Applied-motion ST10-C-CE Bedienungsanleitung PDF herunterladen (Seite 62)

920-0025 Rev K

3/5/2015

CANopen User Manual

Figure 12: Single Set-Point

Table 19: Single Set-Point Prole Position Move

Actual

Speed

New Set Point

Ready Bit(4)

Set Point

Ack Bit(12)

Target Reached

Bit(10)

PROFILE POSITION MODE, Single Set Point

DA B C E

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 0 1

The set-point is nished, and the Target

Reached bit is set

change this bit while the motor is moving.

Note: Two set-points can be set up, but if status bit 12 is high, then the buffer is full and another

set-point will be ignored.

For more information: See CiA 402 - 2, Prole Position Mode

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Applied-motion ST10-C-CE Bedienungsanleitung Seite 62