Applied Motion ST10-C-CE - Manual (Page 62)

62 920-0025 Rev K
3/5/2015
CANopen User Manual
Figure 12: Single Set-Point
Table 19: Single Set-Point Profile Position Move
Actual
Speed
0
0
0
0
t
t
t
t
New Set Point
Ready Bit(4)
Set Point
Ack Bit(12)
Target Reached
Bit(10)
PROFILE POSITION MODE, Single Set Point
D A B C E
Graph
Point
New Set-Point
Ready Bit
Set-Point
Acknowledge Bit
Target Reached
Bit
What’s Going On
Start 0 0 0 Drive waiting for set-point
A 0 -> 1 0 0 User tells drive a set-point is ready
B 1 0 -> 1 0
Drive acknowledges set-point, starts
executing set-point
C 1 -> 0 1 0 User pulls new set-point ready bit low
D 0 1 -> 0 0
Drive pulls set-point ack bit low, indicat-
ing ready to receive another set-point
E 0 0 1
The set-point is finished, and the Target
Reached bit is set
change this bit while the motor is moving.
Note: Two set-points can be set up, but if status bit 12 is high, then the buffer is full and another
set-point will be ignored.
For more information: See CiA 402 - 2, Profile Position Mode