CANopen Programmer's Manual - Maccon.de

7: Profile Position, Velocity, and Torque Mode Operation CANopen Programmer’s Manual
Handling a Series of Point-to-Point Moves
There are two methods for handling a series of point-to-point moves:
As a series of discrete profiles (supported in both trapezoidal and S-curve profile moves)
As one continuous profile (supported in trapezoidal profile moves only)
General descriptions of the two methods follow. Detailed procedures and examples appear later in
the chapter.
A Series of Discrete Profiles
The simplest way to handle a series of point-to-point moves is to start a move to a particular
position, wait for the move to finish, and then start the next move. As shown below, each move is
discrete. The motor accelerates, runs at target velocity, and then decelerates to zero before the
next move begins.
The CANopen Profile for Drives and Motion Control (DSP 402) refers to this method as the “single
setpoint” method.
Copley Controls CANopen amplifiers allow use of this method with both trapezoidal and S-curve
profile moves.
One Continuous Profile
Alternately, a series of trapezoidal profile moves can be treated as a continuous move. As shown
below, the motor does not stop between moves. Instead, the move parameters (target position,
velocity, acceleration, and deceleration) are updated immediately at the end of the previous move
(when bit 4 of the Control Word is set, as described later in this section).
The CANopen Profile for Drives and Motion Control (DSP 402) refers to this method as the “set of
setpoints” method.
Copley Controls CANopen amplifiers allow use of this method with trapezoidal profile moves only.
192 Copley Controls