Set Profile Commands

Format: 0AAA RRRR 0010 NNNN

N Used for Command Index described below

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

These commands allow the programmer to change motion profiles stored in the RMC. Only one value in one profile can be changed per axis each time the synchronization register is changed, but the profiles can be changed while the axis is moving. The new profile will be used by the next Go Using Profile command specifying that profile. Recall that new Go and Go Using Profile commands can be given while the axis is moving.

The format of the Command Register for the Set Profile commands is given below:

1111|11 | |

BIT# 5432|1098|7654|3210

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

HEX |SAR |CMND|INDX

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

0X20 0AAA|XXXX|0010|0000 SET PROFILE 0, 4, 8 or 12 MODE

0X21 0AAA|XXXX|0010|0001 SET PROFILE 0, 4, 8 or 12 ACCEL

0X22 0AAA|XXXX|0010|0010 SET PROFILE 0, 4, 8 or 12 DECEL

0X23 0AAA|XXXX|0010|0011 SET PROFILE 0, 4, 8 or 12 SPEED

0X24 0AAA|XXXX|0010|0100 SET PROFILE 1, 5, 9 or 13 MODE

0X25 0AAA|XXXX|0010|0101 SET PROFILE 1, 5, 9 or 13 ACCEL

0X26 0AAA|XXXX|0010|0110 SET PROFILE 1, 5, 9 or 13 DECEL

0X27 0AAA|XXXX|0010|0111 SET PROFILE 1, 5, 9 or 13 SPEED

0X28 0AAA|XXXX|0010|1000 SET PROFILE 2, 6, 10 or 14 MODE

0X29 0AAA|XXXX|0010|1001 SET PROFILE 2, 6, 10 or 14 ACCEL

0X2A 0AAA|XXXX|0010|1010 SET PROFILE 2, 6, 10 or 14 DECEL

0X2B 0AAA|XXXX|0010|1011 SET PROFILE 2, 6, 10 or 14 SPEED

0X2C 0AAA|XXXX|0010|1100 SET PROFILE 3, 7, 11 or 15 MODE

0X2D 0AAA|XXXX|0010|1101 SET PROFILE 3, 7, 11 or 15 ACCEL

0X2E 0AAA|XXXX|0010|1110 SET PROFILE 3, 7, 11 or 15 DECEL

0X2F 0AAA|XXXX|0010|1111 SET PROFILE 3, 7, 11 or 15 SPEED

Notice that for each command, four different profile numbers are listed. The actual profile affected is determined by the axis issuing the command. The following chart shows which commands affect which profiles when issued on a particular axis. Notice that an RMC100-M1-PROFI can only set the first eight (8) profiles:

COMMAND	AXIS 0	AXIS 1	AXIS 2	AXIS 3
0x20-0x23	0	4	8	12
0x24-0x27	1	5	9	13
0x28-0x2B	2	6	10	14
0x2C-0x2F	3	7	11	15

The command data represents the value of the field to be set in the profile.

Example for PROFIBUS-DP in Compact Mode with Sync:

We wish to set profiles 2 and 7 with the following values:

	PROFILE 2	PROFILE 7
MODE	0x0001	0x0001
ACCEL	100	150
DECEL	70	70
SPEED	12000	20000

Looking at the chart above, we can see that we issue Set Profile commands to axis 0 to set profile 2 and we use axis 1 Set Profile commands to set profile 7. Therefore, we can do both at the same time. This would take four scans because we can send one word of each profile on each axis per scan:

First scan:

O+1	0X28h	(Set profile 2 MODE)
O+2	0001h	(Value of profile 2 MODE)
O+3	0X2Ch	(Set profile 7 MODE)
O+4	0001h	(Value of profile 7 MODE)

Second scan:

O+1	0X29h	(Set profile 2 ACCEL)
O+2	100	(Value of profile 2 ACCEL)
O+3	0X2Dh	(Set profile 7 ACCEL)
O+4	150	(Value of profile 2 ACCEL)

Third scan:

O+1	0X2Ah	(Set profile 2 DECEL)
O+2	70	(Value of profile 2 DECEL)
O+3	0X2Eh	(Set profile 7 DECEL)
O+4	70	(Value of profile 2 DECEL)

Fourth scan:

O+1	0X2Bh	(Set profile 2 SPEED)
O+2	12000	(Value of profile 2 SPEED)
O+3	0X2Fh	(Set profile 7 SPEED)
O+4	20000	(Value of profile 2 SPEED)

Example for Digital I/O:

We wish to set profile 7 to the following values:

	PROFILE 7
MODE	0x0001
ACCEL	100
DECEL	70
SPEED	12000

Looking at the chart above, we can see that Set Profile commands must be to axis 1 to set profile 7. Therefore, we send the following commands:

First Command: