Open Loop Using Profile Commands

Format: 0AAA RRRR 0000 NNNN

N Used for Command Index described below

A Used only by Communication Digital I/O; 0 for PROFIBUS-DP

These commands allow the controller to tell the RMC100 to change the output drive to a specified value with respect to null. The drive output will change at a rate specified by the select pre-stored profile.

Note: This command shares the profile table used by the Go Using Profile commands. Profiles used for one type of command should NOT be used for the other.

These commands behave identical to the Open Loop ASCII command, except that the specified stored profile information is copied into the active Mode, Accel, Decel and Speed first. Recall that the Speed field of the profile is not used by the Open Loop. Refer to that command for further details.

The format of the Command Register for the Open Loop Using Profile commands is given below:

1111|11 | |

BIT # 5432|1098|7654|3210

-------------------

HEX |SAR |CMND|INDX

VALUE -------------------

0X00 0AAA|XXXX|0000|0000 NO COMMAND

0X01 0AAA|XXXX|0000|0001 OPEN LOOP USING PROFILE 1

0X02 0AAA|XXXX|0000|0010 OPEN LOOP USING PROFILE 2

0X03 0AAA|XXXX|0000|0011 OPEN LOOP USING PROFILE 3

0X04 0AAA|XXXX|0000|0100 OPEN LOOP USING PROFILE 4

0X05 0AAA|XXXX|0000|0101 OPEN LOOP USING PROFILE 5

0X06 0AAA|XXXX|0000|0110 OPEN LOOP USING PROFILE 6

0X07 0AAA|XXXX|0000|0111 OPEN LOOP USING PROFILE 7

0X08 0AAA|XXXX|0000|1000 OPEN LOOP USING PROFILE 8

0X09 0AAA|XXXX|0000|1001 OPEN LOOP USING PROFILE 9

0X0A 0AAA|XXXX|0000|1010 OPEN LOOP USING PROFILE 10

0X0B 0AAA|XXXX|0000|1011 OPEN LOOP USING PROFILE 11

0X0C 0AAA|XXXX|0000|1100 OPEN LOOP USING PROFILE 12

0X0D 0AAA|XXXX|0000|1101 OPEN LOOP USING PROFILE 13

0X0E 0AAA|XXXX|0000|1110 OPEN LOOP USING PROFILE 14

0X0F 0AAA|XXXX|0000|1111 OPEN LOOP USING PROFILE 15

Note: When this command’s index is zero (0), it is treated as though no new command is given.

The command data represents the requested drive in millivolts.

Example for PROFIBUS-DP in Compact Mode with Sync:

Suppose you would like axis 0 to go into open loop at 2000mV of drive using profile 10 and axis 1 to go into open loop at 4000mV of drive using profile 11. You would send the commands in the following format:

SAR CMND INDX (HEX)
O+1 0000\|XXXX\|0000\|1010 (0X0A)	Issue an Open Loop using Profile 10 command
+2 2000 (07D0)	Requested Drive
O+3 0000\|XXXX\|0000\|1011 (0X0B)	Issue an Open Loop using Profile 11 command
+4 4000 (0FA0)	Requested Drive

Example for Digital I/O:

Suppose you would like axis 0 to go into open loop at 2000mV of drive using profile 10. You would send the command in the following format:

Send on Command Strobe going high:

0000|XXXX|0000|1010 (0X0A) Issue an Open Loop using Profile 10 command

Receive after Acknowledge:

XXXX|XXXX (XX) Low byte of requested data

Send on Command Strobe going high:

0000|0111|1101|0000 (07D0) Requested Drive

Receive after Acknowledge:

XXXX|XXXX (XX) High byte of requested data