Intelligent Motion Systems DSP-402 manual Profile Position Mode

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Entry Description	32
Data Description	32
Object 6502h — Supported Drive Modes	32
Object Description	32
Entry Description	32
Data Description	32
Section 6: Profile Position Mode	35
General Information	35
Input Data Description	35
Output Data Description	35
Functional Description	36
Controlword (6040h) of Profile Position Mode	37
Object 6081h — Profile Velocity	38
Object Description	38
Entry Description	38
Statusword (6041h) of Profile Position Mode	38
Object 607Ah — Target Position	38
Object Description	38
Entry Description	38
Object 6082h — End Velocity	39
Object Description	39
Entry Description	39
Object 6083h — Profile Acceleration	39
Object Description	39
Entry Description	39
Object 6084h — Profile Deceleration	39
Object Description	39
Entry Description	39
Object 6086h — Motion Profile Type	40
Object Description	40
Entry Description	40
Section 7: Homing Mode	41
General Information	41
Input Data Description	41
Output Data Description	41
Internal States	41
Controlword (6040h) of Profile Position Mode	41
Statusword (6041h) of Homing Mode	42
Homing Offset (607Ch)	42
Object Description	42
Entry Description	42
Homing Method (6098h)	43
Object Description	43
Entry Description	43
Data Description	43
Functional Description of Homing Methods	43
Homing Speeds (6099h)	47
Object Description	47
Entry Description	47
Section 8: Position Control Function	49
General Information	49
Object 6062h — Position Demand Value	49
Object Description	49
Entry Description	49
Object 6063h — Position Actual Value Internal	49
Object Description	49
Entry Description	49
Object 6064h — Position Actual Value	49
Entry Description	49
Object 6065h — Following Error Window	50
Object Description	50

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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 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 PDO Mapping Procedure Consumer PDODefault Mapping Example Consumer PDO 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 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 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 Object 6040h Controlword 6040 hUnsigned16 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 OperationObject 6502h Supported Drive Modes 6061 h Mode of Operation DisplayObject 6061h Modes of Operation Display = 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 Mode6081 h Profile Velocity 607A h Target PositionPossible Integer 6084 h Profile Deceleration 6082 h End Velocity6083 h Profile Acceleration Object 6086h Motion Profile Type 6086 h Motion Profile TypeInput Data Description Homing ModeOutput Data Description Internal StatesHoming Offset 607Ch Statusword 6041h of Homing Mode607C h Homing Offset ± 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 31 and 32 Reserved Methods 15 and 16 ReservedMethods 17 to 30 Homing without an Index Pulse 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 VelocityObject 60FDh Digital Inputs 60FD h Digital InputsOptional Application FE General I/O Object 60FEh Digital Outputs 60FE h Digital OutputsWarranty Excellence in Motion