4.8.1.2 Profile positioning mode with FIFO (pp-mode)
Up to 5 position sets can be stored in the FIFO memory. However, these position
sets are not stored permanently, but must be preset for each restart.
A position set for the positioning consists of the following objects.
• (CiA 0x607A) co19 target position
• (CiA 0x6081) ps30 profile velocity
• (CiA 0x6082) ps31 end velocity
• Bit 6 in the control word, absolute (Bit = 0) or relative positioning (Bit = 1).
The single position sets are generated when the actual values of parameters co19,
ps30, ps31 and the "absolute / relative“ control word bit are written into the FIFO
memory with setting of bit "new setpoint“ in the control word.
The start of the positioning occurs with bit 4 (new setpoint) in the control word.
Acknowledgement occurs with bit 12 (setpoint acknowledge) in the status word.
An already active positioning can be interrupted with bit 8 "stop" in the control word
or by setting a new position set with bit 5 "change set immediately".
If a positioning is completed, also the setpoint via vl20 / vl21 is active.
Thus, a positioning can be started directly from operation with speed setpoint. Con-
versely, it can be changed directly after positioning with final speed to the speed
setpoint.
4.8.1.2.1 Overview profile positioning mode with FIFO
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