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Elmo Motion Control CANopen DSP, Implementation Guide, December
Models:
DSP 402
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116 pages
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Install
Error messages
Object 0x1001 Error register
Symbol
Dimension
Event Reset
Access
velocity encoder resolution =
The drive function is disabled
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Elmo Motion Control
CANopen DSP 402
Implementation Guide
December 2004
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Contents
Implementation Guide
Elmo Motion Control CANopen DSP
December
Revision History
Important Notice
1 Introduction
Contents
2 The DSP 402 Object Dictionary
3 Emergencies
10.1
11.1
14 Profiled Torque Mode
Appendix A Dimension Index Table
Appendix B Notation Index Table
1.1Operating Principles
1 Introduction
1.2Abbreviations and Terms
Programming Setup Installation
1.3Elmo Documentation
SimplIQ Command Reference Manual
CANopen Implementation Guide
Access
2 The DSP 402 Object Dictionary
Implementation Guide
Name
Position
value and actual position value
Homing offset
Position encoder
Motor type
4 Predefinition
3 Emergencies
Object 0x1001 Error register
Default Value
Statusword
1800h
Index
5 Common Entries
5.1Drive Error
Object 0x6007 Abort connection option code
Object 0x603F Error code
5.2Motor Data
6407h Motor service period
6402h: Motor type 6403h: Motor catalog number
6402h
Index
Object 0x6403 Motor catalog number
Index
Index
Object 0x6404 Motor manufacturer
6404h
Object 0x6406 Motor calibration data
6502h Supported drive modes
5.3Drive Data
6504h Drive manufacturer
6505h Http drive catalog address
Index
Object 0x6502 Supported drive modes
6502h
Object 0x6504 Drive manufacturer
Index
Object 0x6505 http drive catalog address
6505h
Object 0x60FD Digital inputs
Page
6.1Objects
6 Device Control
6040h controlword 6041h statusword
Figure 6-2 State Machine in System Context
Figure 6-3 State Machine Block Diagram
State Machine
The drive function is disabled
NOT READY TO SWITCH ON
The drive function is disabled
READY TO SWITCH ON
The drive function is disabled
The fault reaction function is being executed
The drive function is disabled
Event Reset
Action None
Event Enable Operation command received from host
Important Notes about State Transition
Object 0x6040 Controlword
Illegal Transition
Index
6040h
Bits 0 - 3 and
Bits 9 and
Bits 4, 5, 6 and
Bits 11, 12, 13, 14 and
Object 0x6041 Statusword
Bits 0 - 3, 5 and
Description
Value binary
State
Bit 5 Quick Stop
Bit 4 Voltage Enabled
Bit 7 Warning
Bit 9 Remote
605C Disable operation mode
6.2Halt, Stop and Fault Objects
605D Halt option code 605E Fault reaction code
605A Quick stop option code
Description
Value
Object 0x605B Shutdown option code
Index
Value
Object 0x605C Disable operation option code
Description
Index
Index
Object 0x605D Halt option code
605Dh
Value
Index
Object 0x605E Fault reaction option code
605Eh
Value
7.1Functional Description
7 Modes of Operation
7.2Objects
6060h Modes of operation
Description
Value
Object 0x6061 Modes of operation display
Index
8.2Functions and Limits
8 Factors
608Ah Position dimension index
608Ch Velocity dimension index
Object 0x607E Polarity
8.3Objects
Index
607Eh
Object 0x6089 Position notation index
Object 0x608A Position dimension index
Index
6089h
Index
Object 0x608B Velocity notation index
608Bh
Index
Object 0x608C Velocity dimension index
608Ch
Object 0x608D Acceleration notation index
Index
Object 0x608E Acceleration dimension index
608Eh
motor revolutions
Object 0x608F Position encoder resolution
Index
608Fh
Object 0x6090 Velocity encoder resolution
velocity encoder resolution =
encoder increments / sec
motor revolutions / sec
Index
Object 0x6093 Position factor
6093h
Sub-index
Index
Object 0x6094 Velocity encoder factor
6094h
Sub-index
Object 0x6095 Velocity factor
Sub-index
Index
6095h
Sub-index
Sub-index
Object 0x6096 Velocity factor
Index
Entry description
Index
Object 0x6097 Acceleration factor
6097h
Sub-index
The 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 Homing
607Ch Home offset 6098h Homing method
6099h Homing speeds 609Ah Homing acceleration
Name
Object 0x607C Home offset
9.2Objects
Index
607Ch
Index
Object 0x6098 Homing method
6098h
Value
Index
Object 0x6099 Homing speeds
6099h
Sub-index
Object 0x609A Homing acceleration
9.3Functional Description
Index
609Ah
Error 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 switch
9.4.6Methods 15 and 16 Reserved
9.4.8Methods 31 and 32 Reserved
10.1General Information
10 Position Control Function
6065h Following error window
60F4h Following error actual value
Object 0x6062 Position demand value
10.2Objects
Index
6062h
Object 0x6064 Position actual value
Object 0x6065 Following error window
Index
6064H
Index
Object 0x6066 Following error time out
6066h
Index
Object 0x6067 Position window
6067h
Object 0x6068: Position window time
Index
Object 0x60FC Position demand value - increments
60FCh
11.1General Information
11 Profiled Position
607Ah Target position
607Bh Position range limit
Value
Name
Description
Assumes target position
Object 0x607A Target position
11.2Objects
Index
607Ah
Entry description
Index
Object 0x607D Software position limit
607Dh
Sub-index
Object 0x607F Max profile velocity
Sub-index
Index
607Fh
Index
Object 0x6081 Profile velocity
6081h
Object 0x6082 End velocity not yet implemented
Index
Object 0x6083 Profile acceleration
6083h
Object 0x6084 Profile deceleration
Index
Object 0x6085 Quick stop deceleration
6085h
Object 0x6086 Motion profile type
11.3Functional 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 Position
60C4h Interpolation data configuration
60C0h Interpolation sub mode select
Interpolation inactive
Buffer reset
Interpolation active
Controlword of Interpolated Position mode
Object 0x60C0 Interpolation sub mode select
12.2Objects
Index
60C0h
Index
Object 0x60C1 Interpolation data record
60C1h
Sub-index
Index
Object 0x60C2 Interpolation time period
60C2h
Sub-index
Object 0x60C3 Interpolation sync definition
Value
Object 0x60C4 Interpolation data configuration
Description
Value
Sub-index
Buffer strategies
Sub-index
FIFO
Ring buffer
12.3Functional Description
Page
12.3.3Motion Synchronization
13.1General Information
13 Profiled Velocity
6069h Velocity sensor actual value
6060h Velocity window
Controlword of the profiled velocity mode
Object 0x6069 Velocity sensor actual value
13.2Objects
Index
6069h
Description
Value
Object 0x606B Velocity demand value
Index
Index
Object 0x606C Velocity actual value
606Ch
Object 0x606D Velocity window
Index
Object 0x606E Velocity window time
606Eh
Object 0x606F Velocity threshold
Index
Object 0x6070 Velocity threshold time
6070h
Object 0x60FF Target velocity
14.1General Information
14 Profiled Torque Mode
Controlword of profile torque mode
14.1.1Internal states
Function
Name
14.2.1Objects defined in other chapters
14.2Objects dictionary entries
14.2.2Objects description
Target torque reached
Index
Object 0x6072 Max torque
6072h
Object 0x6073 Max Current
Index
Object 0x6074 Torque Demand value
6074h
Index
Object 0x6075 Motor Rate Current
6075h
Object 0x6076 Motor Rate Torque
Index
Object 0x6077 Torque Actual value
6077h
Object 0x6078 Current Actual value
Index
Object 0x6087 Torque slope
6087h
Object 0x6088 Torque profile type
Physical Dimension
Appendix A Dimension Index Table
Dimension Index
Unit
Symbol
Appendix B Notation Index Table
Prefix
Factor
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