8. Operating modes
Festo P.BE-CMMP-CO-SW-EN 0708NH
173
Fig. 8.17: Positioning task transmittal from a host
In Fig. 8.17, you can see how the host and the motor controller communicate with each
other via the CAN bus:
First, the positioning data (target position, travel speed, end speed and acceleration) are
transmitted to the motor controller. When the positioning data set has been completely
written (1), the host can start positioning by setting the bit
new_set_point
in the
controlword
to "1" (2). After the motor controller recognises the new data and takes it
over into its buffer, it reports this to the host by setting the bit
set_point_acknowledge
in
the
statusword
(3).
Then the host can begin to write a new positioning data set into the motor controller (4)
and delete the bit
new_set_point
again (5). Only when the motor controller can accept a
new positioning task (6) does it signal this through a "0" in the
set_point_acknowledge
bit. Before this, no new positioning may be started by the host (7).
In Fig. 8.18, a new positioning task is only started after the previous one has been
completely finished. To determine this, the host evaluates the
target_reached
bit in the
object
statusword
.
Fig. 8.18: Simple positioning task
Summary of Contents for CMMP Series
Page 2: ......
