Schneider Electric DS301 manual Position setting, Master --- Slave

6 Operation IL•1F CANopen DS301

Example The Profile Velocity operating mode is started with a reference speed of 1000 min-1(03E8h).

The reference speed is changed to 2000 min-1(07D0h) during the movement.

		Master <---	> Slave
Start Profile Velocity operating	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
mode with 1000 min-1			02h	84h	03E8h	XXXXXXXXh
Product accelerates xerr=0,	T_PDO4	<---	driveStat	modeStat		p_act
xend=0, xinfo=0			0006h	84h		XXXXXXXXh
Reference speed reached	T_PDO4	<---	driveStat	modeStat		p_act
xerr=0, xend=0, xinfo=1			2006h	84h		XXXXXXXXh
Change speed to 2000 min-1	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	04h	07D0h	XXXXXXXXh
Product accelerates xerr=0,	T_PDO4	<---	driveStat	modeStat		p_act
xend=0, xinfo=0			0006h	04h		XXXXXXXXh
Reference speed reached	T_PDO4	<---	driveStat	modeStat		p_act
xerr=0, xend=0, xinfo=1			2006h	04h		XXXXXXXXh
Change speed to 0 min-1	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	84h	0000h	XXXXXXXXh
Product decelerates xerr=0,	T_PDO4	<---	driveStat	modeStat		p_act
xend=0, xinfo=0			0006h	84h		XXXXXXXXh
Profile Vel. mode terminated	T_PDO4	<---	driveStat	modeStat		p_act
xerr=0, xend=1, xinfo=1			6006h	84h		XXXXXXXXh

The Profile Velocity operating mode is terminated when the reference speed "0" is transmitted; standstill is waited for.

Note: The field p_act of the T_PDO4 contains the current position of the drive in increments.

6.4.4Position setting

During position setting, a new position is assigned to the current motor position. This only shifts the coordinate system, the motor itself does not move.

You must make the following settings for position setting in the R_PDO4:

•Enter the new position in Ref32. (Ref16 has no significance here)

•Enter operating mode 02h in modeCtrl ("Homing", "Position Set- ting").

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

Example:		The motor is at position -100,000 (FFFE7960h).
		Position 200,000 is assigned to the motor (00030D40h).
		Master <---> Slave
Product signals position-100,000 T_PDO4		<---	driveStat	modeStat		p_act
			XXXXh	XXh		FFFE7960h
Position setting to 200,000	R_PDO4 --->		drivectrl	modeCtrl	Ref16	Ref32
			02h	82h	XXXXh	00030D40h
Position taken over x_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 1, x_info = 0			4006h	A2h		00030D40h

0198441113586, V2.01, 11.2008

70 Fieldbus interface