Intelligent Motion Systems DSP-402 manual Profile Position Mode, General Information

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SECTION 6

Profile Position Mode

General Information

A target_position is applied to the Trajectory Generator. It is generating a position_demand_value for the position control loop described in the Position Control Function Section. These two function blocks are optionally controlled by individual parameter sets.

Position

Velocity

Acceleration

Multiplier

polarity (607Eh)

Trajectory Generator

target_position (607Ah)

profile_velocity (6081h) end_velocity (6082h)

profile_acceleration (6083h) profile_deceleration (6084h)

position_demand_value (60FCh)

Figure 6.1: Trajectory Generator Block Diagram

At the input to the Trajectory Generator, parameters may have optional limits applied before being normalized to internal units. Normalized parameters are denoted with an asterisk. The simplest form of a Trajectory Generator is just to pass through a target_position and to transform it to a position_demand_value* with internal units (increments) only.

For the IMS MDrivePlus CANopen the following values apply:

•target_position — microsteps

•profile_velocity — microsteps/sec

•end_velocity — microsteps/sec

•profile_acceleration — microsteps/sec2

•profile_deceleration — microsteps/sec2

•position_demand_value — microsteps

Note that the MDrivePlus CANopen is fixed at 256 microsteps/full motor step or 51,200 microsteps per motor revolution.

Input Data Description

	Operating Mode	Description
	Profile Position	target_position, profile_velocity, end_velocity, profile_
		acceleration, profile_deceleration
Output Data Description

	Operating Mode	Description
	Profile Position	position_demand_value

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 Can Message Format IntroductionMDrivePlus Architecture 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 PDODefault Mapping Example Consumer PDO PDO Mapping Procedure Consumer PDOPDO Mapping 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 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 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 Unsigned16 6040 hObject 6040h Controlword 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 6061h Modes of Operation Display 6061 h Mode of Operation DisplayObject 6502h Supported Drive Modes = 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 ModePossible Integer 607A h Target Position6081 h Profile Velocity 6083 h Profile Acceleration 6082 h End Velocity6084 h Profile Deceleration Object 6086h Motion Profile Type 6086 h Motion Profile TypeInternal States Homing ModeInput Data Description Output Data Description607C h Homing Offset Statusword 6041h of Homing ModeHoming Offset 607Ch 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 17 to 30 Homing without an Index Pulse Methods 15 and 16 ReservedMethods 31 and 32 Reserved 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-SpecificOptional Application FE General I/O 60FD h Digital InputsObject 60FDh Digital Inputs Object 60FEh Digital Outputs 60FE h Digital OutputsWarranty Excellence in Motion