User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-45
5. The target reached bit is set for both relative and absolute moves, when the final position is reached.
GENERAL ISSUES
1. The New-Set Point has been implemented as a 0->1 transition (similar to homing mode), and as shown in
Figure 17 of DS402. Whereas table 9 of DS402 indicates it as levels
2. DS402 has Set-Point Acknowledge values set incorrectly. What has been implemented is that value 0
indicates the profile generator has assumed the value, and value 1 indicates they have not been assumed.
3. In the control word, if the “Change immediately bit” is set, and the drive is in the middle of a move, and the
new target position is such as to cause a reversal in direction of the drive, then the profile generator will
quick-stop the drive.
4. An internal limit in the drive may further limit the acceleration further. This acceleration limit parameter in
rads./sec has a default value of 1000 rads./sec. This limit is also used for quick stopping the drive.
5. If the drive is disabled via the serial text interface, the Profile generator still generates the profile, which
can result in high speeds, when drive is enabled, due to large position errors.
6. If the drive is enabled, and outside a position limit, when a new position limit is set, the drive will move to
this new limit, regardless of the “new-set point” bit in the control word.
7. The following error window, and position window are not implemented with a timer function, (i.e. duration
for which limit must be exceeded). Instead a direct test of the absolute position versus the window value is
used.
8. In the case of a relative move, the software limits, limit the size of the relative move.
9. Setting the immediate bit, and changing only the target velocity can increase the velocity during a move.