CANopen Programmer's Manual - Maccon.de

More documents

Recommendations

Info

7: Profile Position, Velocity, and Torque Mode Operation CANopen Programmer’s Manual Move-Related Control Word and Status Word Bit Settings An amplifier’s Control Word (index 0x6040) and Status Word (index 0x6041) play an important role in the initiation and control of point-to-point move sequences, as described below. Object Name / Index Bit # Bit Name Description/Comments Control Word / 0x6040 4 new setpoint The transition of bit 4 from 0 to 1 is what causes the amplifier to copy a set of move parameters from the buffer to the active register, thus starting the next move. 5 change set immediately Allows or prevents attempt to perform a series of moves as one continuous profile (change move parameters while move is in progress). Value = 0: Amplifier will ignore a 0 to 1 transition on bit 4 if there is currently a move in progress. Value = 1 and Motion Profile Type (index 0x6086, p. 205) = trapezoidal or velocity mode: Allow new move to begin immediately after bit 4 low-to-high transition. Value = 1 and Motion Profile Type is S-curve: Ignore update and continue move with old parameters. 6 absolute/relative Value = 0: Move is absolute (based on home position). Value = 1: Move is relative (based on current commanded position). 8 halt Value = 1: Interrupts the motion of the drive. Wait for release to continue. Status Word / 0x6041 10 target reached Amplifier sets bit 10 to 1 when target position has been reached. Amplifier clears bit 10 to zero when new target is received. If quick stop option code (p. 63) is 5, 6, 7, or 8, this bit is set when the quick stop operation is finished and the drive is halted. Bit 10 is also set when a Halt occurs. 12 setpoint acknowledge Set by the amplifier when Control Word bit 4 goes from 0 to 1. Cleared when Control Word bit 4 is cleared. An invalid transition on Control Word bit 4 will not cause this bit to be set. Invalid transitions include those made while drive is in motion and in S-curve mode, or made while drive in motion with Control Word bit 5 not set. 194 Copley Controls
CANopen Programmer’s Manual 7: Profile Position, Velocity, and Torque Mode Operation Point-To-Point Move Sequence Examples Overview The following sections illustrate how to perform: A series of moves treated as a Series of Discrete Profiles A series of trapezoidal or profile position special velocity moves treated as One Continuous Profile Copley Controls 195
Page 1:
CANopen Programmer’s Manual Part
Page 5 and 6:
CANopen Programmer’s Manual Table
Page 7 and 8:
About this Manual CANopen Programme
Page 9 and 10:
About this Manual CANopen Programme
Page 11 and 12:
CHAPTER 1: INTRODUCTION This chapte
Page 13 and 14:
CANopen Programmer’s Manual 1: In
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Page 31 and 32:
Page 33 and 34:
Page 35 and 36:
Page 37 and 38:
Page 39 and 40:
CHAPTER 2: NETWORK MANAGEMENT This
Page 41 and 42:
CANopen Programmer’s Manual 2: Ne
Page 43 and 44:
Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
CHAPTER 3: DEVICE CONTROL, CONFIGUR
Page 53 and 54:
CANopen Programmer’s Manual 3: De
Page 55 and 56:
Page 57 and 58:
Page 59 and 60:
Page 61 and 62:
Page 63 and 64:
Page 65 and 66:
Page 67 and 68:
Page 69 and 70:
Page 71 and 72:
Page 73 and 74:
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Page 111 and 112:
Page 113 and 114:
Page 115 and 116:
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
Page 123 and 124:
Page 125 and 126:
Page 127 and 128:
CHAPTER 4: CONTROL LOOP CONFIGURATI
Page 129 and 130:
CANopen Programmer’s Manual 4: Co
Page 131 and 132:
Page 133 and 134:
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
Page 143 and 144: CANopen Programmer’s Manual 4: Co
Page 159 and 160: CANopen Programmer’s Manual 5: St
Page 165 and 166: CANopen Programmer’s Manual 6: Ho
Page 191 and 192: CANopen Programmer’s Manual 7: Pr
Page 193: CANopen Programmer’s Manual 7: Pr
Page 207 and 208: CANopen Programmer’s Manual 9: Cy
Page 225 and 226: CANopen Programmer’s Manual A: Al
Page 237 and 238: CANopen Programmer’s Manual B: Tr
Page 245 and 246:
CANopen Programmer’s Manual C: Ob
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
Page 257:
CANopen Programmer’s Manual P/N 9
show all

CANopen Programmer's Manual - Maccon.de

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?