| List of Figures |
Figure 1.1: Message Format | 3 |
Figure 1.2: MDrivePlus Architecture | 3 |
Figure 1.3: Functional Architecture | 4 |
Figure 1.4: MDrivePlus CANopen Object Dictionary | 5 |
Figure 2.1: PDO Producer – Consumer Relationship | 9 |
Figure 2.2: SDO Client – Server Relationship | 9 |
Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2 | 10 |
Figure 3.1: Input Filter Mask | 18 |
Figure 4.1: Device Control | 25 |
Figure 4.2: State Machine States/Transitions Block Diagram | 27 |
Figure 4.3: Statusword Bits | 29 |
Figure 6.1: Trajectory Generator Block Diagram | 35 |
Figure 6.2: | 36 |
Figure 6.3: Single | 37 |
Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1 | 37 |
Figure 7.1: The Homing Function | 41 |
Figure 7.2: Home Offset | 42 |
Figure 7.3: Homing on the Negative Limit and Index Pulse | 43 |
Figure 7.4: Homing on the Positive Limit and Index Pulse | 44 |
Figure 7.5: Homing on the Positive Home Switch and Index Pulse | 44 |
Figure 7.7: Homing on the Home Switch and Index Pulse - Positive Initial Move | 45 |
Figure 7.6: Homing on the Negative Home Switch and Index Pulse | 45 |
Figure 7.8: Homing on the Home Switch and Index Pulse - Negative Initial Move | 46 |
Figure 7.9: Homing without an Index Pulse | 46 |
Figure 7.10: Homing on the Index Pulse | 47 |
Figure 10.1: Object 60FD Structure | 53 |
Figure 10.2: Object 60FE Structure | 54 |
| List of Tables |
Table 1.1: Object Dictionary | 5 |
Table 4.1: State Machine States | 25 |
Table 4.2: State Machine Transitions | 26 |
Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant) 28 | |
Table 4.4: MDrivePlus CANopen Operation Modes | 28 |
Table 4.5: Device State Bits for Statusword | 29 |
Table 6.1: Profile Position Mode Bits of Controlword | 37 |
Table 8.1: Profile Velocity Mode Bits of Controlword | 51 |
Table 8.2: Profile Velocity Mode Bits of Statusword | 51 |