CANopen Programmer's Manual - Maccon.de

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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
CANopen Programmer’s Manual 7: Profile Position, Velocity, and Torque Mode Operation Overview of Point-to-Point Move Parameters and Related Data Move Parameters Each point-to-point move is controlled by a set of parameters, accessed through the following objects. Object Name/ID Description Page # Trajectory Jerk Limit / 0x2121 Maximum rate of change of acceleration. Used with S-curve profiles only. 202 Target Position / 0x607A When running in position profile mode, this object holds the destination position of the trajectory generator. Note that for profile position special velocity mode profiles, the target position only specifies the direction of motion, not a true position. Profile Velocity / 0x6081 Velocity that the trajectory generator will attempt to achieve when running in position profile mode. Profile Acceleration / 0x6083 Acceleration that the trajectory generator attempts to achieve when running in position profile mode. Profile Deceleration / 0x6084 Note that an S-curve profile move does not use a deceleration rate. Instead, the acceleration rate is applied to both the acceleration and deceleration of the move. Quick Stop Deceleration / 0x6085 Deceleration value used when a trajectory needs to be stopped as the result of a quick stop command. Note that unlike most trajectory configuration values, this value is NOT buffered. Therefore, if the value of this object is updated during an abort, the new value is used immediately. Motion Profile Type / 0x6086 Trapezoidal, S-curve, or special velocity mode. 205 The Point-to-Point Move Buffer In profile position mode, the amplifier uses a buffer to store the parameters (listed in Move Parameters, above) for the next point-to-point move, or for a modification of the current trapezoidal profile move. The move buffer can be modified at any point before a control sequence (described in following sections) copies the “next-move” parameters to the active move registers. Copley Controls 193 202 203 204 204 205
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CANopen Programmer's Manual - Maccon.de

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