14.1.1Internal states, Function, Name, Value | Elmo DSP 402 specs

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

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The torque demand, torque actual value, current actual value may be available to the user as parameters, if they are monitored.

Elmo’s SimplIQ drives support Profile Torque mode when selected. When Profile Torque objects are set, some internal commands are affected. These internal commands remain even after another operating mode is chosen. The following list shows the objects that are affected, more information about these commands is available in the SimplIQ Command Reference manual:

Max Torque [0x6072] : Set PL[1]

Max Current [0x6073] : Set PL[1]

Torque Demand Value [0x6074] : Reflect DV[1]

Motor Rated Current [0x6075] : Set CL[1]

Torque Actual Value [0x6077] : Reflect IQ

Current Actual Value [0x6078] : Reflect IQ

Notes:

Because DSP402 defines all relevant torque and current as relative to rate values, motor current and motor torque are, herein, considered to be the same.

The following objects imitate each other and the last value entered is valid:

0x6072, 0x6073 for reference.

0x6077, 0x6078 for feedback.

14.1.1Internal states

Controlword of profile torque mode

Bit	Function
0…3	Described in Device Control
4…6	Reserved
7	Described in Device Control
8	Halt
9…15	Described in Device Control

Name	Value	Description
Halt	0	Execute the motion.
	1	Stop axle.

Image 108

Contents

Elmo Motion Control CANopen DSP Implementation GuideDecember Important Notice Revision History Contents 1 Introduction2 The DSP 402 Object Dictionary 3 Emergencies 10.1 11.1 Appendix A Dimension Index Table 14 Profiled Torque ModeAppendix B Notation Index Table 1 Introduction 1.1Operating Principles 1.2Abbreviations and Terms 1.3Elmo Documentation Programming Setup InstallationSimplIQ Command Reference Manual CANopen Implementation Guide 2 The DSP 402 Object Dictionary AccessImplementation Guide Name Position Homing offset value and actual position value Position encoder Motor type 3 Emergencies 4 PredefinitionObject 0x1001 Error register Default Value 1800h Statusword Index 5.1Drive Error 5 Common EntriesObject 0x6007 Abort connection option code 5.2Motor Data Object 0x603F Error code6407h Motor service period 6402h: Motor type 6403h: Motor catalog number Index 6402hObject 0x6403 Motor catalog number Index Object 0x6404 Motor manufacturer Index6404h Object 0x6406 Motor calibration data 5.3Drive Data 6502h Supported drive modes6504h Drive manufacturer 6505h Http drive catalog address Object 0x6502 Supported drive modes Index6502h Object 0x6504 Drive manufacturer Object 0x6505 http drive catalog address Index6505h Object 0x60FD Digital inputsPage 6 Device Control 6.1Objects6040h controlword 6041h statusword Figure 6-3 State Machine Block Diagram Figure 6-2 State Machine in System ContextState Machine NOT READY TO SWITCH ON The drive function is disabledThe drive function is disabled READY TO SWITCH ON The fault reaction function is being executed The drive function is disabledThe drive function is disabled Event Reset Event Enable Operation command received from host Action None Important Notes about State Transition Illegal Transition Object 0x6040 ControlwordIndex 6040h Bits 0 - 3 and Bits 4, 5, 6 and Bits 9 andBits 11, 12, 13, 14 and Object 0x6041 Statusword Description Bits 0 - 3, 5 andValue binary State Bit 4 Voltage Enabled Bit 5 Quick StopBit 7 Warning Bit 9 Remote 6.2Halt, Stop and Fault Objects 605C Disable operation mode605D Halt option code 605E Fault reaction code 605A Quick stop option code Value DescriptionObject 0x605B Shutdown option code Index Object 0x605C Disable operation option code ValueDescription Index Object 0x605D Halt option code Index605Dh Value Object 0x605E Fault reaction option code Index605Eh Value 7 Modes of Operation 7.1Functional Description7.2Objects 6060h Modes of operation Value DescriptionObject 0x6061 Modes of operation display Index 8 Factors 8.2Functions and Limits608Ah Position dimension index 608Ch Velocity dimension index 8.3Objects Object 0x607E PolarityIndex 607Eh Object 0x608A Position dimension index Object 0x6089 Position notation indexIndex 6089h Object 0x608B Velocity notation index Index608Bh Object 0x608C Velocity dimension index Index608Ch Object 0x608D Acceleration notation index Object 0x608E Acceleration dimension index Index608Eh Object 0x608F Position encoder resolution motor revolutionsIndex 608Fh velocity encoder resolution = Object 0x6090 Velocity encoder resolutionencoder increments / sec motor revolutions / sec Object 0x6093 Position factor Index6093h Sub-index Object 0x6094 Velocity encoder factor Index6094h Sub-index Sub-index Object 0x6095 Velocity factorIndex 6095h Sub-index Sub-indexObject 0x6096 Velocity factor Index Entry description Object 0x6097 Acceleration factor Index6097h 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 Homing 9.1General Information607Ch Home offset 6098h Homing method 6099h Homing speeds 609Ah Homing acceleration Name 9.2Objects Object 0x607C Home offsetIndex 607Ch Object 0x6098 Homing method Index6098h Value Object 0x6099 Homing speeds Index6099h Sub-index 9.3Functional Description Object 0x609A Homing accelerationIndex 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 9-7 Homing on the positive home switch Figure 9-8 Homing on the positive home switch9.4.6Methods 15 and 16 Reserved 9.4.8Methods 31 and 32 Reserved 10 Position Control Function 10.1General Information6065h Following error window 60F4h Following error actual value 10.2Objects Object 0x6062 Position demand valueIndex 6062h Object 0x6065 Following error window Object 0x6064 Position actual valueIndex 6064H Object 0x6066 Following error time out Index6066h Object 0x6067 Position window Index6067h Object 0x6068: Position window time Object 0x60FC Position demand value - increments Index60FCh 11 Profiled Position 11.1General Information607Ah Target position 607Bh Position range limit Name ValueDescription Assumes target position 11.2Objects Object 0x607A Target positionIndex 607Ah Entry description Object 0x607D Software position limit Index607Dh Sub-index Sub-index Object 0x607F Max profile velocityIndex 607Fh Object 0x6081 Profile velocity Index6081h Object 0x6082 End velocity not yet implemented Object 0x6083 Profile acceleration Index6083h Object 0x6084 Profile deceleration Object 0x6085 Quick stop deceleration Index6085h 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 Interpolated Position 12.1General Information60C4h Interpolation data configuration 60C0h Interpolation sub mode select Buffer reset Interpolation inactiveInterpolation active Controlword of Interpolated Position mode 12.2Objects Object 0x60C0 Interpolation sub mode selectIndex 60C0h Object 0x60C1 Interpolation data record Index60C1h Sub-index Object 0x60C2 Interpolation time period Index60C2h Sub-index Object 0x60C3 Interpolation sync definition Object 0x60C4 Interpolation data configuration ValueDescription Value Sub-index Sub-index Buffer strategiesFIFO Ring buffer 12.3Functional Description Page 12.3.3Motion Synchronization 13 Profiled Velocity 13.1General Information6069h Velocity sensor actual value 6060h Velocity window Controlword of the profiled velocity mode 13.2Objects Object 0x6069 Velocity sensor actual valueIndex 6069h Value DescriptionObject 0x606B Velocity demand value Index Object 0x606C Velocity actual value Index606Ch Object 0x606D Velocity window Object 0x606E Velocity window time Index606Eh Object 0x606F Velocity threshold Object 0x6070 Velocity threshold time Index6070h Object 0x60FF Target velocity 14 Profiled Torque Mode 14.1General Information 14.1.1Internal states Controlword of profile torque modeFunction Name 14.2Objects dictionary entries 14.2.1Objects defined in other chapters14.2.2Objects description Target torque reached Object 0x6072 Max torque Index6072h Object 0x6073 Max Current Object 0x6074 Torque Demand value Index6074h Object 0x6075 Motor Rate Current Index6075h Object 0x6076 Motor Rate Torque Object 0x6077 Torque Actual value Index6077h Object 0x6078 Current Actual value Object 0x6087 Torque slope Index6087h Object 0x6088 Torque profile type Appendix A Dimension Index Table Physical DimensionDimension Index Unit Appendix B Notation Index Table SymbolPrefix Factor