Applied Motion ST10-C-CE - Manual (Page 64)

64 920-0025 Rev K
3/5/2015
CANopen User Manual
Figure 14: Multiple Set-Points, Continuous Motion
In this example, controlword bit 9 (Change of Set-point) is 1 and controlword bit 5 (Change Set Immediately) is
0. The motor continues at the speed of the first set-point until is reaches the distance of the first set-point, then
changes to the new set-point speed. The motion is continuous.
Table 21: Multiple Set-Point Profile Position Move with Continuous Motion
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 -> 1 0 0 User tells drive another set-point is ready
F 1 0 -> 1 0
Drive acknowledges set-point, buffers it,
as another set-point is still in progress
G 1 -> 0 1 0 User pulls new set-point ready bit low
H 0 1 -> 0 0
Drive pulls set-point ack bit low, starts
executing new set-point as soon as the
old one is finished
I 0 0 1
The set-point is finished, no set-points in
buffer, so Target Reached bit is set
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, Set of Set Points
D A B C E F G H I