Modbus Registers⁽¹⁾	TCP/UPD Bytes⁽²⁾	Ethernet/IP O2T Bytes⁽³⁾	Description
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
B1	Halt	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
B4	Disable	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	Start a home search