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Entry Description ...................................................................................................................32
Data Description ....................................................................................................................32
Object 6502h — Supported Drive Modes ...................................................................................32
Object Description .................................................................................................................32
Entry Description ...................................................................................................................32
Data Description ....................................................................................................................32
Section 6: Profile Position Mode .........................................................................................................35
General Information ...................................................................................................................35
Input Data Description ...............................................................................................................35
Output Data Description ............................................................................................................35
Functional Description ................................................................................................................36
Controlword (6040h) of Profile Position Mode ...........................................................................37
Object 6081h — Profile Velocity ................................................................................................38
Object Description .................................................................................................................38
Entry Description ...................................................................................................................38
Statusword (6041h) of Profile Position Mode ..............................................................................38
Object 607Ah — Target Position ................................................................................................38
Object Description .................................................................................................................38
Entry Description ...................................................................................................................38
Object 6082h — End Velocity ....................................................................................................39
Object Description .................................................................................................................39
Entry Description ...................................................................................................................39
Object 6083h — Profile Acceleration ..........................................................................................39
Object Description .................................................................................................................39
Entry Description ...................................................................................................................39
Object 6084h — Profile Deceleration .........................................................................................39
Object Description .................................................................................................................39
Entry Description ...................................................................................................................39
Object 6086h — Motion Profile Type .........................................................................................40
Object Description .................................................................................................................40
Entry Description ...................................................................................................................40
Section 7: Homing Mode .....................................................................................................................41
General Information ...................................................................................................................41
Input Data Description ..........................................................................................................41
Output Data Description .......................................................................................................41
Internal States .........................................................................................................................41
Controlword (6040h) of Profile Position Mode ...........................................................................41
Statusword (6041h) of Homing Mode ........................................................................................42
Homing Offset (607Ch) .............................................................................................................42
Object Description .................................................................................................................42
Entry Description ...................................................................................................................42
Homing Method (6098h) ...........................................................................................................43
Object Description .................................................................................................................43
Entry Description ...................................................................................................................43
Data Description ....................................................................................................................43
Functional Description of Homing Methods ..........................................................................43
Homing Speeds (6099h) .............................................................................................................47
Object Description .................................................................................................................47
Entry Description ...................................................................................................................47
Section 8: Position Control Function ..................................................................................................49
General Information ...................................................................................................................49
Object 6062h — Position Demand Value ...................................................................................49
Object Description .................................................................................................................49
Entry Description ...................................................................................................................49
Object 6063h — Position Actual Value Internal ..........................................................................49
Object Description .................................................................................................................49
Entry Description ...................................................................................................................49
Object 6064h — Position Actual Value .......................................................................................49
Entry Description ...................................................................................................................49
Object 6065h — Following Error Window .................................................................................50
Object Description .................................................................................................................50