CANopen Programmer's Manual - Maccon.de

CANopen Programmer’s Manual 7: Profile Position, Velocity, and Torque Mode Operation
One Continuous Profile
This diagram illustrates how to implement a series of moves as one continuous profile.
8
Control
Word
bit 4
Set Control Word
bits 4 and 5 (to 1).
4
Amplifier sees bit 4 0-1
transition; sees that bit 5 is set;
copies buffered move to
active registers.
6
7
1
3
yes
Set move parameters;
Set profile type to 0 (for
trapezoidal move).
2
5
Control
Word bit
6
1
0
Amplifier begins relative
move.
Amplifier Status Word bit 12
(to 1).
Clear Control Word bit 4
(to 0).
Amplifier clears Status Word
bit 12 (to 0).
9
Another
move?
1
0
no
action or query done by amplifier
action or query done by CANopen
master
Clear Control Word bit 4
(to 0).
Amplifier begins
absolute move.
Finished.
Notes:
1. Move Parameters are described on page
193. This type of move is only supported as a
trapezoidal profile.
2. Control Word bit 4 is “new setpoint.” It
needs to be 0 because the move will be
triggered by a 0->1 transition.
3. Bit 4, value of 1 indicates that valid data
has been sent to amplifier and new move
should begin.
Bit 5 is “change set immediately.” A value of 1
tells the amplifier to update the current profile
immediately by copying the contents of the
move buffer to the active registers (without
waiting for move to finish).
4. Amplifier must detect bit 4 0-1 transition to
begin move. Bit 5 value 1 allows immediate
update.
5. Control word bit 6: value 0 causes absolute
move; value 1 causes relative move.
6. Status Word bit 13 is “setpoint
acknowledge.” A value of 1 indicates the
amplifier has received a setpoint and has
started the move.
7. Control Word bit 4 is “new setpoint.” It
needs to be 0 to allow the next move will be
triggered by a 0->1 transition. Also, the 1->0
transition causes the amplifier to clear bit 13.
8. Amplifier detects 0->1 transition of Control
Word bit 4 and clears bit 13 in response.
When the motor reaches the target position,
the amplifier sets Status Word bit 10 (“target
reached”) to 1.
9. CANopen master returns to step 1 if there
are more moves to complete; otherwise, the
series of moves is finished.
Copley Controls 197