Intelligent Motion Systems DSP-402 Introduction, Can Message Format, MDrivePlus Architecture

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SECTION 1

Introduction to the MDrivePlus CANopen DSP-402 Implementation

Introduction

This document describes the Operational Modes and Objects utilized by the MDrivePlus CANopen. The MDrivePlus uses the CiA DSP402 protocol as described the the CiA document CANopen Device Profile for Drives and Motion Control V2.0B.

CAN Message Format

The MDrivePlus is compliant with CAN 2.0B Active Specification. The Data Packets follow the message format shown in Figure 1.1. The Figure is for reference only, please refer to the CAN 2.0B Specification.

Start

Arbitration

(Command and Address)

Control

Data

CRC

ACK End

Space

Up to 8 Bytes of Data

Data Length

Address and Message Modifier (PDO, SDO etc.)

Marks Start

of Message Frame

Marks End

of Message Frame

Receiver Pulls

Bit Low

Cyclic Redundancy

Checksum

Figure 1.1: Message Format

MDrivePlus Architecture

CAN Network

CAN Node

MDrivePlus

Application Layer and Communications Profile DS 301

Drive Profile DSP 402

Device Control State Machine

(Section XX)

		Modes of Operation

	Profile		Homing		Profile
	Position		Mode		Velocity
	Mode		(Section X)		Mode
	(Section X)				(Section X)

Motor

Figure 1.2: MDrivePlus Architecture

Part 2: DSP-402 Implementation

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Contents Forcetm CANopen DSP402 Application Revision R020507 Contents Device Control Profile Position Mode Optional Application FE General I/O List of Figures This Page Intentionally Left Blank Application Guide MDrivePlus CANopen R020507 MDrivePlus Architecture IntroductionCan Message Format Device Control Homing Mode SectionProfile Position Mode Section Profile Velocity Mode SectionTrajectory Generator Objects and the Object DictionaryYes/No Xxxx h Index NameRange DefaultPDO Mapping CategoryIntentionally Left Blank PDO Attributes Accessing The MDrivePlus CANopenService Data Object SDO Process Data Object PDOPDO Mapping PDO Mapping Procedure Consumer PDODefault Mapping Example Consumer PDO 1600h Object Description Mapping Parameters PDO ObjectsConsumer PDO1 RPDO1 1400h Object Description Consumer PDO1 RPDO1 1400h Entry Description1601h Entry Description Mapping Parameters Consumer PDO2 RPDO2 1401h Object DescriptionConsumer PDO2 RPDO2 1401h Entry Description 1601h Object Description Mapping Parameters1602h Entry Description Mapping Parameters Consumer PDO3 RPDO3 1402h Object DescriptionConsumer PDO3 RPDO3 1402h Entry Description 1602h Object Description Mapping ParametersProducer PDO2 TPDO2 1801h Object Description Producer PDO1 TPDO1 1800h Entry Description1A00h Object Description Mapping Parameters 1A00h Entry Description Mapping ParametersProducer PDO3 TPDO3 1802h Entry Description 1A01h Object Description Mapping Parameters1A01h Entry Description Mapping Parameters Producer PDO3 TPDO3 1802h Object Description1A02h Entry Description Mapping Parameters Unsigned Object 2000h I/O Discretes ConfigAccessibility Codes DiscretesObject 2004h Input Filter Mask Config 2002 h Config Input SwitchesObject 2002h I/O Discretes Config Object 2006h Input Filter Time ms 2004h2006h Input Filter Time Unsigned Hardware 2010h Analog InputSee Entry Desc 2020h Software Limits as2033 h Capture Input 2031 h Unit Options2032 h Clock Options See TableObject 2205h Hold Current Percent 2204 h Run Current %2205 h Hold Current % Object 2204h Run Current PercentPoint Target Options Setting2211h Integer5003h Factory5002h Ascii Ser. NoControl and Status words State MachineState Machine Transitions Internal Object 6040h Controlword 6040 hUnsigned16 Object 6041h Statusword StatuswordBit 7 Warning Bit 4 Voltage EnabledBits 12-13 Operation Mode Specific Bit 5 Quick Stop ActiveObject 6060h Modes of Operation 6060h Mode of Operation±Integer8 Modes of OperationObject 6502h Supported Drive Modes 6061 h Mode of Operation DisplayObject 6061h Modes of Operation Display = Mode Supported = Mode Not Supported Intentionally Left Blank Input Data Description Profile Position ModeGeneral Information Trajectory GeneratorSet-Point Transmission from Host Computer Functional DescriptionSingle Set-Point Mode Move After a Move 6040h Bit 5=0 Controlword 6040h of Profile Position Mode6081 h Profile Velocity 607A h Target PositionPossible Integer 6084 h Profile Deceleration 6082 h End Velocity6083 h Profile Acceleration Object 6086h Motion Profile Type 6086 h Motion Profile TypeInternal States Homing ModeInput Data Description Output Data DescriptionHoming Offset 607Ch Statusword 6041h of Homing Mode607C h Homing Offset Homing Method 6098h 6098 h Homing Method± Integer Possible ± IntegerMethod 2 Homing on the Positive Limit Switch and Index Pulse Homing on the Negative Home Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index PulseMethods 31 and 32 Reserved Methods 15 and 16 ReservedMethods 17 to 30 Homing without an Index Pulse Homing Speeds 6099h 6099 h Homing SpeedsMethods 33 and 34 Homing on an Index Pulse Method 35 Homing on the Current PositionIntentionally Left Blank Position Control Function 6062 h6063 h Position Actual Value 6064 h Position Actual ValueUnsigned Mfg-Specific 6065 h Following Error Window6066 h Following Error Timeout 6068 h Position Window Time606C h Velocity Actual Value Profile Velocity ModeControlword 6040h of Profile Velocity Mode Statusword 6041h of Profile Velocity ModeObject 60FFh Target Velocity 60FF h Target Velocity60FF h Maximum Slippage Integer Mfg-SpecificObject 60FDh Digital Inputs 60FD h Digital InputsOptional Application FE General I/O Object 60FEh Digital Outputs 60FE h Digital OutputsWarranty Excellence in Motion