Applied-motion ST10-C-CE Bedienungsanleitung PDF herunterladen (Seite 64)

100

101

920-0025 Rev K

3/5/2015

CANopen User Manual

Figure 14: Multiple Set-Points, Continuous Motion

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

0. The motor continues at the speed of the rst set-point until is reaches the distance of the rst set-point, then

changes to the new set-point speed. The motion is continuous.

Table 21: Multiple Set-Point Prole Position Move with Continuous 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, 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 the

old one is nished

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 ... 59 60 61 62 63 64 65 66 67 68 69 ... 100 101

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