Elmo Motion Control CANopen DSP, December

Elmo Motion Control

CANopen DSP 402

Implementation Guide

December 2004

Page 1

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Elmo DSP 402 manual Elmo Motion Control CANopen DSP, Implementation Guide, December

Contents

Implementation Guide Elmo Motion Control CANopen DSPDecember Revision History Important Notice 1 Introduction Contents2 The DSP 402 Object Dictionary 3 Emergencies 10.1 11.1 14 Profiled Torque Mode Appendix A Dimension Index TableAppendix B Notation Index Table 1.1Operating Principles 1 Introduction 1.2Abbreviations and Terms Programming Setup Installation 1.3Elmo DocumentationSimplIQ Command Reference Manual CANopen Implementation Guide Access 2 The DSP 402 Object DictionaryImplementation Guide Name Position value and actual position value Homing offset Position encoder Motor type 4 Predefinition 3 EmergenciesObject 0x1001 Error register Default Value Statusword 1800h Index 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 number 6402h IndexObject 0x6403 Motor catalog number Index Index Object 0x6404 Motor manufacturer6404h Object 0x6406 Motor calibration data 6502h Supported drive modes 5.3Drive Data6504h Drive manufacturer 6505h Http drive catalog address Index Object 0x6502 Supported drive modes6502h Object 0x6504 Drive manufacturer Index 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 ON The drive function is disabled The fault reaction function is being executedThe drive function is disabled Event Reset Action None Event Enable Operation command received from host Important Notes about State Transition Object 0x6040 Controlword Illegal TransitionIndex 6040h Bits 0 - 3 and Bits 9 and Bits 4, 5, 6 andBits 11, 12, 13, 14 and Object 0x6041 Statusword Bits 0 - 3, 5 and DescriptionValue binary State Bit 5 Quick Stop Bit 4 Voltage EnabledBit 7 Warning Bit 9 Remote 605C Disable operation mode 6.2Halt, Stop and Fault Objects605D Halt option code 605E Fault reaction code 605A Quick stop option code Description ValueObject 0x605B Shutdown option code Index Value Object 0x605C Disable operation option codeDescription Index Index Object 0x605D Halt option code605Dh Value Index Object 0x605E Fault reaction option code605Eh Value 7.1Functional Description 7 Modes of Operation7.2Objects 6060h Modes of operation Description ValueObject 0x6061 Modes of operation display Index 8.2Functions and Limits 8 Factors608Ah Position dimension index 608Ch Velocity dimension index Object 0x607E Polarity 8.3ObjectsIndex 607Eh Object 0x6089 Position notation index Object 0x608A Position dimension indexIndex 6089h Index Object 0x608B Velocity notation index608Bh Index Object 0x608C Velocity dimension index608Ch Object 0x608D Acceleration notation index Index Object 0x608E Acceleration dimension index608Eh motor revolutions Object 0x608F Position encoder resolutionIndex 608Fh Object 0x6090 Velocity encoder resolution velocity encoder resolution =encoder increments / sec motor revolutions / sec Index Object 0x6093 Position factor6093h Sub-index Index Object 0x6094 Velocity encoder factor6094h Sub-index Object 0x6095 Velocity factor Sub-indexIndex 6095h Sub-index Sub-indexObject 0x6096 Velocity factor Index Entry description Index Object 0x6097 Acceleration factor6097h 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 Homing607Ch Home offset 6098h Homing method 6099h Homing speeds 609Ah Homing acceleration Name Object 0x607C Home offset 9.2ObjectsIndex 607Ch Index Object 0x6098 Homing method6098h Value Index Object 0x6099 Homing speeds6099h Sub-index Object 0x609A Homing acceleration 9.3Functional DescriptionIndex 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 switch9.4.6Methods 15 and 16 Reserved 9.4.8Methods 31 and 32 Reserved 10.1General Information 10 Position Control Function6065h Following error window 60F4h Following error actual value Object 0x6062 Position demand value 10.2ObjectsIndex 6062h Object 0x6064 Position actual value Object 0x6065 Following error windowIndex 6064H Index Object 0x6066 Following error time out6066h Index Object 0x6067 Position window6067h Object 0x6068: Position window time Index Object 0x60FC Position demand value - increments60FCh 11.1General Information 11 Profiled Position607Ah Target position 607Bh Position range limit Value NameDescription Assumes target position Object 0x607A Target position 11.2ObjectsIndex 607Ah Entry description Index Object 0x607D Software position limit607Dh Sub-index Object 0x607F Max profile velocity Sub-indexIndex 607Fh Index Object 0x6081 Profile velocity6081h Object 0x6082 End velocity not yet implemented Index Object 0x6083 Profile acceleration6083h Object 0x6084 Profile deceleration Index Object 0x6085 Quick stop deceleration6085h 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 Position60C4h Interpolation data configuration 60C0h Interpolation sub mode select Interpolation inactive Buffer resetInterpolation active Controlword of Interpolated Position mode Object 0x60C0 Interpolation sub mode select 12.2ObjectsIndex 60C0h Index Object 0x60C1 Interpolation data record60C1h Sub-index Index Object 0x60C2 Interpolation time period60C2h Sub-index Object 0x60C3 Interpolation sync definition Value Object 0x60C4 Interpolation data configurationDescription Value Sub-index Buffer strategies Sub-indexFIFO Ring buffer 12.3Functional Description Page 12.3.3Motion Synchronization 13.1General Information 13 Profiled Velocity6069h Velocity sensor actual value 6060h Velocity window Controlword of the profiled velocity mode Object 0x6069 Velocity sensor actual value 13.2ObjectsIndex 6069h Description ValueObject 0x606B Velocity demand value Index Index Object 0x606C Velocity actual value606Ch Object 0x606D Velocity window Index Object 0x606E Velocity window time606Eh Object 0x606F Velocity threshold Index Object 0x6070 Velocity threshold time6070h Object 0x60FF Target velocity 14.1General Information 14 Profiled Torque Mode Controlword of profile torque mode 14.1.1Internal statesFunction Name 14.2.1Objects defined in other chapters 14.2Objects dictionary entries14.2.2Objects description Target torque reached Index Object 0x6072 Max torque6072h Object 0x6073 Max Current Index Object 0x6074 Torque Demand value6074h Index Object 0x6075 Motor Rate Current6075h Object 0x6076 Motor Rate Torque Index Object 0x6077 Torque Actual value6077h Object 0x6078 Current Actual value Index Object 0x6087 Torque slope6087h Object 0x6088 Torque profile type Physical Dimension Appendix A Dimension Index TableDimension Index Unit Symbol Appendix B Notation Index TablePrefix Factor