Application examples
14-11
L
EDSVS9332P-K EN 3.0
14.3.1 Commissioning of the contouring control
Fig. 14-5 Example of a positioning profile
How to commission the system bus (CAN)
•
Control:slave1(driveX)
– Node addresses: C0350 = 1
– Position setpoint on byte 1 to 4 (see description CAN-IN3)
– CAN-IN3 identifier = 385
– Baud rate: C0351 → Adapt to control
Reset mode: C0358 = 1
Sync mode: C1120 = 1
Sync cycle: C1121 → According to the time interval between the sync telegram and the
control
– Actual value = set setpoint (following error = 0)
CAN-IN2.B4 = 1 (afterwards set CAN-IN2.B4 = 0)
•
Control:slave2(driveY)
Node addresses 0350 = 2
– CAN-IN3 identifier = 386
– As slave 1
•
Control:slave3(driveZ)
Node addresses C0350 = 3
– CAN-IN3 identifier = 387 (otherwise as slave 1)
•
Te l e g r a m s e q u e n c e
– Send new position setpoint to slave 1, slave 2 and slave 3
– Send sync telegram
– All slaves reply with CAN-OUT1
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