Camozzi DRCS Series, User Manual

Page: 16 / 20

EN
User manual DRCS - CanOpen
16
The drive provides the operation with the velocity profile specified in the Cia 402 specifications.
This drive operation mode requires a specific movement profile, setting the velocity and accelerations, with which to reach
the position target. The target cannot be changed during a movement, the movement in progress must be terminated or
interrupted before being able to set a new target.
To enable this operation, set the operating mode to value 1 via object 6060h “Modes of operation” and check that the
drive is effectively in the correct status with object 6061h “Modes of operation display”.
In this operating mode the controlword (profile-specific) bits become:
- Bit 4 “new set point” = this bit must be raised to indicate the start of the movement to the set target, the drive response
on the statusword is through bit 12, afterwards, bit 4 must be reset.
- Bit 6 “abs / rel” = this bit is used to indicate the target type to be reached, if absolute with the bit to zero, or relative
with the bit set.
At the end of the movement the statusword bits become:
- Bit 10 “target reached” = this bit indicates the achievement of the target at the end of the positioning.
- Bit 12 “Set-point reached” = this bit indicates the positioning is in progress and remains high until the end of the
command, when it is low it indicates the driver is ready to receive a new command.
The dictionary objects related to this operating profile are:
- 6060h “mode of operation” to be set to value 1 to select the operating mode
- 607Ah “target position” to set the position to be reached
- 6081h “profile velocity in pp.mode” to set the velocity of the movement
- 6083h “profile acceleration” to set the acceleration of the movement
- 6084h “profile Deceleration” to set the deceleration of the movement
The start of the movement is always controlled by bit 4 of the “Controlword”.
Profile position 5.
Actual
speed
t
t
t
t
t
t
New
set-point
(bit 4)
Target
position
(set-point)
Set-point
acknowledge
(bit 12)
Target
reached
(bit 10)