Applied Motion ST10-C-CE - Manual (Page 63)

63 920-0025 Rev K
3/5/2015
CANopen User Manual
Figure 13: Multiple Set-Points, Stopping Between Moves
In this example, controlword bits 9 (Change of Set-point) and 5 (Change Set Immediately) are 0. The motor
comes to rest between moves.
Table 20: Multiple Set-Point Profile Position Move with Stopping Between Moves
Actual
Speed
0
0
0
0
t
t
t
t
New Set Point
Ready Bit(4)
Set Point
Ack Bit(12)
Target Reached
Bit(10)
PROFILE POSITION MODE, Set of Set Points
D A B C E F G H I
Graph
Point
New Set-Point
Ready Bit
Set-Point
Acknowledge Bit
Target Reached
Bit
What’s Going On
Start 0 0 0 Drive waiting for set-point
A 0 -> 1 0 0 User tells drive a set-point is ready
B 1 0 -> 1 0
Drive acknowledges set-point, starts
executing set-point
C 1 -> 0 1 0 User pulls new set-point ready bit low
D 0 1 -> 0 0
Drive pulls set-point ack bit low, indicat-
ing ready to receive another set-point
E 0 -> 1 0 0 User tells drive another set-point is ready
F 1 0 -> 1 0
Drive acknowledges set-point, buffers it
as another set-point is still in progress
G 1 -> 0 1 0 User pulls new set-point ready bit low
H 0 1 -> 0 0 Drive pulls set-point ack bit low, starts
executing new set-point as soon as old
one is finished
I 0 0 1 The set-point is finished, no set-points in
buffer, so Target Reached bit is set