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
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 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
B1	Halt	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
B2	Relative Mode	1	TargetPosition is a relative incremental position
B3	Speed Control	0	Position control mode
B3	Speed Control	1	Speed control mode
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