DMX-CAN Manual
page 64
rev 1.6
Notes
Profile Velocity Mode
The Profile Velocity mode is used to move the DMX-CAN in either direction when given
a target velocity. In this mode, moves are made in regards to speed and do not take the
motor position into consideration
Profile Position Mode
The Profile Position Mode will move the DMX-CAN to various target positions. There
are two ways to process new target position depending on the change_set_immediately
bit in the Control word.
1.
Single Set-point (change_set_immediately=0): The DMX-CAN will move to a
given target position. Once the move is completed, it will indicate the move is
complete and receive a new target position from the CANOpen master. The motor
will ramp down to a stop after each move.
2.
Set of Set-points (change_set_immediately=1): The DMX-CAN will move to a
given target position. Upon completion, it will immediately process the next
target position in the target position buffer. The motor will ramp down to a stop
after each move.
The motion behavior for the Single Set-point mode is shown below:
Figure 8.11
See below for the motion behavior of the Set of Set-points mode.
Figure 8.12
