CANopen Programmer's Manual - Maccon.de

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9: Cyclic Synchronous Modes CANopen Programmer’s Manual PVT Profile Moves Using the Copley Controls Alternative Objects As mentioned earlier, Copley Controls CANopen amplifiers provide an alternate set of objects for more efficient execution of PVT moves and linear interpolation moves with variable time. The basic method for sending PVT profile data over the CANopen network is: 1 Configure a transmit PDO to send out the Trajectory Buffer Status object (index 0x2012, p. 216). The preferred transmit type for this PDO is 255 (event driven). This causes the PDO to be transmitted every time a segment is read from the buffer, or on error. 2 Configure a receive PDO to receive the PVT buffer data via the IP move segment command (index 0x2010, p. 214). 3 Use either PDO or SDO transfers to fill the PVT buffer with the first N points of the profile (where N is the size of the PVT buffer). 4 If using synchronization, start synchronization before starting motion. 5 Start the move by causing a 0-to-1 transition of bit 4 of the Control Word object (index 0x6040, p. 58). 6 Each time a new Trajectory Buffer Status object (index 0x2012, p. 216) is received, first check for error bits. If no errors have occurred, then one or more additional segments of PVT data should be transmitted (until the trajectory has finished). If the Trajectory Buffer Status object indicates that an error has occurred, then the reaction of the controller will depend on the type of error: Underflow errors indicate that the master controller is not able to keep up with the trajectory information. When an amplifier detects a buffer underflow condition while executing an interpolated profile, it will immediately abort the profile. In this case, using longer times between segments is advisable. Overflow errors indicate an error in the CANopen master software. Segment sequencing errors suggest either an error in the CANopen master software or a lost message, possibly due to noise on the bus. Since the next segment identifier value is passed with the PVT status object, it should be possible to resend the missing segments starting with the next expected segment. Note that the sequencing error code must be cleared with the appropriate IP move segment command Buffer Command Mode message (p. 214) before any new segments of PVT data are accepted. 7 End the move by setting the PVT segment time to zero. See IP move segment command object (index 0x2010, p. 214), and Format of Data Bytes in PVT Segment Mode, p. 215. 212 Copley Controls
CANopen Programmer’s Manual 9: Cyclic Synchronous Modes 8.2: Interpolated Position Mode Objects Contents of this Section This section describes the objects that control operation of the amplifier in profile position mode. They include: IP move segment command Index 0x2010 ............................................................................................. 214 Trajectory Buffer Free Count Index 0x2011 ............................................................................................ 215 Trajectory Buffer Status Index 0x2012 .................................................................................................... 215 Next Trajectory Segment ID Index 0x2013 ............................................................................................. 215 Interpolation Submode Select Index 0x60C0 .......................................................................................... 215 Interpolation Data Record Index 0x60C1 ................................................................................................ 216 Interpolation Position Target Index 0x60C1, Sub-Index 1 ................................................................... 216 Interpolation Time Index 0x60C1, Sub-Index 2 .......................................................................... 216 Interpolation Velocity Index 0x60C1, Sub-Index 3 .......................................................................... 216 Interpolation Constant Time Index 0x60C2 ............................................................................................. 217 Interpolation Constant Time Index Index 0x60C2, Sub-Index 1 .......................................................... 217 Interpolation Constant Time Units Index 0x60C2, Sub-Index 2 ......................................................... 217 Copley Controls 213
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