Schneider Electric DS301 manual Operating mode Profile Position relative positioning

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IL•1F CANopen DS301

6 Operation

0198441113586, V2.01, 11.2008

6.4.2Operating mode Profile Position: relative positioning

Relative positioning is similar to absolute positioning. You only need to enter the value 13h (operating mode Profile Positioning, relative posi- tioning) in field modeCtrl. Also note that several target positions trans- mitted in succession are added up.

Example: Relative positioning by 100,000 (000186A0h) increments at a speed of 1000 min-1(03E8h)

During the movement, the speed is to be changed to 2000 min-1(07D0h).

		Master <	---> Slave
Triggering positioning	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	93h	03E8h	000186A0h
Positioning runningx_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 0			0006h	83h		XXXXXXXXh
Change reference speed Trans-	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
mit relative postion "0"			02h	13h	07D0h	00000000h
Positioning runningx_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 0			0006h	03h		XXXXXXXXh
Positioning completex_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 1, x_info = 1			6006h	03h		000186A0h

Table 6.6 Profile Position operating mode, relative positioning with change of reference speed

Note: The data frame "positioning" running can be sent several times; the current actual position is contained in the field p_act. When the ref- erence speed is changed, the value "0" must be sent as the new target position because the new value is added to the previously calculated tar- get position.

6.4.3Operating mode Profile Velocity

In Profile Velocity operating mode, a reference speed for the motor is set and a movement without a target position is started.

To start the Profile Velocity operating mode or to change the reference speed in Profile Velocity operating mode, you must make the following settings in R_PDO4:

Enter the reference speed in Ref16t. (Ref32 has no significance here)

Enter the operating mode 04h (operating mode Profile Velocity) in modeCtrl.

Toggle modeCtrl, bit 7, so the data is taken over by the slave.

Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 Introduction About this manualCAN-Bus Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen technology BasicsCANopen description language Communication layersIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesCommunication profile Object dictionaryIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Master slave relationships Communication relationshipsClient-server relationship Service data communication OverviewSDO data exchange 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesNMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data Receive dataSynchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingError diagnostics via fieldbus Message objectsMessages on the device status Error register CANopen error messagesError code table Bit Message MeaningError code Meaning SDO error message AbortObject directory Specifications for the objectsObject code Meaning Coding Data type Value range Data lengthObjects, overview Index Subindex Designation Obj. code Data type AccessError register Objects of the productDevice type 1008h Bit coding, subindex 00hManufacturer device name 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit 30 RTR bit Bit assignment subindex 01hBit coding, subindex 02h Bit Acces Value Meaning1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryRotation TemperatureTorque Moment of inertiaTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface