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37Part 2: DSP-402 Implementation
V
2
V
1
T
0
T
1
T
2
T
3
Velocity
Time
target_position X
1
target_position X
2
Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0
With change_set_immediately set to “1”
, symbolized by the clear area in Figure 6.2, the host advises the drive to apply
a new set-point immediately after reaching the last one. The relative timing of the other signals is unchanged. This behavior
causes the drive to already process the next set-point X
2
and to keep its velocity when it reaches the target_position X
1
at T
1
.
Then drive moves immediately to the already calculated next target_position X
2
.
V
2
V
1
T
0
T
1
T
2
Velocity
Time
Second target_position
given - immediate response
target_position reached
Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1
Controlword (6040
h
) of Profile Position Mode
15 9 8 7 6 5 4 3 0
See 1.3 Halt See 1.3 abs/rel Change Set Immediately New Set-Point See 1.3
MSB LSB
Bit Name Value Description
4 New Set Point
0 Does not assume target position
1 Assume target position
5
Change Set
Immediately
0 Finish the actual positioning and then start the next positioning
1 Interrupt the actual positioning and start the next positioning
6 abs/rel
0 Target position is an absolute value
1 Target position is a relative value
8 Halt
0 Execute positioning
1 Stop motion with profile deceleration
Table 6.1: Profile Position Mode Bits of Controlword