ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 76)

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
11.1 General 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.
C ontrolword 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
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
70