User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-40 C27750-001
STATUS WORD
1. The status word is implemented as specified in the DS402 standard, with the following mode specific bits.
Figure 7.18 Direct Poition Mode Status Word
2. The “target reached bit” indicates that the target position has been reached (within position window). See
Section 7.20 Position Control Function.
3. The “Set point acknowledge bit” indicates if the Drive has assumed the positioning values or not. This
value should be read when the new-set-point is cleared, to indicate if a subsequent move is queued or not.
GENERAL ISSUES
1. This mode supports only absolute moves. It does not support relative moves.
2. The halt bit is not used in this mode, rather the generic quickstop bit should be used.
3. The “following error bit” is not used in this mode since there is no intermediate demand value which
changes over time, as there is in the case of a profile position move.
4. The speed at which the move is performed is limited by motor max velocity.
5. The purpose of the set-point acknowledge bit is to allow for sequencing of moves, when used in
conjunction with the immediate bit. If the change immediate bit is set, then no sequencing of moves
occurs, instead the current move is interrupted, and the new move is applied immediately, as shown below.
Figure 7.19 Non-Sequenced Move
1. The user downloads target position for move (velocities etc in case of profile position mode).
2. The user sets the immediate bit in the control word to cause the move to occur immediately.
3. The user sets the new set-point bit from 0 to 1, to cause move to occur.
Data
N
ew Se
t
-Point
Change Immediate
1
2
3