Interface PositionProfileConfig

Profile acceleration (0x6083:00).

Profile deceleration (0x6084:00).

Delay, in milliseconds, to hold at the target before issuing a quick stop. Only effective when targetReachTimeout is set.

Interval, in milliseconds, at which to poll the target reached bit (0x6041:00). Only effective when targetReachTimeout is set. Defaults to 1000 ms.

If relative is true, the provided target is added to the current position (0x6064) and the result is set as the target position (0x607A). If relative is false, the target is used as the absolute target position (0x607A).

Controls whether a quick stop is issued after the target is reached.

• false (default): issues a quick stop after the target is reached and holdingDuration elapses, then waits for the CiA402 state determined by the quick stop option code (0x605A): Quick Stop Active if the code is 6, Switch On Disabled otherwise. Requires targetReachTimeout to be a positive number, otherwise an error is thrown.
• true: the device remains in the Operation Enabled state; no quick stop is issued. If targetReachTimeout is also set, the function still waits for the target reached bit before returning, but does not stop the drive.

Target position (0x607A:00).

Time, in milliseconds, to wait for the target reached bit to be set in the statusword (0x6041:00). An error will be thrown if the target is not reached within this duration.

Profile velocity (0x6081:00).

Position window (0x6067:00).

Position window time (0x6068:00).