Intelligent Motion Systems DSP-402 manual Excellence in Motion

Page 64

 

 

 

 

 

 

intelligent motion systems, INC.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Excellence in Motion

www.imshome.com

 

 

 

370 N. Main St., P.O. Box 457

U.S.A. Sales offices

IMS EUROPE GmbH

IMS UK Ltd.

Marlborough, CT 06447 U.S.A.

Eastern Region

 

Hahnstrasse 10, VS-Schwenningen

25 Barnes Wallis Road

Phone: 860/295-6102

Phone: 862/208-9742

Germany D-78054

Segensworth East

Fax: 860/295-6107

Fax: 973/661-1275

Phone: +49/7720/94138-0

Fareham, Hampshire PO15 5TT

E-mail: info@imshome.com

E-mail: jroake@imshome.com

Fax: +49/7720/94138-2

Phone: +44/0 1489-889825

 

 

 

 

 

 

Central Region

 

E-mail: info@imseuropehome.com

Fax: +44/0 1489-889857

TECHNICAL SUPPORT

Phone: 260/402-6016

European Sales Management

E-mail: mcheckley@imshome.com

 

Phone: 860/295-6102 (USA)

Fax: 419/858-0375

4 Quai Des Etroits

IMS ASIA PACIFIC OFFICE

 

Fax: 860/295-6107

E-mail: dwaksman@imshome.com

69005 Lyon, France

 

E-mail: etech@imshome.com

Western Region

 

Phone: +33/4 7256 5113

30 Raffles Pl., 23-00 Caltex House

Germany/UK

Phone: 602/578-7201

Fax: +33/4 7838 1537

Singapore 048622

 

Phone: +49/7720/94138-0

E-mail: dweisenberger@imshome.com

E-mail: bmartinez@imshome.com

Phone: +65/6233/6846

 

Fax: +49/7720/94138-2

IMS MOTORS DIVISION

Germany Sales

Fax: +65/6233/5044

 

E-mail: mweber@imshome.com

Phone: +49/35205/4587-8

E-mail: wllee@imshome.com

 

 

 

 

 

 

105 Copperwood Way, Suite H

Fax: +49/35205/4587-9

DISTRIBUTED BY:

 

 

 

 

 

 

Oceanside, CA 92054

E-mail: hruhland@imshome.com

 

 

 

 

 

 

Phone: 760/966-3162

Germany/UK Technical Support

 

 

 

 

 

 

 

 

Fax: 760/966-3165

Phone: +49/7720/94138-0

 

 

 

 

 

 

 

 

E-mail: motors@imshome.com

Fax: +49/7720/94138-2

 

 

 

 

 

 

 

 

 

 

E-mail: mweber@imshome.com

 

 

© 2006 Intelligent Motion Systems, Inc. All Rights Reserved.

REV020507

 

 

 

 

IMS Product Disclaimer and most recent product information at www.imshome.com.

 

 

 

 

Image 64
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 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 AttributesDefault Mapping Example Consumer PDO PDO Mapping Procedure Consumer PDOPDO Mapping 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 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 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 Unsigned16 6040 hObject 6040h Controlword 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 6061h Modes of Operation Display 6061 h Mode of Operation DisplayObject 6502h Supported Drive Modes = 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=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 TypeHoming Mode Input Data DescriptionOutput Data Description Internal States607C h Homing Offset Statusword 6041h of Homing ModeHoming Offset 607Ch 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 17 to 30 Homing without an Index Pulse Methods 15 and 16 ReservedMethods 31 and 32 Reserved 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 VelocityOptional Application FE General I/O 60FD h Digital InputsObject 60FDh Digital Inputs 60FE h Digital Outputs Object 60FEh Digital OutputsWarranty Excellence in Motion