Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 61)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

Appendix D - Prole Position Mode

General Mode Description

Prole Position Mode is a point-to-point operating mode using set-points which consist of velocity,

acceleration, deceleration, and target position. Once all these parameters have been set, the drive buf-

fers the commands and begins executing the set-point. When using a set of set-points method, a new

set-point can be sent to the drive while a previously sent set-point is still executing.

Enable Prole Position Mode

To enable the Prole Position Mode, the value 0001

must be written to the mode of operation

OD entry, located at dictionary address 6060

. The mode of operation can be veried using OD 6061

mode of operation display - which is updated when the current operation mode is accepted.

Set Running Parameters

Set the distance, velocity, acceleration, and deceleration using OD entries 607A

, 6081

, 6083

and 6084

respectively.

Starting/Stopping Motion

After power up or node reset, the drive is in disabled state. The value 0006

must be written to the

control word OD entry, located at dictionary address 6040

. This will put the drive into “ready to switch

on” state and ready to enable drive operation. If the value 0006

is not written to the control word rst,

drive operation can not be enabled.

To indicate a new set-point and start motion, toggle bit 4 by sending 001F

to controlword OD

entry 6040

To enable drive operation, the value 001F

must be written to the controlword OD entry, located at

dictionary address 6040

. This will also signal that there is a new set-point ready. The drive acknowl-

edges the receipt of a valid set-point using bit 12 of the statusword at OD 6041

. Because the set-point

is edge-triggered, once the drive receives and processes the set-point, the new set-point of the control-

word must be cleared by writing 000F

to the controlword register.

While the drive is acting on a set-point, a new set-point may be entered and triggered using the

new set-point. The second set-point will be received as soon as it is processed, or at the end of the

previous set-point, which ever is later.

Controlword Bits

New Set-point (bit 4) - set this bit high to clock in a new set-point. Once the drive has accepted the

set-point, it will respond by setting statusword bit 12 high. Controlword bit 4 should then be taken low.

Change of Set-point (bit 9) - if this bit is low, the previous set-point will be completed and the mo-

tor will come to rest before a new set-point is processed. If bit 9 is high, the motor will continue at the

speed commanded by the previous set-point until it has reached the position commanded by the previ-

ous set-point, then transition to the speed of the new set-point.

Change Set-point Immediately (bit 5) - if this bit is high, the new set-point will take effect immedi-

ately. The motor speed will transition to the speed and position commanded by the new set-point.

Abs/rel (bit 6) - if this bit is high, the set-point distance is relative. For example, if the previous

motor position was 10,000 steps and a new set-point is issued with a distance of 20,000, the nal

position will be 30,000. If bit 6 is low, the distance is absolute. If the previous motor position was 10,000

and a new set-point is issued with a distance of 20,000, the new position will be 20,000. (The distance

travelled from the previous position to the new position will be 10,000 steps.) For best results, do not

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