ASCII - Command O_C    
Syntax Transmit O_C [Data]    
Syntax Receive O_C <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer32   CANBus Object Number 35B9 (hex)
DIM -   PROFIBUS PNU 1785 (dec) IND = 1 (dec)
Range int   DPR 185 (dec)
Default -    
Opmode All   Data Type Bus/DPR Integer32
Drive State -   Weighting  
Start Firmware 1.0    
Configuration No   Last Change of this Object 1.0
Function Group position loop   EEPROM No
Short Description Control Variable for Motion Task 0

Description

The O_C command defines the type of motion task for the local motion task 0 (direct motion task).
A bit-variable (32 bits) is transferred as the parameter. The individual bits of this variable are interpreted as follows:

see also o_c_3
Bit Significance Meaning
0 0x0001 Bit for the type of motion task (relative or absolute) (see table 2)
1 0x0002 Bit for the type of the relative motion task (see table 2)
2 0x0004 Bit for the type of the relative motion task (see table 2)
3 0x0008 =0 no next motion task, at the end of the motion task, the drive stops.
=1 Next motion task selected, at the end of the motion task, automatically the next motion task is started. The number of the next motion task is given by O_FN

This function is only available with linear acceleration.
4 0x0010 Bit for the type of next motion task (see table 3)
5 0x0020 Bit for the type of next motion task (see table 3)
6 0x0040 Bit for the type of next motion task (see table 3)
7 0x0080 Bit for the type of next motion task (see table 3)
8 0x0100 Bit for the type of next motion task (see table 3)
9 0x0200 =0 The motion task is executed via the internal trajectory generator.

=1 A stored lookup table profile is started. The table has to be stored in the flash of the drive. O_TAB gives the number of the selected table. The sum of O_ACC and O_DEC gives the moving time of the profile in ms, independent of ACCUNIT.
10 0x0400 =0 The profile is executed in the given direction.
=1 The profile is executed in the inverse direction.
11 0x0800 reserved
12 0x1000 reserved
13 0x2000 =0 The target postition and target speed of the motion task are in [IncrementsPRBASE]and [InkrementePRBASE / 250us]. They are nopt internal calculated in other units. The unit IncrementsPRBASE means one turn is erqual 2^PRBASE increments.
=1 The target position and target speed is given in SI units. There must be a calulation with PGEARI and PGEARO to get the internal counts (see also O_S, O_V, PGEARI, PGEARO).

If VUNIT <> 0 the speed is given in VUNIT
14 0x4000 =0 The speed that is given in the motion task is the target speed.
=1 The target speed is given by the analog setpoint 1.
When a motion task is started, the anlog input is read and becomes the target speed of the motion task (Scaling: 10V=VSCALE1). The absolute of Analog In 1 is used.
15 0x8000 Bit 3 of the type of the relative motion task (see separate table)
16 0x10000 If bit 16 is set a table motion task is started. Bit 9 has to be set to 0.
17 0x20000 =1
Position setpoint in internal increments and in 32 bit format.one turn is equal 2^32 increments. The speed is monitored in increments 32/250µs.
Table 2 Type of relative/absolute Motion Task
Bit 15/2/1/0 Meaning
xxx0 Absolute Motion Task, the position value in the motion task is the new target position
x001 Relative Motion Task, the position value in the motion task is added to the old target position.
The target position depends on the IN-POSITION message:
IN-POSITION=1 target position = last target position + relative position of the motion task

IN-POSITION = 0 target position = actual position + relative position of the motion task
x011 Relative Motion Task, the position value in the motion task is added to the old target position.
target position = last target position + relative position of the motion task
x101 Relative Motion Task, the position value in the motion task is added to the actual position.
target position = actual position + relative position of the motion task
0111 Relative Motion Task, the position value in the motion task is added to the old target position.
target position = last latched position at the positive edge of the input + relative position of the motion task (see object LATCH1P32, LATCH1N32, LATCH1P16, LATCH1N16, LATCH2P32, ...)
1111 Relative Motion Task, the position value in the motion task is added to the old target position.
target position = latched position at the negative edge of the input + relative move of the motion task (see object LATCH32N
Table 3 Type of Next motion task
Bit 8/7/6/5/4 Meaning
00000 Switch over to next motion task with stop. The drive stops at the target position of the actual motion task. Then it starts the next motion task in the sequence.
00001 Switch over to next motion task without stop. The drive moves to the target position with target speed of the actual motion task. Then it starts the next motion task in the sequence.
10001 Switch over to next motion task without stop. The drive calculates the brake point, that the speed of the motor at target position becomes the speedof the next motion task in the sequence.
00010 Switch over to next motion task with stop. The drive stops at the target position of the actual motion task. The next motion task in the sequence is started, if the digital input selected by INxMODE=15 is switched to low.
00110 Switch over to next motion task with stop. The drive stops at the target position of the actual motion task. The next motion task in the sequence is started, if the digital input selected by INxMODE=15 is switched to high.
01000 Switch over to next motion task with stop. The drive stops at the target position of the actual motion task. The next motion task in the sequence is started after the selected delay time defined by O_FT).
01010 Switch over to next motion task with stop. The drive stops at the target position of the actual motion task. The next motion task in the sequence is started after the selected delay time defined by O_FT) or if the digital input selected by INxMODE=15 is set to low.
01110 Switch over to next motion task with stop. The drive stops at the target position of the actual motion task. The next motion task in the sequence is started after the selected delay time defined by O_FT) or if the digital input selected by INxMODE=15 is set to high.