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68 Fieldbus interface
6 Operation IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
6.4.1 Operating mode Profile Position: absolute positioning
To start an absolute positioning movement, the following settings must
be made in the R_PDO4:
̈ Enter the reference speed in "Ref16" and the target position in
"Ref32".
̈ Enter operating mode 03
h
(Profile Position operating mode, abso-
lute positioning) in the field modeCtrl.
̈ Change modeCtrl, bit 7, so the data is taken over by the product.
Example Absolute positioniing to position 100,000 (000186A0
h
)
at a reference speed of 1000 min
-1
(03E8
h
)
Table 6.4 Operating mode Profile Position, absolute positioning at constant ref-
erence speed
Note: The data frame "positioning running" can be sent several times;
the current actual position is contained in the field p_act.
Example As the above example, but the reference speed is changed to 2000 min
-
1
(07D0
h
) during the movement.
Table 6.5 Operating mode Profile Position, absolute positioning with change of
reference speed
Note: The data frame "positioning running" can be sent several times.
The current actual position is contained in the field p_act. When the ref-
erence speed is changed, the same target position is sent because it
does not change in this example.
Master <---> Slave
Triggering positioning R_PDO4 ---> drivectrl
02
h
modeCtrl
83
h
Ref16
03E8
h
Ref32
000186A0
h
Positioning runningx_err = 0,
x_end = 0
T_PDO4 <--- driveStat
0006
h
modeStat
83
h
p_act
XXXXXXXX
h
Positioning completex_err = 0,
x_end = 1, x_info = 1
T_PDO4 <--- driveStat
6006
h
modeStat
83
h
p_act
000186A0
h
Master <---> Slave
Triggering positioning R_PDO4 ---> drivectrl
02
h
modeCtrl
83
h
Ref16
03E8
h
Ref32
000186A0
h
Positioning runningx_err = 0,
x_end = 0
T_PDO4 <--- driveStat
0006
h
modeStat
83
h
p_act
XXXXXXXX
h
Change reference speed R_PDO4 ---> drivectrl
02
h
modeCtrl
03
h
Ref16
07D0
h
Ref32
000186A0
h
Positioning runningx_err = 0,
x_end = 0
T_PDO4 <--- driveStat
0006
h
modeStat
03
h
p_act
XXXXXXXX
h
Positioning complete x_err=0,
x_end = 1, x_info = 1
T_PDO4 <--- driveStat
6006
h
modeStat
03
h
p_act
000186A0
h