User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual

C27750-001 PAGE 7-41

If the immediate bit is cleared, is allows for a request-response mechanism between host and drive, to

indicate when more data can be written.

Figure 7.20 Sequenced Move

1. The user downloads a target position for a move (velocities etc in case of profile position mode).

2. The user clears the immediate bit in the control word to allow for sequencing of moves.

3. The user sets the new set-point bit from 0 to 1, to cause move to occur.

4. The user then clears the new-set point bit in the control word.

5. The user checks the set-point acknowledge is low, before writing new target parameters for a new move.

6. The user sets a new set-point, and sets the set-point bit from 0 to 1, to queue the move.

7. The user then clears the new-set point bit in the control word.

8. The Drive will clear the set-point acknowledge when the drive is ready to accept new data, i.e. when first

move of sequence is complete, since in effect set of set-points is only 2 deep.

SAMPLE SETUP

The following section gives an example of a typical setup for a direct position move. It performs a move to 36000

degrees.

Index/Sub Index Name Value Comment

0x6040 ds402 control word 0x06 Shutdown command

0x6060 ds402 mode of operation -3 Set mode to Direct Position Mode

0x607A ds402 target position 36000 Target Position, pos dim=degrees

0x6067 ds402 position window 2 Set position window = 2 degrees

0x6065 ds402 following error window 10 Set following error window = 10 degrees

0x6040 ds402 control word 0x0F Enable Drive

0x6040 ds402 control word 0x3F Set New-Set point, with immediate bit set.

0x6040 ds402 control word 0x0F Clear New-Set point,

0x6064 ds402 position actual Actual Position, Read at end of move = 36000

0x6063 ds402 position actual inc Actual Position in incs = 65536000

0x6041 Ds402 status word Read at end of move = 0x0637 (i.e. target

reached bit is set.)

Table 7.15 Sample set-up for direct position mode

Data

ew Se

-Point

Change Immediate

Set Point Acknowledge

Actual Velocity First Move Second Move