Intelligent Motion Systems DSP-402 manual Intentionally Left Blank

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34	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 Introduction Can Message FormatMDrivePlus 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 AttributesPDO Mapping Procedure Consumer PDO Default Mapping Example 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 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 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 6040 h Unsigned16Object 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 Operation6061 h Mode of Operation Display Object 6061h Modes 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=0607A h Target Position Possible Integer6081 h Profile Velocity 6082 h End Velocity 6083 h Profile Acceleration6084 h Profile Deceleration 6086 h Motion Profile Type Object 6086h Motion Profile TypeOutput Data Description Homing ModeInput Data Description Internal StatesStatusword 6041h of Homing Mode 607C h Homing OffsetHoming 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 15 and 16 Reserved Methods 17 to 30 Homing without an Index PulseMethods 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 Velocity60FD h Digital Inputs Optional Application FE General I/OObject 60FDh Digital Inputs 60FE h Digital Outputs Object 60FEh Digital OutputsWarranty Excellence in Motion