Intelligent Motion Systems DSP-402 607A h Target Position, Possible Integer, h Profile Velocity

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Statusword (6041h) of Profile Position Mode

9	14	13				12			11		10	9	0

See 1.4			Following Error			Set-Point Acknowledge			See 1.4		Target Reached		See 1.4
MSB													LSB

Bit			Name	Value			Description
				0			Halt=0: Target position not reached
10	Target Reached						Halt=1: Axis decelerating
10	Target Reached			1			Halt=0: Target position reached
				1			Halt=0: Target position reached
							Halt=1: Axis velocity is 0
12		Set-Point		0			Trajectory generator has not assumed the positioning values yet
12	Acknowledge			1			Trajectory generator has assumed the positioning values
	Acknowledge			1			Trajectory generator has assumed the positioning values
13	Following Error			0			No following error
13	Following Error			1			Following error
				1			Following error

Table 6.2: Profile Position Mode Bits of Statusword

Object 607Ah — Target Position

The Target Position is the position that the drive should move to in position profile mode using the MDrivePlus CANopen parameters such as velocity, acceleration, deceleration, motion profile type etc. The target position is given in terms of 51,200 units per motor shaft revolution. The target position will be interpreted as absolute or relative depending on the absolute relative flag (bit 6) in the controlword.

Object Description

		Index		Name		Object Code		Data Type
		607Ah		Target Position		VAR		Integer 32
Entry Description

		Access		PDO Mapping	Range				Default
		rw		Possible	Integer 32				n/a

Object 6081h — Profile Velocity

The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion. The profile velocity is given in steps per second..

Object Description

		Index		Name		Object Code		Data Type
		6081h		Profile Velocity		VAR		Integer 32
Entry Description

		Access		PDO Mapping	Range				Default
		rw		Possible	Integer 32				n/a

38	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