Applied Motion ST10-C-CE - Manual (Page 89)

89 920-0025 Rev K
3/5/2015
CANopen User Manual
Synchronous Q Program Execution
To execute a stored Q program on a single drive, a value of -2 (FE
h
) must be written to the
mode of operation OD entry, located at dictionary address 6060
h
. The mode of operation can
be verified using OD entry 6061
h
- mode of operation display - which is updated when the cur-
rent operation mode is accepted.
Next, the desired Q segment number, 1-12, must be written to the Q Segment Number
register, located at address 7007
h
. To enable operation 001F
h
must be written to the
controlword OD entry 6040
h
.
After power up or node reset, the drive is in disabled state. The value 0006
h
must be
written to the control word OD entry, located at dictionary address 6040
h
. This will put the drive
into “ready to switch on” state and is ready to enable drive operation. If the value 0006
h
is not
written to the control word first, the drive operation can not be enabled.
To enable drive operation, a value of 000F
h
must be written to the controlword OD entry,
located at dictionary address 6040
h
. This puts the drive into Operation Enabled state and
ready to run the Q program.
To run the drive based on the SYNC pulse, the pulse must be set in the COB-ID SYNC
register located at OD entry 1005
h
. A standard value for the SYNC pulse is 80
h
, but any
unused COB-ID may be used. Refer to CiA301 for a list of reserved COB-IDs.
Once the SYNC pulse has been set, and the desired Q segment has been set, the drive
will execute the Q segment every time it receives a SYNC pulse. In this way, multiple drives
may be instructed to start a Q program with a single, network-wide instruction.
To halt execution of a Q program, set the halt bit (bit 8) of the controlword to 1. The Q
program will halt immediately, and start from the beginning the next time a SYNC pulse is sent
after the halt bit has been cleared.
More Information
For more information: see CiA 301, COB-IDs
For more information on Q programming: see the Host Command Reference.