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6.2.8 Operating mode Profile Position
Starting the operating mode The operating mode is set and started in the process data channel
with the transmit data (master to slave).
Method dmControl
Bits 0 ... 6
MODE+ACTION
Reference value RefA32 Reference value RefB32
Absolute 01
h
As PPv_target As PPp_target
Relative with reference to the currently
set target position
21
h
As PPv_target As PPp_target
Relative with reference to the current
motor position
41
h
As PPv_target As PPp_target
Status information The word "driveStat" provides information on the operating mode.
Bit Name Meaning
13 X_ADD1 0: Target position not reached
1: Target position reached
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error
1: Error
Terminating the operating mode The operating mode is terminated when the motor is at a standstill and
one of the following conditions is met:
•
Target position reached
•
Stop caused by "Halt" or "Quick Stop"
•
Stop caused by an error
LXM32M
6 Operation
Modbus-TCP module
61
0198441113843, V1.01, 01.2012