User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-39
7.15 Direct Position Mode (Manufacturer Specific)
In this mode, a target position is set and limited to create a position demand. No profile generator is used. There are
two different modes of operation for direct position mode. If mode of operation is set to –3, then a trigger for the
move must be set by a 0 to 1 transition in the new set-point bit of the control word (similar to profile position mode).
If the mode of operation is set to –4, then no trigger is required, and simply changing the set point will cause the new
set point to be assumed. In both modes the “change immediately” bit can be set or cleared to interrupt or follow the
current move.
Figure 7.16 Block Diagram of Direct Position Mode
Index Name Type Comment
0x607A ds402 target position U32 Input position for absolute move, in position units.
0x607B ds402 software range limit Array Range limiting on demand, in position units.
0x607B/0 number of entries U08 Fixed value = 2
0x607B/1 min S32 Default value = -2
31
0x607B/2 max S32 Default value = 2
31
-1
0x607D ds402 software position limit Array Limit on demand in position units, relative to home position.
0x607D/0 number of entries U08 Fixed value = 2
0x607D/1 min S32 Default value = -2
31
0x607D/2 max S32 Default value = 2
31
-1
CONTROL WORD
1. The control word is implemented as specified in the DS402 standard, with the following mode specific bits.
Figure 7.17 Direct Position Mode Control Word
2. If mode of operation = -3 (i.e. triggered), then the “new set point” bit must see a 0 to 1 transition in order
for a move to occur. If the mode of operation = -4 (i.e. non-triggered), then the “new set point” bit is
ignored, and a move is triggered by changing the target position.
3. Setting the “Change Set Immediately bit”, will interrupt the actual positioning, and start the next
positioning. Clearing the bit will finish the actual positioning, before starting the next positioning.
Homing
Function
Position
Control Loop
Pos. Factor
+ Polarity
Limiter
Position Range Limits,
Software Position Limits,
H
o
m
e
O
ff
set
Target Position
Position
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