Isel IMD1, Руководство пользователя

Страница: 93 / 117

Positioning module UVE8112, IMD10 CanOpen
protocol
Via Control word and Status word a handshake is made during the transfer of the segments.
h stration, 4 m nt segm e t ach o
The data for the second segment are transferred only, after the first segment was completed. After
e ansf e re ective Bit 4 (New Setpoint)
de to t movement pa ame rs and to lau
12 in the Status word (Setpoint Acknowledge).
B is r l w e i
d na re s rther ta.
After the second movement segment was launched, the master immediatel
of data for the third movement segment and sets Bit 4 in the control word.
s
e a rre n ultan usl tarts the new
Likewise, Segment 4 is directly put after Segment 3; the drive, however, does not brake, since in
In t e following illu oveme ents are xecu ed after e ther.
th
or tr
r
er of the motion para
ell the drive to apply meter, th
the new
sp is set in Control word in
nch the movement. The r te
controller confirms the acknowledgement with
If the Bit
replies w it 4 eset in the contro ord, the driv th the revocation of the Setpoint Acknowledge
an sig lises thus that it is p pared to tran fer fu da
y begins with the transfer
The drive module applie
th data t the end of the cu nt segment a d sim eo y s movement.
Segment 3 the final velocity is identical to the segment velocity.
Endgeschwindigkeit =
Segmentgeschw.
1 Data Data Data
New Setpoint New Setpoint New Setpoint
Setpoint A Setpoint A Setpoint Ac c c
Target reached Target reached Target reached
Statusword Bit 12 Statusword Bit 12 Statusword Bit 12 oint Acknowledge: oint Acknowledge: oint Acknowledge:
Statusword Bit 10 Statusword Bit 10 Statusword Bit 10 Target reached: Target reached: Target reached:
it it it
schwi digkei schwi digkei schwi digkei
knowled knowled knowledge ge ge
Ge Ge Ge n n n ttt
Data: Data: Data: Daten für Bewegungssegment schreiben Daten für Bewegungssegment schreiben Daten für Bewegungssegment schreiben
Controlword Bit 4
Controlword Bit 4 Controlword Bit 4 New Setpoint: New Setpoint: New Setpoint:
Setp
Setp Setp
Ze Ze Ze
1
2
2
3
3
4
i Bit 4, Bit 5 in the w C et Immediately), the current
movement is interrupted and the execution of a new segment is immediately started with. Here, the
s m ac ne segmen veloc y according t
T p tio
ib p
lue
4
If, n addition to is set control ord ( hange S
sy te celerates or brakes down to the w t it o the ramp set.
arget osi n
Index Sub Name Type Attr Ma Default
va Meaning
607
movement segment in
user-defined units.
A 00 Target position Signed 32 RW Y 0 Target position of a
S
Index Sub Name Type Attrib Map t
alue
Meaning
egment velocity
Defaul
v
6081 00 Profile velocity Unsigned 32 RW N 10000
its / s.
Velocity during the
movement segment in
user-defined un
93