Kollmorgen S300 Interface Manual page 90

CANopen Drive Profile
If the bit change_set_immediately is "0" a single setpoint is expected by the drive (1). After data
is applied to the drive, a host signals that the data is valid by changing the bit new_setpoint to "1" in
the control word (2). The drive responds with setpoint_acknowledge set to "1" in the status word (3)
after it has recognized and buffered the new valid data. Now the host can release new_setpoint (4)
and subsequently the drive will signal through setpoint_acknowledge = "0" its ability to accept new
data again (5).
In the figure below this mechanism results in a velocity of zero after ramping down to reach a tar-
get_position X
above, the next target_position is processed at t
With change_set_immediately set to "1" (6), the host instructs the drive to apply a new setpoint
immediately after reaching the previous one. The relative timing of the other signals is unchanged.
This behavior causes the drive to process the next setpoint X
when it reaches the target_position X
get_position X
Bits in the control word:
Bit 4
Bit 5
Bit 6
Notes on motion task type relative:
If Bit 6 is set, then the motion task type is relative, and activated according to the last target position
or actual position. If other types of relative motion are required, these must be activated in advance
through the ASCII-object O_C (Object 35B9 sub 1).
Notes on profile position mode:
Functional description for the profile position mode
The drive profile DS402 distinguishes between two methods of moving to a target position. These
two methods are controlled by the bits for new_setpoint and change_set_immediately in the control
word, and setpoint_acknowledge in the status word. These bits can be used to prepare a motion
task while another is still being carried out (handshake).
l
l
90
at t . After signaling to the host, that the setpoint has been reached as described
1 1
velocity
v
2
v
1
t
0
that has already been calculated.
2
velocity
v
2
v
1
t
0
new_set_point (positive edge!)
change_set_immediately
absolute/relative
Moving to several target positions without an intermediate halt
After the target position has been reached, the drive moves immediately to the next target po-
sition. This requires that new setpoints are signaled to the drive. This is done through a posi-
tive transition of the new_setpoint bit. In this case, the setpoint_acknowledge bit must not be
active (=1) in the status word (see also Handshake DS402).
The velocity is not reduced to zero when the first setpoint is reached.
Moving to a single target position
The drive moves to the target position, whereby the velocity is reduced to zero. Reaching the
target position is signaled by the bit for target_reached in the status word.
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and reached at t
2
t t
1 2
at t . The drive then moves immediately to the next tar-
1 1
t
1
Bits in the status word:
Bit 12
Bit 13
Kollmorgen
.
3
t
3
in advance, and to hold its velocity
2
t
2
setpoint acknowledge
lag/following error
CANopen for S300/S700
time
time