ASCII English O

ASCII - Command	O_C
Syntax Transmit	O_C [Data]
Syntax Receive	O_C <Data>	Available in
Type	Variable rw	MMI	Yes
ASCII Format	Integer16	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	Integer16
Drive State	-	Weighting
Start Firmware	1.20
Configuration	No	Last Change of this Object	1.3
Function Group	Position Controler	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 (16 bits) is transferred as the parameter. The individual bits of this variable are interpreted as follows: see also o_c_6

	Table 1



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

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_ACC2 gives the number of the selected table. The sum of O_ACC1 and O_DEC1 gives the moving time of the profile. O_V and O_DEC2 are ignored.

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	=0 the acc and dec of the motion tasks is given in msek from "0" to the target speed. =1 the acc and dec of the motion task is given in mm/sec² (see also commands O_ACC1, O_ACC2, O_DEC1, O_DEC2). This bit is only concidered if ACCUNIT = 0.

13	0x2000	=0 The target position and target speed of the motion task is interpreted as counts (there is no calculation needed). =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).

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 input 1 is used.

15	0x8000	Bit 3 of the type of the relative motion task (see separate table)



	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 old target 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 = latched position at the positive edge of the input + relative position of the motion task (see object LATCH32)

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. This function is only available on linear acceleration.

10001	Switch over to next motion task without stop. The drive calculates the changing point that the speed of the motor at target position becomes the speed of 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.