Modes of Operation, 7.1Functional Description | Elmo DSP 402

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

36

7: Modes of Operation

6060h: Modes of operation

6061h: Modes of operation display

7.1Functional Description

The drive behavior depends on the activated modes of operation. Different modes can be implemented, although not in parallel. Therefore, the user must activate the required function by selecting a mode of operation. The modes-of-operation variables are initialized at reset to “no mode” (value -1). Modes can be set in any state, including OPERATION ENABLE. At OPERATION ENABLE, the motor stands still until an explicit motion command is received via a control word. Bit 10 in the statusword (Target reached) is set.

When switching modes in OPERATION ENABLE, the transition proceeds as if bit 8 (Halt) in the controlword has been set. The motion first stops according to object 605Dh. The mode actually changes only after a complete stop, according to the definition of target reached. The actual mode is reflected via object 6061h.

The statusword contains bits whose meaning depends on the mode of operation. When switching modes, the “mode dependent” bits in the controlword and statusword must be monitored.

7.2Objects

Object 0x6060: Modes of operation

Object description:

	Index		6060h
	Name		Modes of operation
	Object code		VAR
	Data type		INTEGER8
	Category		Mandatory
Entry description:

	Access		Read/write
	PDO mapping		No
	Value range		INTEGER8
	Default value		-1

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Elmo DSP 402 manual Modes of Operation, 7.1Functional Description, 7.2Objects, 6060h Modes of operation

Contents

Elmo Motion Control CANopen DSP Implementation GuideDecember Important Notice Revision History 2 The DSP 402 Object Dictionary Contents1 Introduction 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 SimplIQ Command Reference Manual 1.3Elmo DocumentationProgramming Setup Installation CANopen Implementation Guide Implementation Guide 2 The DSP 402 Object DictionaryAccess Name Position Homing offset value and actual position value Position encoder Motor type Object 0x1001 Error register 3 Emergencies4 Predefinition Default Value 1800h Statusword Index 5.1Drive Error 5 Common EntriesObject 0x6007 Abort connection option code 6407h Motor service period 5.2Motor DataObject 0x603F Error code 6402h: Motor type 6403h: Motor catalog number Object 0x6403 Motor catalog number Index6402h Index 6404h Object 0x6404 Motor manufacturerIndex Object 0x6406 Motor calibration data 6504h Drive manufacturer 5.3Drive Data6502h Supported drive modes 6505h Http drive catalog address 6502h Object 0x6502 Supported drive modesIndex Object 0x6504 Drive manufacturer 6505h Object 0x6505 http drive catalog addressIndex 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 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 Event Enable Operation command received from host Action None Important Notes about State Transition Index Illegal TransitionObject 0x6040 Controlword 6040h Bits 0 - 3 and Bits 11, 12, 13, 14 and Bits 4, 5, 6 andBits 9 and Object 0x6041 Statusword Value binary DescriptionBits 0 - 3, 5 and State Bit 7 Warning Bit 4 Voltage EnabledBit 5 Quick Stop Bit 9 Remote 605D Halt option code 605E Fault reaction code 6.2Halt, Stop and Fault Objects605C Disable operation mode 605A Quick stop option code Object 0x605B Shutdown option code ValueDescription Index Description Object 0x605C Disable operation option codeValue Index 605Dh Object 0x605D Halt option codeIndex Value 605Eh Object 0x605E Fault reaction option codeIndex Value 7.2Objects 7 Modes of Operation7.1Functional Description 6060h Modes of operation Object 0x6061 Modes of operation display ValueDescription Index 608Ah Position dimension index 8 Factors8.2Functions and Limits 608Ch Velocity dimension index Index 8.3ObjectsObject 0x607E Polarity 607Eh Index Object 0x608A Position dimension indexObject 0x6089 Position notation index 6089h Object 0x608B Velocity notation index Index608Bh 608Ch Object 0x608C Velocity dimension indexIndex Object 0x608D Acceleration notation index Object 0x608E Acceleration dimension index Index608Eh Index Object 0x608F Position encoder resolutionmotor revolutions 608Fh encoder increments / sec velocity encoder resolution =Object 0x6090 Velocity encoder resolution motor revolutions / sec 6093h Object 0x6093 Position factorIndex Sub-index 6094h Object 0x6094 Velocity encoder factorIndex Sub-index Index Sub-indexObject 0x6095 Velocity factor 6095h Object 0x6096 Velocity factor Sub-indexSub-index Index Entry description 6097h Object 0x6097 Acceleration factorIndex 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 607Ch Home offset 6098h Homing method 9 Homing9.1General Information 6099h Homing speeds 609Ah Homing acceleration Name Index 9.2ObjectsObject 0x607C Home offset 607Ch 6098h Object 0x6098 Homing methodIndex Value 6099h Object 0x6099 Homing speedsIndex Sub-index Index 9.3Functional DescriptionObject 0x609A Homing acceleration 609Ah Error 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 Reserved 6065h Following error window 10 Position Control Function10.1General Information 60F4h Following error actual value Index 10.2ObjectsObject 0x6062 Position demand value 6062h Index Object 0x6065 Following error windowObject 0x6064 Position actual value 6064H Object 0x6066 Following error time out Index6066h 6067h Object 0x6067 Position windowIndex Object 0x6068: Position window time Object 0x60FC Position demand value - increments Index60FCh 607Ah Target position 11 Profiled Position11.1General Information 607Bh Position range limit Description NameValue Assumes target position Index 11.2ObjectsObject 0x607A Target position 607Ah Entry description 607Dh Object 0x607D Software position limitIndex Sub-index Index Sub-indexObject 0x607F Max profile velocity 607Fh 6081h Object 0x6081 Profile velocityIndex Object 0x6082 End velocity not yet implemented 6083h Object 0x6083 Profile accelerationIndex Object 0x6084 Profile deceleration 6085h Object 0x6085 Quick stop decelerationIndex 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 60C4h Interpolation data configuration 12 Interpolated Position12.1General Information 60C0h Interpolation sub mode select Buffer reset Interpolation inactiveInterpolation active Controlword of Interpolated Position mode Index 12.2ObjectsObject 0x60C0 Interpolation sub mode select 60C0h 60C1h Object 0x60C1 Interpolation data recordIndex Sub-index 60C2h Object 0x60C2 Interpolation time periodIndex Sub-index Object 0x60C3 Interpolation sync definition Description Object 0x60C4 Interpolation data configurationValue Value Sub-index FIFO Sub-indexBuffer strategies Ring buffer 12.3Functional Description Page 12.3.3Motion Synchronization 6069h Velocity sensor actual value 13 Profiled Velocity13.1General Information 6060h Velocity window Controlword of the profiled velocity mode Index 13.2ObjectsObject 0x6069 Velocity sensor actual value 6069h Object 0x606B Velocity demand value ValueDescription Index 606Ch Object 0x606C Velocity actual valueIndex Object 0x606D Velocity window 606Eh Object 0x606E Velocity window timeIndex Object 0x606F Velocity threshold 6070h Object 0x6070 Velocity threshold timeIndex Object 0x60FF Target velocity 14 Profiled Torque Mode 14.1General Information Function 14.1.1Internal statesControlword of profile torque mode Name 14.2.2Objects description 14.2Objects dictionary entries14.2.1Objects defined in other chapters Target torque reached 6072h Object 0x6072 Max torqueIndex Object 0x6073 Max Current Object 0x6074 Torque Demand value Index6074h 6075h Object 0x6075 Motor Rate CurrentIndex Object 0x6076 Motor Rate Torque 6077h Object 0x6077 Torque Actual valueIndex Object 0x6078 Current Actual value 6087h Object 0x6087 Torque slopeIndex Object 0x6088 Torque profile type Dimension Index Appendix A Dimension Index TablePhysical Dimension Unit Prefix Appendix B Notation Index TableSymbol Factor