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changes.mady.by.user Mark McCann

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Register Name

Profile Mode = 2

Profile Mode = 3

Description
CML RegistersModbus Registers(1)TCP/UPD Bytes(2)Ethernet/IP O2T Bytes(3)
TargetPositionP1410294-70-3

The target position the motor will move to.

  • Used as an absolute position
  • Used as an incremental position in a relative control(1) move
  • Not used in speed control(1)

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

TargetSpeedS1410318-114-7

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)
TargetTorqueN14103312-138-9The maximum torque the motor will use.
TargetAccelerationA14103514-1510-11

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

TargetDecelerationA24103716-1712-13Deceleration is used when the profile is decelerating to the target position.
ControlwordR14103918-1914-15Bits in the Controlword dictate profile execution. A more detailed description can be found below.
ModeOfOperationSet with "_mop"410412016Sets the mode of operation see Setting Mode of Operation51511389
DigitalOUTN/A410432117Binary 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 51511389 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

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Register Name

Profile Mode = 2

Profile Mode = 3

Description
CML RegistersModbus Registers(1)TCP/UPD Bytes(2)Ethernet/IP O2T Bytes(3)
TargetSpeedS1410318-114-7

The maximum speed of the profile

TargetTorqueN14103312-138-9

The maximum torque the motor will use while moving.

  • +ve N1 will rotate the motor in a +ve direction (typically CW)
  • -ve N1 will rotate the motor in a -ve direction (typically CCW)
ControlwordR14103918-1914-15

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

ModeOfOperationSet with "mop"410412016Sets the mode of operation see Setting Mode of Operation51511389
DigitalOUTN/A410432117Binary 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 51511389 for additional details
(3) See EtherNet/IP for additional details. EtherNet/IP includes AOIs that setup all required mappings.

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Code Block
languagecpp
titleAbsolute Move Torque Mode Example
R1=0		//clear the controlword before setting the mode
_mop=10		//set the mode of operation to 10. Torque mode
S1=100		//set target speed
N1=300		//set the target torque to 30.0% of rated
R1=1		//start the profile move

//While R1=1 any change in the torque register will execute an immediate change

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