Elmo DSP 402 manual Profiled Position, 11.1General Information, 607Ah Target position

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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11: Profiled Position

607Ah: Target position

607Bh: Position range limit

607Dh: Software position limit

607Fh: Maximum profile velocity

6081h: Profiled velocity

6082h: End velocity

6083h: Profiled acceleration

6084h: Profiled deceleration

6086h: Motion profile type

60C5h: Maximum acceleration

60C6h: Maximum deceleration

11.1General Information

This chapter describes how to set a point-to-point (PTP) movement under a profiled position where a target position is applied to the trajectory generator. It generates a position demand value to the control loop. The trajectory generator input includes profiled velocity, acceleration, deceleration, and selection of motion type, motion polarity and stopping option. The inputs to the trajectory are given in user units and are limited before being normalized to internal increments.

Notes:

Limits supported by the DSP 402 protocol may be submitted to internal limits that protect the drive or support any previous behavior for compatibility reasons.

The velocity, acceleration, deceleration is submitted to the limits according to the relevant limit range.

Controlword of the profiled position mode:

Bit	Function
0…3	Described in Device Control
4	Set new point
5	Change set immediately
6	Absolute/relative movement
7	Described in Device Control
8	Halt
9..12	Described in Device Control
13	New point is buffered
14..15	Described in Device Control