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6
Operating modes
data_valid
new_setpoint
setpoint_acknowledge
Fig. 6.15
Positioning job transmission from a host
PDOs are only processed in the motor controller every 1.6 ms and then only a single PDO
is processed. I.e. it takes up to 3.2 ms after the signal new_setpoint is signaled in the
Receive PDO until the acknowledgment is signaled in the status bit setpoint_acknow-
ledge in the Transmit PDO.
In Fig. 6.15, you can see how the host and the motor controller communicate with each other via the
CAN bus:
First, the positioning data (target position, travel speed, end speed and acceleration) are transmitted to
the motor controller. When the positioning data set has been completely written 1, the host can start
positioning by setting the bit new_set_point in the controlword to "1" 2. After the motor controller
recognises the new data and takes it over into its buffer, it reports this to the host by setting the bit
set_point_acknowledge in the statusword 3.
Then the host can start to write a new positioning data set into the motor controller 4 and delete the
bit new_set_point again 5. Only when the motor controller can accept a new positioning job 6 does it
signal this through a "0" in the set_point_acknowledge bit. Before this, no new positioning may be
started by the host 7.
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
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