User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-44 C27750-001
Figure 7.22 Profile Position Mode Control Word
2. The “new set point” bit must see a 0 to 1 transition in order for a move to occur.
3. In the control word, if the “Change immediately” bit is set, and the drive is in the middle of a move, since
the Profile Generator does not support changing acceleration on the fly, the acceleration cannot be changed.
4. If during a relative move, you set the control word with the “Change immediately” bit set, this extends the
existing move by the target position value.
STATUS WORD
1. The status word is implemented as specified in the DS402 standard, with the following mode specific bits.
Figure 7.23 Profile Position Mode Status Word
2. The “target reached bit” indicates that the target position has been reached (within position window). If the
Halt bit is set, it will indicate if the drive has stopped or not. See Section 7.20 Position Control Function
3. The “Set point acknowledge bit” indicates if the Profile Generator has assumed the positioning values or
not. This operates the same as outlined earlier for direct position mode.
4. The “following error bit” indicates if a following error exists. (Delta between demand and actual position is
greater than following error window). See Section 7.20 Position Control Function