Appendix l – example programs, Profile position mode – Applied Motion ST10-C-CE User Manual
Page 99
99
920-0025 Rev K
3/5/2015
CANopen User Manual
Appendix L – Example Programs
Profile Position Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLC Data
$0603
$8
$2B $40 $60 $00 $06 $00 $00 $00
‘Ready to Switch on
$0603
$8
$2B $40 $60 $00 $07 $00 $00 $00
‘Switched on
$0603
$8
$2B $40 $60 $00 $0F $00 $00 $00
‘Operation Enabled
**** Set to Profile Position Mode ****
$0603
$8
$2F $60 $60 $00 $01 $00 $00 $00
‘Set to Profile Position Mode
**** Set Motion Parameters ****
$0603
$8
$23 $81 $60 $00 $F0 $00 $00 $00
‘Set Profile Velocity to 1 rps
$0603
$8
$23 $83 $60 $00 $58 $02 $00 $00
‘Set Acceleration to 100 rps/s
$0603
$8
$23 $84 $60 $00 $58 $02 $00 $00
‘Set Deceleration to 100 rps/s
Single Move Absolute
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 200000 steps
$0603
$8
$2B $40 $60 $00 $1F $00 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $0F $00 $00 $00
‘Clear New Set Point Bit
Single Move Relative
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 200000 steps
$0603
$8
$2B $40 $60 $00 $5F $00 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $4F $00 $00 $00
‘Clear New Set Point Bit
Multiple Move, Stopping between Moves
$0603
$8
$23 $81 $60 $00 $B0 $04 $00 $00
‘Set Profile Velocity to 5 rps
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 200000 steps
$0603
$8
$2B $40 $60 $00 $5F $00 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $4F $00 $00 $00
‘Clear New Set Point Bit
$0603
$8
$23 $81 $60 $00 $60 $09 $00 $00
‘Set Profile Velocity to 10 rps
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 600000 steps
$0603
$8
$2B $40 $60 $00 $5F $00 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $4F $00 $00 $00
‘Clear New Set Point Bit
Multiple Move, Continuous Motion
$0603
$8
$23 $81 $60 $00 $B0 $04 $00 $00
‘Set Profile Velocity to 5 rps
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 200000 steps
$0603
$8
$2B $40 $60 $00 $5F $02 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $4F $02 $00 $00
‘Clear New Set Point Bit
$0603
$8
$23 $81 $60 $00 $60 $09 $00 $00
‘Set Profile Velocity to 10 rps
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 600000 steps
$0603
$8
$2B $40 $60 $00 $5F $02 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $4F $02 $00 $00
‘Clear New Set Point Bit