Parker Hannifin S.p.A S.B.C. Division SLVDN User’s ManualPage 162 of 181OBJECT DESCRIPTIONINDEX 6086hName Motion profile typeObject Code VARData Type INTEGER16Category Conditional;Mandatory, if pp or pv supportedENTRY DESCRIPTIONAccess rwPDO Mapping PossibleValue Range INTEGER16Default Value 013.1.9.3. Functional descriptionTwo different ways to apply target positions to a drive, are supported by this device profile.Set of set-points: After reaching the target position the drive unit immediately processes thenext target position which results in a move where the velocity of the drive normally is notreduced to zero after achieving a set-point.Single set-point: After reaching the target position the drive unit signals this status to a hostcomputer and then receives a new set-point. After reaching a target position the velocitynormally is reduced to zero before starting a move to the next set-point.The two modes are controlled by the timing of the bits ‘new set-point’ and ‘change setimmediately’ in the controlword and ‘set-point acknowledge’ in the statusword. These bitsallow to set up a request-response mechanism in order to prepare a set of set-points whileanother set still is processed in the drive unit. This minimizes reaction times within a controlprogram on a host computer.DATANew setpointChange setimmediatelySetpointacknowledge(1)(2)(3)(4)(5)(6)Figure 17: Set-point transmission from a host computer
