Profile Position Mode - demonstrates the different move types supported for position control executed via Service Data Objects (SDOs).

IMS products support relative and absolute moves to position. Using either relative or absolute moves, the user can also select (by the control word data) if the target position should be reached before another target position is allowed (finish first) or if the IMS product should execute a newly received target position even if still in motion (immediate).

The below example sets typical motion profile commands a system would configure¹, enabling the motor power² and the four different move types³ supported in Profile Position Mode using SDOs with Node ID 41h.

Notes:
1. Typical motion profile commands could be set each time on power up from host or set using a configuration file and stored to NVM once.
2. Enabling the motor power only has to be done once on power up.
3. The Control Word data selects the move type.


Typical motion profile commands and enabling motor power -
'***** Typical Motion Parameters *****
>> Id=0641, Rtr=00, Data= 2F 04 22 00 50 00 00 00 'Set run current to 80%
>> Id=0641, Rtr=00, Data= 23 84 60 00 40 42 0F 00 'Set deceleration to 1M steps/sec^2
>> Id=0641, Rtr=00, Data= 23 83 60 00 40 42 0F 00 'Set acceleration to 1M steps/sec^2
>> Id=0641, Rtr=00, Data= 23 81 60 00 00 D0 07 00 'Set max velocity to 512K steps/sec

'***** Enable motor power - DSP402 state machine *****
>> Id=0641, Rtr=00, Data= 2B 40 60 00 06 00 00 00 'Ready to Switch on
>> Id=0641, Rtr=00, Data= 2B 40 60 00 07 00 00 00 'Switched on
>> Id=0641, Rtr=00, Data= 2B 40 60 00 0F 00 00 00 'Operation Enable

'***** Set to Profile Position Mode *****
>> Id=0641, Rtr=00, Data= 2F 60 60 00 01 00 00 00 'Set to Profile Position Mode

Move Absolute (finish first) -
>> Id=0641, Rtr=00, Data= 23 7A 60 00 30 75 00 00 'Set Target Position to 30K steps
>> Id=0641, Rtr=00, Data= 2B 40 60 00 1F 00 00 00 'Set Control Word bit 4 to 1
>> Id=0641, Rtr=00, Data= 2B 40 60 00 0F 00 00 00 'Set Control Word bit 4 to 0

Move Absolute (immediate) -
>> Id=0641, Rtr=00, Data= 23 7A 60 00 B8 0B 00 00 'Set Target Pos to 3K steps
>> Id=0641, Rtr=00, Data= 2B 40 60 00 3F 00 00 00 'Set Control Word bit 4 to 1
>> Id=0641, Rtr=00, Data= 2B 40 60 00 2F 00 00 00 'Set Control Word bit 4 to 0

Move Relative (finish first) -
>> Id=0641, Rtr=00, Data= 23 7A 60 00 A0 86 01 00 'Set Target Position to 100K steps
>> Id=0641, Rtr=00, Data= 2B 40 60 00 5F 00 00 00 'Set Control Word bit 4 to 1
>> Id=0641, Rtr=00, Data= 2B 40 60 00 4F 00 00 00 'Set Control Word bit 4 to 0

Move Relative (immediate) -
>> Id=0641, Rtr=00, Data= 23 7A 60 00 B8 0B 00 00 'Set Target Position to 3K steps
>> Id=0641, Rtr=00, Data= 2B 40 60 00 7F 00 00 00 'Set Control Word bit 4 to 1
>> Id=0641, Rtr=00, Data= 2B 40 60 00 6F 00 00 00 'Set Control Word bit 4 to 0