Elmo DSP 402 manual 11.1

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CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

iii

11: Profiled Position		70
11.1	General Information	70
11.2	Objects	72
	Object 0x607A: Target position	72
	Object 0x607B: Position range limit	72
	Object 0x607D: Software position limit	74
	Object 0x607F: Max profile velocity	75
	Object 0x6081: Profile velocity	76
	Object 0x6082: End velocity (not yet implemented)	76
	Object 0x6083: Profile acceleration	77
	Object 0x6084: Profile deceleration	77
	Object 0x6085: Quick stop deceleration	78
	Object 0x6086: Motion profile type	78
11.3	Functional Description	79

12: Interpolated Position			81
12.1	General Information		81
12.2	Objects	...............................................................................................................................	84
	Object 0x60C0: Interpolation sub mode select		84
	Object 0x60C1: Interpolation data record		85
	Object 0x60C2: Interpolation time period		86
	Object 0x60C3: Interpolation sync definition		87
	Object 0x60C4: Interpolation data configuration		88
12.3	Functional Description		91
	12.3.1	Linear Interpolation	92
	12.3.2	Spline Interpolation	92
	12.3.3	Motion Synchronization	93

13: Profiled Velocity		94
13.1	General Information	94
13.2	Objects	96
	Object 0x6069: Velocity sensor actual value	96
	Object 0x606A: Sensor selection code	96
	Object 0x606B: Velocity demand value	97
	Object 0x606C: Velocity actual value	98
	Object 0x606D: Velocity window	98
	Object 0x606E: Velocity window time	99
	Object 0x606F: Velocity threshold	99
	Object 0x6070: Velocity threshold time	100
	Object 0x60FF: Target velocity	100

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Contents December Elmo Motion Control CANopen DSPImplementation Guide Revision History Important Notice1 Introduction Contents2 The DSP 402 Object Dictionary 3 Emergencies10.1 11.1 Appendix B Notation Index Table Appendix A Dimension Index Table14 Profiled Torque Mode 1.1Operating Principles 1 Introduction1.2Abbreviations and Terms Programming Setup Installation 1.3Elmo DocumentationSimplIQ Command Reference Manual CANopen Implementation GuideAccess 2 The DSP 402 Object DictionaryImplementation Guide NamePosition value and actual position value Homing offsetPosition encoder Motor type 4 Predefinition 3 EmergenciesObject 0x1001 Error register Default ValueStatusword 1800hIndex Object 0x6007 Abort connection option code 5.1Drive Error5 Common Entries Object 0x603F Error code 5.2Motor Data6407h Motor service period 6402h: Motor type 6403h: Motor catalog number6402h IndexObject 0x6403 Motor catalog number IndexIndex Object 0x6404 Motor manufacturer6404h Object 0x6406 Motor calibration data6502h Supported drive modes 5.3Drive Data6504h Drive manufacturer 6505h Http drive catalog addressIndex Object 0x6502 Supported drive modes6502h Object 0x6504 Drive manufacturerIndex Object 0x6505 http drive catalog address6505h Object 0x60FD Digital inputsPage 6040h controlword 6041h statusword 6 Device Control6.1Objects State Machine Figure 6-3 State Machine Block DiagramFigure 6-2 State Machine in System Context The drive function is disabled NOT READY TO SWITCH ONThe drive function is disabled READY TO SWITCH ONThe drive function is disabled The fault reaction function is being executedThe drive function is disabled Event ResetAction None Event Enable Operation command received from hostImportant Notes about State Transition Object 0x6040 Controlword Illegal TransitionIndex 6040hBits 0 - 3 and Bits 9 and Bits 4, 5, 6 andBits 11, 12, 13, 14 and Object 0x6041 StatuswordBits 0 - 3, 5 and DescriptionValue binary StateBit 5 Quick Stop Bit 4 Voltage EnabledBit 7 Warning Bit 9 Remote605C Disable operation mode 6.2Halt, Stop and Fault Objects605D Halt option code 605E Fault reaction code 605A Quick stop option codeDescription ValueObject 0x605B Shutdown option code IndexValue Object 0x605C Disable operation option codeDescription IndexIndex Object 0x605D Halt option code605Dh ValueIndex Object 0x605E Fault reaction option code605Eh Value7.1Functional Description 7 Modes of Operation7.2Objects 6060h Modes of operationDescription ValueObject 0x6061 Modes of operation display Index8.2Functions and Limits 8 Factors608Ah Position dimension index 608Ch Velocity dimension indexObject 0x607E Polarity 8.3ObjectsIndex 607EhObject 0x6089 Position notation index Object 0x608A Position dimension indexIndex 6089h608Bh Object 0x608B Velocity notation indexIndex Index Object 0x608C Velocity dimension index608Ch Object 0x608D Acceleration notation index608Eh Object 0x608E Acceleration dimension indexIndex motor revolutions Object 0x608F Position encoder resolutionIndex 608FhObject 0x6090 Velocity encoder resolution velocity encoder resolution =encoder increments / sec motor revolutions / secIndex Object 0x6093 Position factor6093h Sub-indexIndex Object 0x6094 Velocity encoder factor6094h Sub-indexObject 0x6095 Velocity factor Sub-indexIndex 6095hSub-index Sub-indexObject 0x6096 Velocity factor IndexEntry description Index Object 0x6097 Acceleration factor6097h Sub-indexThe acceleration factor is calculated according to this object regardless of the setting of any other objects, such as 0x6094 velocity encoder factor 9.1General Information 9 Homing607Ch Home offset 6098h Homing method 6099h Homing speeds 609Ah Homing accelerationName Object 0x607C Home offset 9.2ObjectsIndex 607ChIndex Object 0x6098 Homing method6098h ValueIndex Object 0x6099 Homing speeds6099h Sub-indexObject 0x609A Homing acceleration 9.3Functional DescriptionIndex 609AhError Cases 9.4DSP 402 Homing Methods 9.4.3Methods 3 and 4 Homing on the positive home switch and index pulse Page Figure 9-8 Homing on the positive home switch Figure 9-7 Homing on the positive home switch9.4.6Methods 15 and 16 Reserved 9.4.8Methods 31 and 32 Reserved10.1General Information 10 Position Control Function6065h Following error window 60F4h Following error actual valueObject 0x6062 Position demand value 10.2ObjectsIndex 6062hObject 0x6064 Position actual value Object 0x6065 Following error windowIndex 6064H6066h Object 0x6066 Following error time outIndex Index Object 0x6067 Position window6067h Object 0x6068: Position window time60FCh Object 0x60FC Position demand value - incrementsIndex 11.1General Information 11 Profiled Position607Ah Target position 607Bh Position range limitValue NameDescription Assumes target positionObject 0x607A Target position 11.2ObjectsIndex 607AhEntry description Index Object 0x607D Software position limit607Dh Sub-indexObject 0x607F Max profile velocity Sub-indexIndex 607FhIndex Object 0x6081 Profile velocity6081h Object 0x6082 End velocity not yet implementedIndex Object 0x6083 Profile acceleration6083h Object 0x6084 Profile decelerationIndex Object 0x6085 Quick stop deceleration6085h Object 0x6086 Motion profile type11.3Functional Description 5.Unless it was interrupted by a change set immediately, the next trajectory is executed as soon as a target reached is set 12.1General Information 12 Interpolated Position60C4h Interpolation data configuration 60C0h Interpolation sub mode selectInterpolation active Buffer resetInterpolation inactive Controlword of Interpolated Position mode Object 0x60C0 Interpolation sub mode select 12.2ObjectsIndex 60C0hIndex Object 0x60C1 Interpolation data record60C1h Sub-indexIndex Object 0x60C2 Interpolation time period60C2h Sub-indexObject 0x60C3 Interpolation sync definition Value Object 0x60C4 Interpolation data configurationDescription ValueSub-index Buffer strategies Sub-indexFIFO Ring buffer12.3Functional Description Page 12.3.3Motion Synchronization 13.1General Information 13 Profiled Velocity6069h Velocity sensor actual value 6060h Velocity windowControlword of the profiled velocity mode Object 0x6069 Velocity sensor actual value 13.2ObjectsIndex 6069hDescription ValueObject 0x606B Velocity demand value IndexIndex Object 0x606C Velocity actual value606Ch Object 0x606D Velocity windowIndex Object 0x606E Velocity window time606Eh Object 0x606F Velocity thresholdIndex Object 0x6070 Velocity threshold time6070h Object 0x60FF Target velocity14.1General Information 14 Profiled Torque ModeControlword of profile torque mode 14.1.1Internal statesFunction Name14.2.1Objects defined in other chapters 14.2Objects dictionary entries14.2.2Objects description Target torque reachedIndex Object 0x6072 Max torque6072h Object 0x6073 Max Current6074h Object 0x6074 Torque Demand valueIndex Index Object 0x6075 Motor Rate Current6075h Object 0x6076 Motor Rate TorqueIndex Object 0x6077 Torque Actual value6077h Object 0x6078 Current Actual valueIndex Object 0x6087 Torque slope6087h Object 0x6088 Torque profile typePhysical Dimension Appendix A Dimension Index TableDimension Index UnitSymbol Appendix B Notation Index TablePrefix Factor