Intelligent Motion Systems DSP-402 manual State Machine, Control and Status words

Page 33

SECTION 4

Device Control

The device control function block controls all the func- tions of the MDrivePlus CANopen and is divided into to sections:

1.Control of the State Machine

2.Operation Mode

Control and Status words

Controlword (Object Index 6040h) controls the state and operation modes of the MDrivePlus CANopen. Statusword (Object Index 6041h) returns the status of the MDrivePlus CANopen.

Device Control

Controlword 6040h

 

 

 

 

 

 

 

 

DEVICE CONTROL

 

 

 

 

 

 

 

 

 

Modes of Operation

 

 

 

 

 

 

Profile Position

 

State Machine

 

 

 

Profile Velocity

 

 

 

 

6060h

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Statusword 6041h

Figure 4.1: Device Control

State Machine

The State Machine describes the status and control sequence of the MDrivePlus CANopen and specifies the Initialization sta- tus, the Pre-Operational status, the Operational status, and the Stopped status. See Figure 1.2 for a diagrammatic representa- tion of State machine states and state transitions.

 

State Machine States

State

Status Description

Not Ready to Switch On

Low Level Power Applied.

 

The drive is being initialized or is running a self test.

 

A brake, if present, is applied in this state.

 

The drive function is disabled.

Switch On Disabled

Drive Initialization is complete.

 

The drive parameters have been set up.

 

Drive parameters may be changed.

 

High Voltage may not be applied to the drive.

 

The drive function is disabled.

Ready To Switch On

High Voltage may be applied to the drive.

 

The drive parameters may be changed.

 

The drive function is disabled.

Switched On

High Voltage has been applied to the drive.

 

The Power Amplifier is ready.

 

The drive parameters may be changed.

 

The drive function is disabled.

Operation Enable

No faults have been detected.

 

The drive function is enabled and power is applied to the motor.

 

The drive parameters may be changed.

 

(This corresponds to normal operation of the drive.)

Quick Stop Active

The drive parameters may be changed.

 

The Quick Stop function is being executed.

 

The drive function is enabled and power is applied to the motor.

 

NOTE: If the ‘Quick-Stop-Option-Code’ is switched to 5 (Stay in Quick-Stop), the

 

MDrivePlus cannot exit the Quick-Stop-State, but you can transmit to ‘Operation

 

Enable’ with the command ‘Enable Operation’.

Fault Reaction Active

The drive parameters may be changed.

SUPPORT UNDER

A non-fatal fault has occurred in the drive.

The Quick Stop function is being executed.

DEVELOPMENT

The drive function is enabled and power is applied to the motor.

 

 

 

Fault

The drive parameters may be changed.

SUPPORT UNDER

A fault has occurred in the drive.

The drive function is disabled.

DEVELOPMENT

 

 

Table 4.1: State Machine States

Part 2: DSP-402 Implementation

25

Page 32 Page 34
Image 33
Page 32 Page 34
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 Introduction Can Message FormatMDrivePlus Architecture Profile Position Mode Section Homing Mode SectionProfile Velocity Mode Section Device ControlTrajectory Generator Objects and the Object DictionaryYes/No Xxxx h Index NamePDO Mapping DefaultCategory RangeIntentionally Left Blank Service Data Object SDO Accessing The MDrivePlus CANopenProcess Data Object PDO PDO AttributesPDO Mapping Procedure Consumer PDO Default Mapping Example Consumer PDOPDO Mapping Consumer PDO1 RPDO1 1400h Object Description PDO ObjectsConsumer PDO1 RPDO1 1400h Entry Description 1600h Object Description Mapping ParametersConsumer PDO2 RPDO2 1401h Entry Description Consumer PDO2 RPDO2 1401h Object Description1601h Object Description Mapping Parameters 1601h Entry Description Mapping ParametersConsumer PDO3 RPDO3 1402h Entry Description Consumer PDO3 RPDO3 1402h Object Description1602h Object Description Mapping Parameters 1602h Entry Description Mapping Parameters1A00h Object Description Mapping Parameters Producer PDO1 TPDO1 1800h Entry Description1A00h Entry Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description1A01h Entry Description Mapping Parameters 1A01h Object Description Mapping ParametersProducer PDO3 TPDO3 1802h Object Description Producer PDO3 TPDO3 1802h Entry Description1A02h Entry Description Mapping Parameters Accessibility Codes Object 2000h I/O Discretes ConfigDiscretes Unsigned2002 h Config Input Switches Object 2002h I/O Discretes ConfigObject 2004h Input Filter Mask Config 2004h 2006h Input Filter TimeObject 2006h Input Filter Time ms See Entry Desc 2010h Analog Input2020h Software Limits as Unsigned Hardware2032 h Clock Options 2031 h Unit OptionsSee Table 2033 h Capture Input2205 h Hold Current % 2204 h Run Current %Object 2204h Run Current Percent Object 2205h Hold Current Percent2211h Options SettingInteger Point Target5002h FactoryAscii Ser. No 5003hControl and Status words State MachineState Machine Transitions Internal 6040 h Unsigned16Object 6040h Controlword Object 6041h Statusword StatuswordBits 12-13 Operation Mode Specific Bit 4 Voltage EnabledBit 5 Quick Stop Active Bit 7 Warning±Integer8 6060h Mode of OperationModes of Operation Object 6060h Modes of Operation6061 h Mode of Operation Display Object 6061h Modes of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank General Information Profile Position ModeTrajectory Generator Input Data DescriptionSet-Point Transmission from Host Computer Functional DescriptionSingle Set-Point Mode Move After a Move 6040h Bit 5=0 Controlword 6040h of Profile Position Mode607A h Target Position Possible Integer6081 h Profile Velocity 6082 h End Velocity 6083 h Profile Acceleration6084 h Profile Deceleration Object 6086h Motion Profile Type 6086 h Motion Profile TypeInput Data Description Homing ModeOutput Data Description Internal StatesStatusword 6041h of Homing Mode 607C h Homing OffsetHoming Offset 607Ch ± Integer 6098 h Homing MethodPossible ± Integer Homing Method 6098hMethod 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 15 and 16 Reserved Methods 17 to 30 Homing without an Index PulseMethods 31 and 32 Reserved Methods 33 and 34 Homing on an Index Pulse 6099 h Homing SpeedsMethod 35 Homing on the Current Position Homing Speeds 6099hIntentionally Left Blank 6063 h Position Actual Value 6062 h6064 h Position Actual Value Position Control Function6066 h Following Error Timeout 6065 h Following Error Window6068 h Position Window Time Unsigned Mfg-SpecificControlword 6040h of Profile Velocity Mode Profile Velocity ModeStatusword 6041h of Profile Velocity Mode 606C h Velocity Actual Value60FF h Maximum Slippage 60FF h Target VelocityInteger Mfg-Specific Object 60FFh Target Velocity60FD h Digital Inputs Optional Application FE General I/OObject 60FDh Digital Inputs Object 60FEh Digital Outputs 60FE h Digital OutputsWarranty Excellence in Motion
Top Page Image Contents