How to use positioning with extended PDOs

In order to start a profile position using extended PDOs do the following steps:

Please set the parameters to a default or starting values, for example:

Please consider that the position is set in mm.

Set the command word to 13 (dec). The operationg mode will change to Profile positioning mode.

Set the command word to 1 (dec). The motor executes homing procedure reaching the mechanical stops.

Set the command word to 10 (dec) to enable the motion profile. when the positioning is done reaching the target pos, the bit 12 of the status word is changing to 1 and to 0.
If the command word remain fixed to 10, at every change of the target position value the motor follow the requested value.

Please note that, In order to stop the change of the position due to a new value, set the command word to 11 (dec) correspond to Stop motion,