Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 102)

The figures show the difference between the set of setpoints mode and the single setpoint mode.

The initial status of the bit change_set_immediately in the control word determines which mode is

used. To keep these examples simple, only trapezoidal moves are used. If the bit

change_set_immediately is “0”(continuously drawn line in Figure 1) a single setpoint is expected by

the drive (1). After data is applied to the drive, a host signals that the data is valid by changing the

bit new_setpoint to “1" in the control word (2). The drive responds with setpoint_acknowledge set to

“1" in the status word (3) after it has recognized and buffered the new valid data. Now the host can

release new_setpoint (4) and subsequently the drive will signal through setpoint_acknowledge = “0"

its ability to accept new data again (5). In Figure 2 this mechanism results in a velocity of zero after

ramping down to reach a target_position X

at t

. After signaling to the host, that the setpoint has

been reached as described above, the next target_position is processed at t

and reached at t

With change_set_immediately set to “1" (6), symbolized by the dashed line in Figure 1, the host

instructs the drive to apply a new setpoint immediately after reaching the previous one. The relative

timing of the other signals is unchanged. This behavior causes the drive to process the next set-

point X

in advance, and to hold its velocity when it reaches the target_position X

at t

. The drive

then moves immediately to the next target_position X

that has already been calculated.

Bits im controlword:

Bit 4 new_set_point (positive Flanke!)

Bit 5 change_set_immediatly

Bit 6 absolut / relativ

Bits im statusword:

Bit 12 setpoint acknowledge

Bit 13 following error

102 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

tim

velocity

tim

velocity

1 2 ... 97 98 99 100 101 102 103 104 105 106 107 ... 136 137

Sin comentarios

Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 102