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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 41
Example of short positioning The master starts a positioning movement that will only take a very short
time. The duration is shorter than the polling cycle of the master. At point
in time t
1
the movement is already complete. Using bit x_end, the mas-
ter does not know whether the movement is already complete or has not
yet been started. However, it detects this with the MT bit from the slave:
The master may only evaluate data in which the received MT bit is iden-
tical to the last bit transmitted by the master.
Figure 3.22 Mode Toggle Handshake, short movement
(1) Master starts positioning with MT = 1 in byte modeCtrl
(2+3) Slave signals that positioning is active with MT = 1 in
modeStat and simultaneously with x_end = 0 in driveStat
(4) Slave signals end of positioning with x_end = 1 in
driveStat
Master
MT
Slave
MT
Slave
x_end
1 0 1 Slave has not yet detected command
1 1 0 Slave has detected command, positioning
running
1 1 1 Slave signals that positioning is complete
1
2
3
t
0
t
2
t
1
Master Slave
Mode Toggle
Mode Toggle
x_end