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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 6 Operation
Fieldbus interface 69
6.4.2 Operating mode Profile Position: relative positioning
Relative positioning is similar to absolute positioning. You only need to
enter the value 13
h
(operating mode Profile Positioning, relative posi-
tioning) in field modeCtrl. Also note that several target positions trans-
mitted in succession are added up.
Example: Relative positioning by 100,000 (000186A0
h
) increments at a speed of
1000 min
-1
(03E8
h
)
During the movement, the speed is to be changed to 2000 min
-1
(07D0
h
).
Table 6.6 Profile Position operating mode, relative 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 value "0" must be sent as the new target
position because the new value is added to the previously calculated tar-
get position.
6.4.3 Operating mode Profile Velocity
In Profile Velocity operating mode, a reference speed for the motor is set
and a movement without a target position is started.
To start the Profile Velocity operating mode or to change the reference
speed in Profile Velocity operating mode, you must make the following
settings in R_PDO4:
̈ Enter the reference speed in Ref16t. (Ref32 has no significance
here)
̈ Enter the operating mode 04
h
(operating mode Profile Velocity) in
modeCtrl.
̈ Toggle modeCtrl, bit 7, so the data is taken over by the slave.
Master <---> Slave
Triggering positioning R_PDO4 ---> drivectrl
02
h
modeCtrl
93
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 Trans-
mit relative postion "0"
R_PDO4 ---> drivectrl
02
h
modeCtrl
13
h
Ref16
07D0
h
Ref32
00000000
h
Positioning runningx_err = 0,
x_end = 0
T_PDO4 <--- driveStat
0006
h
modeStat
03
h
p_act
XXXXXXXX
h
Positioning completex_err = 0,
x_end = 1, x_info = 1
T_PDO4 <--- driveStat
6006
h
modeStat
03
h
p_act
000186A0
h