Intelligent Motion Systems DSP-402 manual State Machine Transitions

Page 34

State Machine Transitions

Transition

From State

To State

 

Event/Action

Number

 

 

 

 

 

0

Start

Not Ready To Switch

Event:

Reset.

On

Action:

The drive self-tests and/or self-initializes.

 

 

 

 

 

Event:

The drive has self-tested and/or initialized

1

Not Ready To

 

successfully.

Switch On Disabled

 

Switch On

Action:

Activate communication and process data

 

 

 

 

 

monitoring

 

 

 

 

 

 

 

 

 

2

Switch On Disabled

Ready to Switch On

Event:

‘Shutdown’ command received from host.

 

 

Action:

None.

 

 

 

3

 

 

Event:

‘Switch On’ command received from host.

Ready to Switch On

Switched On

 

 

Action:

The power section is switched on if it is not

 

 

 

already switched on.

 

 

 

 

4

Switched On

Operation Enable

Event:

‘Enable Operation’ command received from host.

 

 

Action:

The drive function is enabled.

 

 

 

5

 

 

Event:

‘Disable Operation’ command received from

Operation Enable

Switched On

host.

 

 

 

 

Action:

The drive operation will be disabled.

6

Switched On

Ready to Switch On

Event:

‘Shutdown’ command received from host.

Action:

The power section is switched off.

 

 

 

7

Ready to Switch On

Switch On Disabled

Event:

‘Quick stop’ command received from host.

Action:

None

 

 

 

8

 

 

Event:

‘Shutdown’ command received from host.

Operation Enable

Ready to Switch On

Action:

The power section is switched off immediately,

 

 

 

and the motor is free to rotate if unbraked

 

 

 

 

9

 

 

Event:

‘Disable Voltage’ command received from host.

Operation Enable

Switch On Disabled

Action:

The power section is switched off immediately,

 

 

 

and the motor is free to rotate if unbraked

 

 

 

 

 

 

 

Event:

‘Disable Voltage’ or ‘Quick Stop’ command

 

 

 

received from host.

10

 

 

 

Switched On

Switch On Disabled

Action:

The power section is switched off immediately,

 

 

 

 

 

 

and the motor is free to rotate if unbraked

 

 

 

 

 

 

 

 

 

11

Operation Enable

Quick Stop Active

Event:

‘Quick Stop’ command received from host.

Action:

The Quick Stop function is executed.

 

 

 

 

 

 

 

‘Quick Stop’ is completed or ‘Disable Voltage’

12

 

 

Event:

command received from host. This transition

Quick Stop Active

Switch On Disabled

is possible, if the Quick-Stop-Option-Code is

 

 

 

 

 

different 5 (Stay in Quick-Stop)

 

 

 

Action:

The power section is switched off.

13

All States

Fault Reaction

Event:

A fault has occured in the drive.

Active

Action:

Execute appropriate fault reaction.

 

 

14

Fault Reaction

 

Event:

Fault reaction is completed.

Fault

 

 

 

The drive function is disabled, the power section

Active

Action:

 

 

may be switched off.

 

 

 

 

 

 

 

Event:

‘Fault Reset’ command is recieved from the host.

 

 

 

 

 

 

 

 

 

A reset of the fault condition is carried out if no

15

Fault

Switch On Disabled

 

fault exists currently on the drive. After leaving

Action:

the ‘Fault’ state the Bit ‘Fault Reset’ of the

 

 

 

 

 

 

 

controlword has to be cleared by

 

 

 

 

the host.

 

 

 

 

‘Enable Operation’ command received from

16

Quick Stop Active

Operation Enable

Event:

host. This transition is possible if the Quick-Stop-

 

Option-Code is 5,6,7 or 8.

 

 

 

Action:

The drive function is enabled

Table 4.2: State Machine Transitions

26

MDrivePlus CANopen R020507

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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 Can Message Format IntroductionMDrivePlus Architecture Profile Velocity Mode Section Homing Mode SectionProfile Position Mode Section Device ControlObjects and the Object Dictionary Trajectory GeneratorXxxx h Index Name Yes/NoCategory DefaultPDO Mapping RangeIntentionally Left Blank Process Data Object PDO Accessing The MDrivePlus CANopenService Data Object SDO PDO AttributesDefault Mapping Example Consumer PDO PDO Mapping Procedure Consumer PDOPDO Mapping Consumer PDO1 RPDO1 1400h Entry Description PDO ObjectsConsumer PDO1 RPDO1 1400h Object Description 1600h Object Description Mapping Parameters1601h Object Description Mapping Parameters Consumer PDO2 RPDO2 1401h Object DescriptionConsumer PDO2 RPDO2 1401h Entry Description 1601h Entry Description Mapping Parameters1602h Object Description Mapping Parameters Consumer PDO3 RPDO3 1402h Object DescriptionConsumer PDO3 RPDO3 1402h Entry Description 1602h Entry Description Mapping Parameters1A00h Entry Description Mapping Parameters Producer PDO1 TPDO1 1800h Entry Description1A00h Object Description Mapping Parameters Producer PDO2 TPDO2 1801h Object DescriptionProducer PDO3 TPDO3 1802h Object Description 1A01h Object Description Mapping Parameters1A01h Entry Description Mapping Parameters Producer PDO3 TPDO3 1802h Entry Description1A02h Entry Description Mapping Parameters Discretes Object 2000h I/O Discretes ConfigAccessibility Codes UnsignedObject 2002h I/O Discretes Config 2002 h Config Input SwitchesObject 2004h Input Filter Mask Config 2006h Input Filter Time 2004hObject 2006h Input Filter Time ms 2020h Software Limits as 2010h Analog InputSee Entry Desc Unsigned HardwareSee Table 2031 h Unit Options2032 h Clock Options 2033 h Capture InputObject 2204h Run Current Percent 2204 h Run Current %2205 h Hold Current % Object 2205h Hold Current PercentInteger Options Setting2211h Point TargetAscii Ser. No Factory5002h 5003hState Machine Control and Status wordsState Machine Transitions Internal Unsigned16 6040 hObject 6040h Controlword Statusword Object 6041h StatuswordBit 5 Quick Stop Active Bit 4 Voltage EnabledBits 12-13 Operation Mode Specific Bit 7 WarningModes of Operation 6060h Mode of Operation±Integer8 Object 6060h Modes of OperationObject 6061h Modes of Operation Display 6061 h Mode of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank Trajectory Generator Profile Position ModeGeneral Information Input Data DescriptionFunctional Description Set-Point Transmission from Host ComputerControlword 6040h of Profile Position Mode Single Set-Point Mode Move After a Move 6040h Bit 5=0Possible Integer 607A h Target Position6081 h Profile Velocity 6083 h Profile Acceleration 6082 h End Velocity6084 h Profile Deceleration 6086 h Motion Profile Type Object 6086h Motion Profile TypeOutput Data Description Homing ModeInput Data Description Internal States607C h Homing Offset Statusword 6041h of Homing ModeHoming Offset 607Ch Possible ± Integer 6098 h Homing Method± Integer Homing Method 6098hMethod 2 Homing on the Positive Limit Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index Pulse Homing on the Negative Home Switch and Index PulseMethods 17 to 30 Homing without an Index Pulse Methods 15 and 16 ReservedMethods 31 and 32 Reserved Method 35 Homing on the Current Position 6099 h Homing SpeedsMethods 33 and 34 Homing on an Index Pulse Homing Speeds 6099hIntentionally Left Blank 6064 h Position Actual Value 6062 h6063 h Position Actual Value Position Control Function6068 h Position Window Time 6065 h Following Error Window6066 h Following Error Timeout Unsigned Mfg-SpecificStatusword 6041h of Profile Velocity Mode Profile Velocity ModeControlword 6040h of Profile Velocity Mode 606C h Velocity Actual ValueInteger Mfg-Specific 60FF h Target Velocity60FF h Maximum Slippage Object 60FFh Target VelocityOptional Application FE General I/O 60FD h Digital InputsObject 60FDh Digital Inputs 60FE h Digital Outputs Object 60FEh Digital OutputsWarranty Excellence in Motion
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