0x21C8 - Profiler latching mode
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x21C8 | 0x00 | Profiler latching mode | UINT16 | RW | Yes | Yes | See below | 64 | - |
This register allows to select when the set-points are processed by the profiler (positioning start condition).
The meaning of each bit in this parameter is described next.
| Bit number | 15 | ... | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
|---|---|---|---|---|---|---|---|---|---|---|
| Reserved | Latch for position profiler | Latch for velocity profiler | Latch for current profiler | Reserved | Latch for position interpolation | Latch for velocity interpolation | Latch for current interpolation | |||
In operation modes using the profiler module, set-points can be latched automatically or manually, which can be selected by setting each bit with:
- Bit set to 0: Selected profiler mode is automatically latched by set-point change.
- Bit set to 1: Selected profiler mode must be manually latched by controlword.
By default this register value is 64 => 0x0040 which means that only profile position mode requires the control word latch. This configuration is the expected one for CiA402.