Elmo DSP 402 Position Control Function, 10.1General Information, 6064h Position actual value

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10: Position Control Function

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

64

10: Position Control Function

6062h: Position demand value in position units

6063h: Position actual value in increments

6064h: Position actual value

6065h: Following error window

6067h: Position window

6068h: Position window time out

60F4h: Following error actual value

60FAh: Position control effort

60FCh: Position demand value in increments

10.1General Information

This chapter describes all parameters required for 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 detection unit (position actual value) as input parameters. The behavior of the control is influenced by the control parameters. Position control parameters (PI/P) may be set using the Composer Wizard during setup.

To ensure that the physical limits of a drive are not exceeded, an absolute limit function is implemented for the position control effort. The Elmo drive implements a cascaded control loop in which the position control effort is a velocity demand value for the velocity control loop. For further information about tuning the position loop and using the Composer Wizard, refer to the SimplIQ Composer User Manual and the SimplIQ Software Manual.

The following terms are used in this chapter:

Following error:

A position actual value outside the allowed range of the following error window around a position demand value for longer than the following error timeout results in setting bit 13, following error, in the statusword.

The position following error calculates each cycle of the position control. The position demand value must be set lower than the setup value of the drive following error ER[3]. When the position following error exceeds ER[3], the motion aborts.

Position reached:

This function provides the option of defining a position range around a position demand value to be regarded as valid. If a drive position is within this area for a specified time — the position window time — the related control bit 10 target reached in the statusword is set. Bit 10 is reset to 0 when the motor is off.

The position range in the Elmo servo drive is limited to ±1 * 109 regardless of the DSP 402 maximum range.

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Contents Implementation Guide Elmo Motion Control CANopen DSPDecember Important Notice Revision History2 The DSP 402 Object Dictionary Contents1 Introduction 3 Emergencies10.1 11.1 14 Profiled Torque Mode Appendix A Dimension Index TableAppendix B Notation Index Table 1 Introduction 1.1Operating Principles1.2Abbreviations and Terms SimplIQ Command Reference Manual 1.3Elmo DocumentationProgramming Setup Installation CANopen Implementation GuideImplementation Guide 2 The DSP 402 Object DictionaryAccess NamePosition Homing offset value and actual position valuePosition encoder Motor type Object 0x1001 Error register 3 Emergencies4 Predefinition Default Value1800h StatuswordIndex 5 Common Entries 5.1Drive ErrorObject 0x6007 Abort connection option code 6407h Motor service period 5.2Motor DataObject 0x603F Error code 6402h: Motor type 6403h: Motor catalog numberObject 0x6403 Motor catalog number Index6402h Index6404h Object 0x6404 Motor manufacturerIndex Object 0x6406 Motor calibration data6504h Drive manufacturer 5.3Drive Data6502h Supported drive modes 6505h Http drive catalog address6502h Object 0x6502 Supported drive modesIndex Object 0x6504 Drive manufacturer6505h Object 0x6505 http drive catalog addressIndex Object 0x60FD Digital inputsPage 6.1Objects 6 Device Control6040h controlword 6041h statusword Figure 6-2 State Machine in System Context Figure 6-3 State Machine Block DiagramState Machine 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 ResetEvent Enable Operation command received from host Action NoneImportant Notes about State Transition Index Illegal TransitionObject 0x6040 Controlword 6040hBits 0 - 3 and Bits 11, 12, 13, 14 and Bits 4, 5, 6 andBits 9 and Object 0x6041 StatuswordValue binary DescriptionBits 0 - 3, 5 and StateBit 7 Warning Bit 4 Voltage EnabledBit 5 Quick Stop Bit 9 Remote605D Halt option code 605E Fault reaction code 6.2Halt, Stop and Fault Objects605C Disable operation mode 605A Quick stop option codeObject 0x605B Shutdown option code ValueDescription IndexDescription Object 0x605C Disable operation option codeValue Index605Dh Object 0x605D Halt option codeIndex Value605Eh Object 0x605E Fault reaction option codeIndex Value7.2Objects 7 Modes of Operation7.1Functional Description 6060h Modes of operationObject 0x6061 Modes of operation display ValueDescription Index608Ah Position dimension index 8 Factors8.2Functions and Limits 608Ch Velocity dimension indexIndex 8.3ObjectsObject 0x607E Polarity 607EhIndex Object 0x608A Position dimension indexObject 0x6089 Position notation index 6089hIndex Object 0x608B Velocity notation index608Bh 608Ch Object 0x608C Velocity dimension indexIndex Object 0x608D Acceleration notation indexIndex Object 0x608E Acceleration dimension index608Eh Index Object 0x608F Position encoder resolutionmotor revolutions 608Fhencoder increments / sec velocity encoder resolution =Object 0x6090 Velocity encoder resolution motor revolutions / sec6093h Object 0x6093 Position factorIndex Sub-index6094h Object 0x6094 Velocity encoder factorIndex Sub-indexIndex Sub-indexObject 0x6095 Velocity factor 6095hObject 0x6096 Velocity factor Sub-indexSub-index IndexEntry description 6097h Object 0x6097 Acceleration factorIndex Sub-indexThe acceleration factor is calculated according to this object regardless of the setting of any other objects, such as 0x6094 velocity encoder factor 607Ch Home offset 6098h Homing method 9 Homing9.1General Information 6099h Homing speeds 609Ah Homing accelerationName Index 9.2ObjectsObject 0x607C Home offset 607Ch6098h Object 0x6098 Homing methodIndex Value6099h Object 0x6099 Homing speedsIndex Sub-indexIndex 9.3Functional DescriptionObject 0x609A Homing acceleration 609AhError Cases 9.4DSP 402 Homing Methods 9.4.3Methods 3 and 4 Homing on the positive home switch and index pulse Page 9.4.6Methods 15 and 16 Reserved Figure 9-7 Homing on the positive home switchFigure 9-8 Homing on the positive home switch 9.4.8Methods 31 and 32 Reserved6065h Following error window 10 Position Control Function10.1General Information 60F4h Following error actual valueIndex 10.2ObjectsObject 0x6062 Position demand value 6062hIndex Object 0x6065 Following error windowObject 0x6064 Position actual value 6064HIndex Object 0x6066 Following error time out6066h 6067h Object 0x6067 Position windowIndex Object 0x6068: Position window timeIndex Object 0x60FC Position demand value - increments60FCh 607Ah Target position 11 Profiled Position11.1General Information 607Bh Position range limitDescription NameValue Assumes target positionIndex 11.2ObjectsObject 0x607A Target position 607AhEntry description 607Dh Object 0x607D Software position limitIndex Sub-indexIndex Sub-indexObject 0x607F Max profile velocity 607Fh6081h Object 0x6081 Profile velocityIndex Object 0x6082 End velocity not yet implemented6083h Object 0x6083 Profile accelerationIndex Object 0x6084 Profile deceleration6085h Object 0x6085 Quick stop decelerationIndex 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 60C4h Interpolation data configuration 12 Interpolated Position12.1General Information 60C0h Interpolation sub mode selectInterpolation inactive Buffer resetInterpolation active Controlword of Interpolated Position mode Index 12.2ObjectsObject 0x60C0 Interpolation sub mode select 60C0h60C1h Object 0x60C1 Interpolation data recordIndex Sub-index60C2h Object 0x60C2 Interpolation time periodIndex Sub-indexObject 0x60C3 Interpolation sync definition Description Object 0x60C4 Interpolation data configurationValue ValueSub-index FIFO Sub-indexBuffer strategies Ring buffer12.3Functional Description Page 12.3.3Motion Synchronization 6069h Velocity sensor actual value 13 Profiled Velocity13.1General Information 6060h Velocity windowControlword of the profiled velocity mode Index 13.2ObjectsObject 0x6069 Velocity sensor actual value 6069hObject 0x606B Velocity demand value ValueDescription Index606Ch Object 0x606C Velocity actual valueIndex Object 0x606D Velocity window606Eh Object 0x606E Velocity window timeIndex Object 0x606F Velocity threshold6070h Object 0x6070 Velocity threshold timeIndex Object 0x60FF Target velocity14 Profiled Torque Mode 14.1General InformationFunction 14.1.1Internal statesControlword of profile torque mode Name14.2.2Objects description 14.2Objects dictionary entries14.2.1Objects defined in other chapters Target torque reached6072h Object 0x6072 Max torqueIndex Object 0x6073 Max CurrentIndex Object 0x6074 Torque Demand value6074h 6075h Object 0x6075 Motor Rate CurrentIndex Object 0x6076 Motor Rate Torque6077h Object 0x6077 Torque Actual valueIndex Object 0x6078 Current Actual value6087h Object 0x6087 Torque slopeIndex Object 0x6088 Torque profile typeDimension Index Appendix A Dimension Index TablePhysical Dimension UnitPrefix Appendix B Notation Index TableSymbol Factor