Objects 07/06 Danaher Motion
56 Initial Release M-S2-021-11
6. 25 SDO 2080H: MOTION TASK FOR PROFILE POSITION MODE
This object is an extension to the profile position mode. If the value of the object is not 0, the adressed
motion task will be started with the next rising flank of the "New setpoint" bit of the control word (bit 4), if
the bit "Change Set Immediately" (bit 5) is set. After the motion task is started, the value of the object will
be reset automatically to 0.
Index
2080h
Name
Motion tasks in PP-Mode
Object code
VAR
Data type
UNSIGNED16
Category
optional
Access
rw
PDO mapping
possible
Value range
1 ... 300
Default value
0
6. 26 SDO 2081H: ACTIVE MOTION TASK DISPLAY
This object shows the last motion task, which has been started in the drive. Motion tasks numbers from 1 to
200 show Flash-EEProm motion tasks, numbers from 201 to 300 show RAM-motion tasks. If there is no
value in object 2080h and a motion task is started via the new-setpoint/setpoint acknowledge mechanism of
the profile position mode, motion task 0 is used and shown.
If you start a set of stored motion tasks (bit 3 of the motion task control word O_C, SDO 35B9 sub1 set),
the active motion task will be shown in this object.
Index
2081h
Name
Active motion task display
Object code
VAR
Data type
UNSIGNED16
Category
optional
Access
rw
PDO mapping
possible
Value range
1 ... 300
Default value
0
