Control Techniques Nidec SI-EtherCAT User Manual page 107

Control word usage
The Control word for the profile position mode differs from the standard configuration as shown
below.
Table 7-86 Profile Position Mode control word usage
Bits b15-b10 b9
Name CHANGE ON
SETPOINT
b9 b5 b4
0 0
x 1
1 0
Bit Value
0 The target position in object 0x607A is absolute
b6
1 The target position is relative to the previous setpoint value
0 The motor shaft can move, the Control word bit b4 is evaluated
b8
1 The motor decelerates according to the object 0x605D ( Halt option code )
Status word usage
The Status word for the profile position mode differs from the standard configuration as shown
below.
Table 7-87 Profile Position mode status word usage
Bits b15-b14
Name FOLLOWING
ERROR
Process a new setpoint
The target position, profile velocity, acceleration, deceleration and jerk to be used for the movement
are set in objects 0x607A, 0x6081, 0x6083, 0x6084 and 0x60A4 respectively, the CANopen master
controller requests a new valid setpoint value by a rising edge on the Control word bit b4. The SI-
CANopen V2 module then signals the setpoint has been accepted by setting the SETPOINT
ACKNOWLEDGE bit b12 in the Status word. No new setpoint can be accepted until this bit is
cleared, this bit is cleared when the CANopen master controller clears the Control word bit b4
unless the new setpoint is buffered and another movement is in progress, in this case the Status
word bit b12 remains set until the previous movement completes.
If the new movement requires a change in velocity, acceleration, deceleration or jerk then a
minimum delay of 4 ms after the Control word bit b4 is written and the Status word bit b12 being set
will be seen, this delay will increase further if the jerk setting is changed depending on the
background task rate. No delay is used if none of the values mentioned are changed.
The following diagram shows an example of the setpoint process when the CHANGE SETPOINT
IMMEDIATELY bit (b5) is set.
SI-EtherCAT User Guide
b8 b7
HALT ABSOLUTE
or RELATIVE
Description
Process a new setpoint value.
If the motor shaft is moving, the new position is buffered (unless the buffer is
already busy), the buffered move- ment will start after the current movement
completes.
Process a new setpoint value.
The target position is immediately updated even if an existing movement is in
progress.
Not supported.
The new setpoint value is ignored.
b13 b12
SETPOINT
ACKNOWLEDGE
b6 b5
CHANGE SETPOINT
IMMEDIATELY
b11
REACHED
b4 b3-b0
NEW SET-
POINT
b10 b9-b0
TARGET
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