Elmo DSP 402 manual 12.3Functional Description

Page 97

12.3Functional Description

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

91

12.3Functional Description

In Interpolated Position mode, the drive executes a time-synchronized motion path. The user specifies the value of the reference signal at an initial time, and at fixed-time intervals from then on (as in the following figure).

P4

	P1		P3
P0	P1
P0		P2
		P2
∆T	∆T	∆T	∆T
T start	Time

Figure 9: Interpolated Motion

In the figure, the time interval ∆T is set by the object 0x60c2, in milliseconds. The data records P0,P1,P2,… (object 0x60C1) to define the motion path data relating to the times

Tstart ,Tstart + ∆,Tstart + 2∆,...

The motion path is synchronized to the CAN microsecond timer, as set and corrected by the SYNC-Time stamp mechanism.

The user must specify the data records P0,P1,P2,…fast enough – at an average rate of at least one record per ∆T . The drive can store up to 64 records, so that the path may be programmed in bursts in order to relax the feeding real-time requirements.

In order to enter IP mode, use the controlword (0x6040) to start the motor, and then use the modes of operation(0x6060) object to select IP mode.

You can monitor the mode using the statusword (0x6041) and modes of operation display (0x6061).

The interpolation sub-mode in object 0x60C0 determines the type of interpolation performed.

The Elmo drive supports two types of interpolation:

Linear interpolation (default)

Cubic spline interpolation

The structure of the 0x60C1 object depends on the interpolation sub-modes. Refer to the definition of 0x60C1 to learn more about sub-mode switching.

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Contents Implementation Guide Elmo Motion Control CANopen DSPDecember Revision History Important Notice1 Introduction Contents2 The DSP 402 Object Dictionary 3 Emergencies10.1 11.1 14 Profiled Torque Mode Appendix A Dimension Index TableAppendix B Notation Index Table 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 5 Common Entries 5.1Drive ErrorObject 0x6007 Abort connection option code 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 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 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 6089hIndex Object 0x608B Velocity notation index608Bh Index Object 0x608C Velocity dimension index608Ch Object 0x608D Acceleration notation indexIndex Object 0x608E Acceleration dimension index608Eh 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 6064HIndex Object 0x6066 Following error time out6066h Index Object 0x6067 Position window6067h Object 0x6068: Position window timeIndex Object 0x60FC Position demand value - increments60FCh 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 inactive Buffer resetInterpolation active 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 CurrentIndex Object 0x6074 Torque Demand value6074h 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