Applied Motion ST10-C-CE - Manual (Page 65)

65 920-0025 Rev K
3/5/2015
CANopen User Manual
Figure 15: Multiple Set-Points, Immediate Change in Motion
In this example, controlword bit 9 (Change of Set-point) is 1 and controlword bit 5 (Change Set Immediately) is 1.
The motor immediately changes to the new set-point speed without completing the first set-point. The motion is
continuous.
Table 22: Multi-Set-Point Profile Position Move with Immediate Change in 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, immedi-
ately executes it, beginning transition to
new set-point speed and position
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
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