Applied-motion ST10-C-CE Manual do Utilizador descarregar pdf (Página 65)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

Figure 15: Multiple Set-Points, Immediate Change in Motion

In this example, controlword bit 9 (Change of Set-point) is 1 and controlword bit 5 (Change Set Immediately) is 1.

The motor immediately changes to the new set-point speed without completing the rst set-point. The motion is

continuous.

Table 22: Multi-Set-Point Prole Position Move with Immediate Change in Motion

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, immedi-

ately executes it, beginning transition to

new set-point speed and position

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

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

buffer, so Target Reached bit is set

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

1 2 ... 60 61 62 63 64 65 66 67 68 69 70 ... 100 101

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