6 Operation | IL•1F CANopen DS301 |
6.4.1Operating mode Profile Position: absolute positioning
To start an absolute positioning movement, the following settings must be made in the R_PDO4:
Enter the reference speed in "Ref16" and the target position in "Ref32".
Enter operating mode 03h (Profile Position operating mode, abso- lute positioning) in the field modeCtrl.
Change modeCtrl, bit 7, so the data is taken over by the product.
Example Absolute positioniing to position 100,000 (000186A0h) at a reference speed of 1000
|
| Master | > Slave |
|
|
|
Triggering positioning | R_PDO4 | drivectrl | modeCtrl | Ref16 | Ref32 | |
|
|
| 02h | 83h | 03E8h | 000186A0h |
Positioning runningx_err = 0, | T_PDO4 | driveStat | modeStat |
| p_act | |
x_end = 0 |
|
| 0006h | 83h |
| XXXXXXXXh |
Positioning completex_err = 0, | T_PDO4 | driveStat | modeStat |
| p_act | |
x_end = 1, x_info = 1 |
|
| 6006h | 83h |
| 000186A0h |
Table 6.4 Operating mode Profile Position, absolute positioning at constant ref- erence speed
Note: The data frame "positioning running" can be sent several times; the current actual position is contained in the field p_act.
Example As the above example, but the reference speed is changed to 2000 min-
1(07D0h) during the movement.
|
| Master | > Slave |
|
|
|
Triggering positioning | R_PDO4 | drivectrl | modeCtrl | Ref16 | Ref32 | |
|
|
| 02h | 83h | 03E8h | 000186A0h |
Positioning runningx_err = 0, | T_PDO4 | driveStat | modeStat |
| p_act | |
x_end = 0 |
|
| 0006h | 83h |
| XXXXXXXXh |
Change reference speed | R_PDO4 | drivectrl | modeCtrl | Ref16 | Ref32 | |
|
|
| 02h | 03h | 07D0h | 000186A0h |
Positioning runningx_err = 0, | T_PDO4 | driveStat | modeStat |
| p_act | |
x_end = 0 |
|
| 0006h | 03h |
| XXXXXXXXh |
Positioning complete x_err=0, | T_PDO4 | driveStat | modeStat |
| p_act | |
x_end = 1, x_info = 1 |
|
| 6006h | 03h |
| 000186A0h |
Table 6.5 Operating mode Profile Position, absolute 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 same target position is sent because it does not change in this example.
0198441113586, V2.01, 11.2008
68 | Fieldbus interface |
