|
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.