Example of a positioning movement with frame sequence
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TR-Electronic GmbH 2007, All Rights Reserved
Printed in the Federal Republic of Germany
Page 246 of 260
TR - EMO - BA - DGB - 0013 - 00
05/16/2007
5 Example of a positioning movement with frame sequence
5.1 Prerequisites
The drive must
•
be connected to the voltage supply
•
be integrated into the CANopen network,
•
and be able to communicate with the master via the CANopen network
5.2 Definitions
•
Node address set on the drive = 0x70
This results in the COB-IDs
-
0x580 + 0x70 = 0x5F0, drive --> SDO client
-
0x600 + 0x70 = 0x670, SDO client --> drive
•
Operating mode preset = positioning ramp, object 0x6060
•
Position factor preset = 1024 for the denominator, object 0x6093 SUB2
•
Position range preset = 0 for the lower position limit,
object 0x607B SUB1
•
Position range preset = 1.073.741.823 for the upper position limit,
object 0x607B SUB2
•
Software position range preset = 1 for the lower position limit,
object 0x607D SUB1
•
Software position range preset = 1.073.741.822 for the upper position limit,
object 0x607D SUB2
•
Speed preset = 4.350, object 0x6081
•
Acceleration preset = 12.000, object 0x6083
•
Deceleration preset = 12.000, object 0x6084
•
Target position preset = 450.000, object 0x607A
For the frame structure and the meaning of the CCD function code, the information
from the chapters "SDO (Service Data Object)" page 151 and "SDO message format"
page 152 is relevant.
For the individual state transitions, the information from the chapters
"DSP 402 state machine" page 161 and "Control word and status word" page 164 is
relevant.
