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70 Fieldbus interface
6 Operation IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
Example The Profile Velocity operating mode is started with a reference speed of
1000 min
-1
(03E8
h
).
The reference speed is changed to 2000 min
-1
(07D0
h
) during the
movement.
The Profile Velocity operating mode is terminated when the reference
speed "0" is transmitted; standstill is waited for.
Note: The field p_act of the T_PDO4 contains the current position of the
drive in increments.
6.4.4 Position setting
During position setting, a new position is assigned to the current motor
position. This only shifts the coordinate system, the motor itself does not
move.
You must make the following settings for position setting in the R_PDO4:
• Enter the new position in Ref32. (Ref16 has no significance here)
• Enter operating mode 02
h
in modeCtrl ("Homing", "Position Set-
ting").
• Toggle modeCtrl, bit 7, so the data is taken over by the slave.
Example: The motor is at position -100,000 (FFFE7960
h
).
Position 200,000 is assigned to the motor (00030D40
h
).
Master <---> Slave
Start Profile Velocity operating
mode with 1000 min
-1
R_PDO4 ---> drivectrl
02
h
modeCtrl
84
h
Ref16
03E8
h
Ref32
XXXXXXXX
h
Product accelerates xerr=0,
xend=0, xinfo=0
T_PDO4 <--- driveStat
0006
h
modeStat
84
h
p_act
XXXXXXXX
h
Reference speed reached
xerr=0, xend=0, xinfo=1
T_PDO4 <--- driveStat
2006
h
modeStat
84
h
p_act
XXXXXXXX
h
Change speed to 2000 min
-1
R_PDO4 ---> drivectrl
02
h
modeCtrl
04
h
Ref16
07D0
h
Ref32
XXXXXXXX
h
Product accelerates xerr=0,
xend=0, xinfo=0
T_PDO4 <--- driveStat
0006
h
modeStat
04
h
p_act
XXXXXXXX
h
Reference speed reached
xerr=0, xend=0, xinfo=1
T_PDO4 <--- driveStat
2006
h
modeStat
04
h
p_act
XXXXXXXX
h
Change speed to 0 min
-1
R_PDO4 ---> drivectrl
02
h
modeCtrl
84
h
Ref16
0000
h
Ref32
XXXXXXXX
h
Product decelerates xerr=0,
xend=0, xinfo=0
T_PDO4 <--- driveStat
0006
h
modeStat
84
h
p_act
XXXXXXXX
h
Profile Vel. mode terminated
xerr=0, xend=1, xinfo=1
T_PDO4 <--- driveStat
6006
h
modeStat
84
h
p_act
XXXXXXXX
h
Master <---> Slave
Product signals position-100,000 T_PDO4 <--- driveStat
XXXX
h
modeStat
XX
h
p_act
FFFE7960
h
Position setting to 200,000 R_PDO4 ---> drivectrl
02
h
modeCtrl
82
h
Ref16
XXXX
h
Ref32
00030D40
h
Position taken over x_err = 0,
x_end = 1, x_info = 0
T_PDO4 <--- driveStat
4006
h
modeStat
A2
h
p_act
00030D40
h