Fastech Ezi-STEPII EtherCAT MINI, Руководство пользователя

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4. CiA402 Drive Profile
t
t
t
t
t
Actual Speed
Control Word – bit 4
New Set-Point
Target Position
Status Word – bit 12
Set-Point Acknowledge
Status Word – bit 10
Target Reached
Figure 4.4: New Set-Point
Once reaches at target position, Status word of Target Reached (Bit 10) goes to SET. If it does not reach
at target position due to error or status as below, Target Reached (Bit 10) can not be changed as SET.
• Fault status due to Error generation.
• Out of Operation Enabled Status.
Input next target position
Once commands to move to new target position during previous position movement still operates, ex-
ecutes new target position movement command after completion of previous position movement. So if
already inputs next target position at buffer, position movement command can be executed immediately
without time delay.
t
t
t
t
t
Actual Speed
Control Word – bit 4
New Set-Point
Target Position
Status Word – bit 12
Set-Point Acknowledge
Status Word – bit 10
Target Reached
Figure 4.5: Next Set-Point
At this time, Status word of Set-Point Acknowledge (Bit 12) is going to be RESET of Control word of Ne
Set-Point (Bit 4) and it goes to RESET after completion of previous position movement command. Target
Reached (Bit 10) goes to SET once all of position movements completed.
Target position override
In case of using Control word of Change Set Immediately (Bit 5) under SET status during position move-
ment command, able to cancel currently operating position movement command and immediately move
to new target position.
Rev.37
FASTECH Co., Ltd.
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