Intelligent Motion Systems DSP-402 6062 h, h Position Actual Value, Position Control Function

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SECTION 8

Position Control Function

General Information

In this chapter, all parameters are described which are necessary for a closed loop position control. The control loop is fed with the position_demand_value as one of the outputs of the Trajectory Generator and with the output of the position detec- tion unit (position_actual_value) like a resolver or encoder as input parameters.

Object 6062h — Position Demand Value

This object shall provide the demanded position value. The value shall be given in motor steps.

Object Description

	Index	Name		Object Code	Data Type
	6062h	Position Demand Value		VAR	Integer 32
Entry Description

	Access	PDO Mapping	Range			Default
	r	n/a	Integer 32			n/a

Object 6063h — Position Actual Value Internal

This object shall provide the actual value of the position measurement device, which shall be one of the two input values of the closed-loop position control

Object Description

	Index	Name		Object Code	Data Type
	6063h	Position Actual Value*		VAR	Integer 32
Entry Description

	Access	PDO Mapping	Range			Default
	r	n/a	Integer 32			n/a

Object 6064h — Position Actual Value

This object represents the actual value of the position measurement device microsteps.

Object Description

	Index	Name		Object Code	Data Type
	6064h	Position Actual Value		VAR	Integer 32
Entry Description

	Access	PDO Mapping	Range			Default
	r	n/a	Integer 32			n/a

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