Festo SEC-AC-305-CO, Manual

Page: 218 / 272

7. Operating modes/Adjustment of the Operating Mode
7−40
Festo P.BE−SEC−AC−CO−E N en 0802a
Figure 7/18 shows the communication between the host and
the servo controller via the CAN bus:
At first the positioning data (target_position, profile_velocity,
end_velocity and profile_acceleration) are transferred to the
servo controller. After the positioning data set has been trans
ferred completely (1) the host can start the positioning mo
tion by setting the bit
new_setpoint in the controlword (2).
This will be acknowledged by the servo controller by setting
the bit
setpoint_acknowledge in the statusword (3), when
the positioning data has been copied into the internal buffer.
Afterwards the host can start to transfer a new positioning
data set into the servo controller (4) and clear the bit
new_setpoint (5). The servo controller signals by a cleared
setpoint_acknowledge bit that it can accept a new drive job
(6). The host has to wait for the falling edge of the bit set
point_acknowledge before a new positioning motion can be
started (7).
In Figure 7/19 a new positioning motion is started after the
previous one has been finished completely. For that purpose
the host evaluates the bit
target_reached in the object
statusword .
Fig.7/19: Simple positioning job