Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 63)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

Figure 13: Multiple Set-Points, Stopping Between Moves

In this example, controlword bits 9 (Change of Set-point) and 5 (Change Set Immediately) are 0. The motor

comes to rest between moves.

Table 20: Multiple Set-Point Prole Position Move with Stopping Between Moves

Actual

Speed

New Set Point

Ready Bit(4)

Set Point

Ack Bit(12)

Target Reached

Bit(10)

PROFILE POSITION MODE, Set of Set Points

DA B C E F G H I

Graph

Point

New Set-Point

Ready Bit

Set-Point

Acknowledge Bit

Target Reached

Bit

What’s Going On

Start 0 0 0 Drive waiting for set-point

A 0 -> 1 0 0

User tells drive a set-point is ready

B 1 0 -> 1 0

Drive acknowledges set-point, starts

executing set-point

C 1 -> 0 1 0 User pulls new set-point ready bit low

D 0 1 -> 0 0

Drive pulls set-point ack bit low, indicat-

ing ready to receive another set-point

E 0 -> 1 0 0 User tells drive another set-point is ready

F 1 0 -> 1 0

Drive acknowledges set-point, buffers it

as another set-point is still in progress

G 1 -> 0 1 0 User pulls new set-point ready bit low

H 0 1 -> 0 0 Drive pulls set-point ack bit low, starts

executing new set-point as soon as old

one is nished

I 0 0 1 The set-point is nished, no set-points in

buffer, so Target Reached bit is set

1 2 ... 58 59 60 61 62 63 64 65 66 67 68 ... 100 101

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