0x21C8 - Profiler latching mode
Profiler latching mode
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.
|Reserved||Latch for position profiler|
Latch for velocity profiler
|Latch for current profiler|
|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.