02.2004
Communication / CBC CANopen Communication Board
Siemens AG
6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
Compendium Motion Control
8.5-67
1. 6083h Profile_acceleration (U869.01), 6084h profile_deceleration
(U869.02) are transferred to the converter.
2. Bit change_set_immediately is zero in the control word. The bit
absolute/relative can be 1 or 0.
3. The traversing velocity 6081h profile_velocity is transferred to the
MASTERDRIVES by the CANopen master (U868).
4. The target position 607Ah target_position is transferred (U867)
5. The command new_setpoint = 1 is transferred to the
MASTERDRIVES.([SPV_RIE]=1) on a rising edge.
6. The MASTERDRIVES acknowledges the command with
setpoint_acknowledge=1 ([SPV_RIE_ACK]=1).
7. The MASTERDRIVES resets bit setpoint _acknowledge
([POS_RUN]=0) when the target position is reached ([POS_OK]=1).
8. The CANopen MASTER can now initiate a new positioning
operation again.
1. Bit change_set_immediately is one in the control word.
2.
The traversing velocity 6081h profile_velocity is transferred to the
MASTERDRIVES by the CANopen master.
3. The target position 607Ah target_position is transferred.
4. The command new_setpoint is transferred to the MASTERDRIVES
on a rising edge ([SPV_RIE]=1)
5. The MASTERDRIVES acknowledges the command with
setpoint_acknowledge=1 ([SPV_RIE_ACK]=1).
6. The CANopen master resets bit new_setpoint before positioning
has finished ([SPV_RIE] is set to 0).
7. The CBC sets setpoint_acknowledge to 0 ([SPV_RIE_ACK]=0).
8. The new traversing velocity 6081h profile_velocity is transferred to
the MASTERDRIVES by the CANopen master.
9. The new target position 607Ah target_position is transferred.
10. The command new_setpoint is sent to the MASTERDRIVES again
([SPV_RIE]=1).
11. The MASTERDRIVES acknowledges the command with
setpoint_acknowledge=1 ([SPV_RIE_ACK]=1).
12. This process can now be repeated as often as required until the
MASTERDRIVES reaches its target position.
If an active positioning operation needs to be terminated prematurely,
the CANopen master must send a shutdown or halt command.
In the case of shutdown, the MASTERDRIVES is shut down via OFF 1.
The MC remains operative with a HALT command.
The interrupted positioning task is resumed when the halt command is
canceled.
Nonflying
positioning
Flying positioning
NOTE
