Intelligent Motion Systems DSP-402 manual Controlword 6040h of Profile Position Mode

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Velocity
		target_position X2
V2
	target_position X1
V1
T0	T1 T2	T3	Time

Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0

With change_set_immediately set to “1” , symbolized by the clear area in Figure 6.2, the host advises the drive to apply a new set-point immediately after reaching the last one. The relative timing of the other signals is unchanged. This behavior causes the drive to already process the next set-point X2 and to keep its velocity when it reaches the target_position X1 at T1. Then drive moves immediately to the already calculated next target_position X2.

Velocity
	Second target_position	target_position reached
	Second target_position
V2	given - immediate response
V2
V1
T0	T1	T2	Time

Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1

Controlword (6040h) of Profile Position Mode

15	9	8		7		6	5	4	3	0
See 1.3			Halt		See 1.3	abs/rel	Change Set Immediately	New Set-Point	See 1.3
MSB										LSB

Bit			Name		Value	Description
4	New Set Point				0	Does not assume target position
4	New Set Point				1	Assume target position
					1	Assume target position
5		Change Set			0	Finish the actual positioning and then start the next positioning
5		Immediately			1	Interrupt the actual positioning and start the next positioning
		Immediately			1
6			abs/rel		0	Target position is an absolute value

					1	Target position is a relative value
					1	Target position is a relative value
8			Halt		0	Execute positioning
8			Halt		1	Stop motion with profile deceleration
					1	Stop motion with profile deceleration

Table 6.1: Profile Position Mode Bits of Controlword

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 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