Homing, 9.1General Information | Elmo DSP 402 guide

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

53

9: Homing

607Ch: Home offset

6098h: Homing method

6099h: Homing speeds

609Ah: Homing acceleration

9.1General Information

This chapter describes the method by which a drive seeks the home position (also called the datum, reference point or zero point). Homing can be performed using limit switches at the ends of travel or a home switch (zero point switch) in mid-travel; most of the methods also use the index (zero) pulse train from an incremental encoder.

Input Data

The user can specify the speeds, acceleration and method of homing. An additional object, home offset, is used to displace zero in the user’s coordinate system from the home position. There are two homing speeds: in a typical cycle the faster speed is used to find the home switch and the slower speed is used to find the index pulse.

Output Data

There is no output data except for those bits in the statusword that return the status or result of the homing process and the demand to the position control loops.

Internal States

The homing mode is controlled by the bits of the controlword and statusword.

Homing Mode Controlword

Bit	Function
0…3	Described in Device Control
4	Home operation start
5..6	Reserved
7	Described in Device Control
8	Halt
9..12	Described in Device Control
13..15	Described in Device Control

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Elmo DSP 402 manual 9.1General Information, 607Ch Home offset 6098h Homing method

Contents

December Elmo Motion Control CANopen DSPImplementation Guide Revision History Important Notice 3 Emergencies Contents1 Introduction 2 The DSP 402 Object Dictionary 10.1 11.1 Appendix B Notation Index Table Appendix A Dimension Index Table14 Profiled Torque Mode 1.1Operating Principles 1 Introduction 1.2Abbreviations and Terms CANopen Implementation Guide 1.3Elmo DocumentationProgramming Setup Installation SimplIQ Command Reference Manual Name 2 The DSP 402 Object DictionaryAccess Implementation Guide Position value and actual position value Homing offset Position encoder Motor type Default Value 3 Emergencies4 Predefinition Object 0x1001 Error register Statusword 1800h Index Object 0x6007 Abort connection option code 5.1Drive Error5 Common Entries 6402h: Motor type 6403h: Motor catalog number 5.2Motor DataObject 0x603F Error code 6407h Motor service period Index Index6402h Object 0x6403 Motor catalog number Object 0x6406 Motor calibration data Object 0x6404 Motor manufacturerIndex 6404h 6505h Http drive catalog address 5.3Drive Data6502h Supported drive modes 6504h Drive manufacturer Object 0x6504 Drive manufacturer Object 0x6502 Supported drive modesIndex 6502h Object 0x60FD Digital inputs Object 0x6505 http drive catalog addressIndex 6505hPage 6040h controlword 6041h statusword 6 Device Control6.1Objects State Machine Figure 6-3 State Machine Block DiagramFigure 6-2 State Machine in System Context READY TO SWITCH ON NOT READY TO SWITCH ONThe drive function is disabled The drive function is disabled Event Reset The fault reaction function is being executedThe drive function is disabled The drive function is disabled Action None Event Enable Operation command received from host Important Notes about State Transition 6040h Illegal TransitionObject 0x6040 Controlword Index Bits 0 - 3 and Object 0x6041 Statusword Bits 4, 5, 6 andBits 9 and Bits 11, 12, 13, 14 and State DescriptionBits 0 - 3, 5 and Value binary Bit 9 Remote Bit 4 Voltage EnabledBit 5 Quick Stop Bit 7 Warning 605A Quick stop option code 6.2Halt, Stop and Fault Objects605C Disable operation mode 605D Halt option code 605E Fault reaction code Index ValueDescription Object 0x605B Shutdown option code Index Object 0x605C Disable operation option codeValue Description Value Object 0x605D Halt option codeIndex 605Dh Value Object 0x605E Fault reaction option codeIndex 605Eh 6060h Modes of operation 7 Modes of Operation7.1Functional Description 7.2Objects Index ValueDescription Object 0x6061 Modes of operation display 608Ch Velocity dimension index 8 Factors8.2Functions and Limits 608Ah Position dimension index 607Eh 8.3ObjectsObject 0x607E Polarity Index 6089h Object 0x608A Position dimension indexObject 0x6089 Position notation index Index 608Bh Object 0x608B Velocity notation indexIndex Object 0x608D Acceleration notation index Object 0x608C Velocity dimension indexIndex 608Ch 608Eh Object 0x608E Acceleration dimension indexIndex 608Fh Object 0x608F Position encoder resolutionmotor revolutions Index motor revolutions / sec velocity encoder resolution =Object 0x6090 Velocity encoder resolution encoder increments / sec Sub-index Object 0x6093 Position factorIndex 6093h Sub-index Object 0x6094 Velocity encoder factorIndex 6094h 6095h Sub-indexObject 0x6095 Velocity factor Index Index Sub-indexSub-index Object 0x6096 Velocity factor Entry description Sub-index Object 0x6097 Acceleration factorIndex 6097h The acceleration factor is calculated according to this object regardless of the setting of any other objects, such as 0x6094 velocity encoder factor 6099h Homing speeds 609Ah Homing acceleration 9 Homing9.1General Information 607Ch Home offset 6098h Homing method Name 607Ch 9.2ObjectsObject 0x607C Home offset Index Value Object 0x6098 Homing methodIndex 6098h Sub-index Object 0x6099 Homing speedsIndex 6099h 609Ah 9.3Functional DescriptionObject 0x609A Homing acceleration Index Error Cases 9.4DSP 402 Homing Methods 9.4.3Methods 3 and 4 Homing on the positive home switch and index pulse Page 9.4.8Methods 31 and 32 Reserved Figure 9-7 Homing on the positive home switchFigure 9-8 Homing on the positive home switch 9.4.6Methods 15 and 16 Reserved 60F4h Following error actual value 10 Position Control Function10.1General Information 6065h Following error window 6062h 10.2ObjectsObject 0x6062 Position demand value Index 6064H Object 0x6065 Following error windowObject 0x6064 Position actual value Index 6066h Object 0x6066 Following error time outIndex Object 0x6068: Position window time Object 0x6067 Position windowIndex 6067h 60FCh Object 0x60FC Position demand value - incrementsIndex 607Bh Position range limit 11 Profiled Position11.1General Information 607Ah Target position Assumes target position NameValue Description 607Ah 11.2ObjectsObject 0x607A Target position Index Entry description Sub-index Object 0x607D Software position limitIndex 607Dh 607Fh Sub-indexObject 0x607F Max profile velocity Index Object 0x6082 End velocity not yet implemented Object 0x6081 Profile velocityIndex 6081h Object 0x6084 Profile deceleration Object 0x6083 Profile accelerationIndex 6083h Object 0x6086 Motion profile type Object 0x6085 Quick stop decelerationIndex 6085h 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 60C0h Interpolation sub mode select 12 Interpolated Position12.1General Information 60C4h Interpolation data configuration Interpolation active Buffer resetInterpolation inactive Controlword of Interpolated Position mode 60C0h 12.2ObjectsObject 0x60C0 Interpolation sub mode select Index Sub-index Object 0x60C1 Interpolation data recordIndex 60C1h Sub-index Object 0x60C2 Interpolation time periodIndex 60C2h Object 0x60C3 Interpolation sync definition Value Object 0x60C4 Interpolation data configurationValue Description Sub-index Ring buffer Sub-indexBuffer strategies FIFO 12.3Functional Description Page 12.3.3Motion Synchronization 6060h Velocity window 13 Profiled Velocity13.1General Information 6069h Velocity sensor actual value Controlword of the profiled velocity mode 6069h 13.2ObjectsObject 0x6069 Velocity sensor actual value Index Index ValueDescription Object 0x606B Velocity demand value Object 0x606D Velocity window Object 0x606C Velocity actual valueIndex 606Ch Object 0x606F Velocity threshold Object 0x606E Velocity window timeIndex 606Eh Object 0x60FF Target velocity Object 0x6070 Velocity threshold timeIndex 6070h 14.1General Information 14 Profiled Torque Mode Name 14.1.1Internal statesControlword of profile torque mode Function Target torque reached 14.2Objects dictionary entries14.2.1Objects defined in other chapters 14.2.2Objects description Object 0x6073 Max Current Object 0x6072 Max torqueIndex 6072h 6074h Object 0x6074 Torque Demand valueIndex Object 0x6076 Motor Rate Torque Object 0x6075 Motor Rate CurrentIndex 6075h Object 0x6078 Current Actual value Object 0x6077 Torque Actual valueIndex 6077h Object 0x6088 Torque profile type Object 0x6087 Torque slopeIndex 6087h Unit Appendix A Dimension Index TablePhysical Dimension Dimension Index Factor Appendix B Notation Index TableSymbol Prefix