Intelligent Motion Systems DSP-402 manual Functional Description

Page 44

Functional Description

There are two different ways to apply target_positions to a drive, are supported by this device profile.

1.Set of set-points:

After reaching the target_position the drive unit immediately processes the next target_position which results in a move where the velocity of the drive normally is not reduced to zero after achieving a set-point.

2.Single set-point:

After reaching the target_position the drive unit signals this status to a host computer and then receives a new set- point. After reaching a target_position the velocity normally is reduced to zero before starting a move to the next set-point.

The two modes are controlled by the timing of the bits new_set-pointand change_set_immediately in the controlword and set-point_acknowledgein the statusword.

These bits allow to set up a request-response mechanism in order to prepare a set of set-points while another set still is pro- cessed in the drive unit. This minimizes reaction times within a control program on a host computer.

data

Bit 4: new_set-point

ControlWord

(6040h)

Bit 5: change_set_immediately

StatusWord

Bit 12: set-point_acknowledge

(6041h)

2

4

6

0 = Single Set-Point 1 = Set of Set-points

1

3

5

1Single Set-Point is Expected by MDrivePlus

2Host Signals “Data is Valid” new_set-point = 1

3MDrivePlus responds by setting Bit 12, set-point_acknowledge = 1

4Once Data is Validated, Host may release new_set-point

5MDrivePlus responds by setting Bit 12, set-point_acknowledge = 0 MDrivePlus is ready to accept new data

6Indicates state Change of change_set_immediately to 1

Figure 6.2: Set-Point Transmission from Host Computer

Figure 6.2, Figure 6.3 and Figure 6.4 illustrate the difference between the “set of set-points” mode and the “single set-point” mode. The initial status of the bit change_set_immediately in the controlword determines which mode is used. Trapezoidal moves are used as this is the only motion_profile_type the MDrivePlus CANopen supports.

If the bit change_set_immediately is “0” (shaded area in Figure 3.2) a single set-point is expected by the drive . After data is applied to the drive, a host signals that the data is valid by changing the bit new_setpoint to “1” in the controlword . The drive responds with set-point_acknowledgeset to “1” in the statusword after it recognized and buffered the new valid data. Now the host may release new_setpoint and afterwards the drive signals with set-point_acknowledgeequal “0” its ability to accept new data again . In Figure 3.3 this mechanism results in a velocity of zero after ramping down in order to reach a target_position X1.at T1. After signalling to the host, that the set-point is reached like described above, the next target_posi- tion X2 is processed at T2 and reached at T3.

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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 MDrivePlus Architecture IntroductionCan Message Format Homing Mode Section Profile Position Mode SectionProfile Velocity Mode Section Device ControlObjects and the Object Dictionary Trajectory GeneratorXxxx h Index Name Yes/NoDefault PDO MappingCategory RangeIntentionally Left Blank Accessing The MDrivePlus CANopen Service Data Object SDOProcess Data Object PDO PDO AttributesPDO Mapping PDO Mapping Procedure Consumer PDODefault Mapping Example Consumer PDO PDO Objects Consumer PDO1 RPDO1 1400h Object DescriptionConsumer PDO1 RPDO1 1400h Entry Description 1600h Object Description Mapping ParametersConsumer PDO2 RPDO2 1401h Object Description Consumer PDO2 RPDO2 1401h Entry Description1601h Object Description Mapping Parameters 1601h Entry Description Mapping ParametersConsumer PDO3 RPDO3 1402h Object Description Consumer PDO3 RPDO3 1402h Entry Description1602h Object Description Mapping Parameters 1602h Entry Description Mapping ParametersProducer PDO1 TPDO1 1800h Entry Description 1A00h Object Description Mapping Parameters1A00h Entry Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description1A01h Object Description Mapping Parameters 1A01h Entry Description Mapping ParametersProducer PDO3 TPDO3 1802h Object Description Producer PDO3 TPDO3 1802h Entry Description1A02h Entry Description Mapping Parameters Object 2000h I/O Discretes Config Accessibility CodesDiscretes UnsignedObject 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 2010h Analog Input See Entry Desc2020h Software Limits as Unsigned Hardware2031 h Unit Options 2032 h Clock OptionsSee Table 2033 h Capture Input2204 h Run Current % 2205 h Hold Current %Object 2204h Run Current Percent Object 2205h Hold Current PercentOptions Setting 2211hInteger Point TargetFactory 5002hAscii Ser. No 5003hState Machine Control and Status wordsState Machine Transitions Internal Object 6040h Controlword 6040 hUnsigned16 Statusword Object 6041h StatuswordBit 4 Voltage Enabled Bits 12-13 Operation Mode SpecificBit 5 Quick Stop Active Bit 7 Warning6060h Mode of Operation ±Integer8Modes of Operation Object 6060h 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 Profile Position Mode General InformationTrajectory Generator 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=06081 h Profile Velocity 607A h Target PositionPossible Integer 6084 h Profile Deceleration 6082 h End Velocity6083 h Profile Acceleration 6086 h Motion Profile Type Object 6086h Motion Profile TypeHoming Mode Input Data DescriptionOutput Data Description Internal StatesHoming Offset 607Ch Statusword 6041h of Homing Mode607C h Homing Offset 6098 h Homing Method ± IntegerPossible ± 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 31 and 32 Reserved Methods 15 and 16 ReservedMethods 17 to 30 Homing without an Index Pulse 6099 h Homing Speeds Methods 33 and 34 Homing on an Index PulseMethod 35 Homing on the Current Position Homing Speeds 6099hIntentionally Left Blank 6062 h 6063 h Position Actual Value6064 h Position Actual Value Position Control Function6065 h Following Error Window 6066 h Following Error Timeout6068 h Position Window Time Unsigned Mfg-SpecificProfile Velocity Mode Controlword 6040h of Profile Velocity ModeStatusword 6041h of Profile Velocity Mode 606C h Velocity Actual Value60FF h Target Velocity 60FF h Maximum SlippageInteger Mfg-Specific Object 60FFh Target VelocityObject 60FDh Digital Inputs 60FD h Digital InputsOptional Application FE General I/O 60FE h Digital Outputs Object 60FEh Digital OutputsWarranty Excellence in Motion
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