Trajectory Generator | Intelligent Motion Systems DSP-402 specs

Trajectory Generator

The chosen operation mode and the corresponding parameters (objects) define the input of the Trajectory Generator. The Trajectory Generator supplies the control loop(s) with the demand values. They are generally mode specific.

Each Mode may use its own Trajectory Generator. A general description of its functionality is given in Section X, which is related to the Profile Position Mode.

Objects and the Object Dictionary

In a CANopen network, a device is controlled by writing to device parameters and reading the status of the device. This is accomplished using a pre-defined dictionary of instructions that can be written and status information that can be read. These pieces of information are called Objects.

The full set of objects are called the Object Dictionary. The Object Dictionary is the interface between the CANopen master, or controller and the MDrivePlus node on a CANopen network.

CAN

Contoller

Output (LED, Relay)

Input (Switch, Sensor)

Analog Input

Additional System Nodes

MDrivePlus Node

Object Dictionary

I/O	Drive	Motor
I/O	Logic	Motor
	Logic

Figure 1.4: MDrivePlus CANopen Object Dictionary

Entries within the Object Dictionary are addressed using 16-bit Indexes. In the case of simple variables (VAR) the index refer- ences the value of the variable directly. In the case of records and arrays the index addresses the entire data structure.

To allow individual elements of the data structures a sub-index is defined. The fields accessed by the sub-index may be of dif- fering data types.

Index (hex)		Object
0000		Not Used
0001	– 004F	Static Data Types
0020	– 003F	Complex Data Types
0040	– 005F	Manufacturer Specific Data
0060	– 007F	Device Profile Specific Static Data Types
0080	– 009F	Device Profile Specific Complex Data Types
00A0 – 0FFF		Reserved for Future Use
1000	– 1FFF	Communications Profile Area
2000	– 5FFF	Manufacturer Specific Profile
6000	– 9FFF	Standardized Device Profile
A000 – BFFF		Standardized Interface Profile
C000 – FFFF		Reserved for Future Use

Table 1.1: Object Dictionary

Part 2: DSP-402 Implementation

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Intelligent Motion Systems DSP-402 manual Objects and the Object Dictionary, Trajectory Generator

Contents

Forcetm CANopen DSP402 Application Revision R020507 Contents Device Control Profile Position Mode Optional Application FE General I/O List of Figures This Page Intentionally Left Blank Application Guide MDrivePlus CANopen R020507 Can Message Format IntroductionMDrivePlus Architecture Profile Position Mode Section Homing Mode SectionProfile Velocity Mode Section Device Control Trajectory Generator Objects and the Object Dictionary Yes/No Xxxx h Index Name PDO Mapping DefaultCategory Range Intentionally Left Blank Service Data Object SDO Accessing The MDrivePlus CANopenProcess Data Object PDO PDO Attributes Default Mapping Example Consumer PDO PDO Mapping Procedure Consumer PDOPDO Mapping Consumer PDO1 RPDO1 1400h Object Description PDO ObjectsConsumer PDO1 RPDO1 1400h Entry Description 1600h Object Description Mapping Parameters Consumer PDO2 RPDO2 1401h Entry Description Consumer PDO2 RPDO2 1401h Object Description1601h Object Description Mapping Parameters 1601h Entry Description Mapping Parameters Consumer PDO3 RPDO3 1402h Entry Description Consumer PDO3 RPDO3 1402h Object Description1602h Object Description Mapping Parameters 1602h Entry Description Mapping Parameters 1A00h Object Description Mapping Parameters Producer PDO1 TPDO1 1800h Entry Description1A00h Entry Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description 1A01h Entry Description Mapping Parameters 1A01h Object Description Mapping ParametersProducer PDO3 TPDO3 1802h Object Description Producer PDO3 TPDO3 1802h Entry Description 1A02h Entry Description Mapping Parameters Accessibility Codes Object 2000h I/O Discretes ConfigDiscretes Unsigned Object 2002h I/O Discretes Config 2002 h Config Input SwitchesObject 2004h Input Filter Mask Config 2006h Input Filter Time 2004hObject 2006h Input Filter Time ms See Entry Desc 2010h Analog Input2020h Software Limits as Unsigned Hardware 2032 h Clock Options 2031 h Unit OptionsSee Table 2033 h Capture Input 2205 h Hold Current % 2204 h Run Current %Object 2204h Run Current Percent Object 2205h Hold Current Percent 2211h Options SettingInteger Point Target 5002h FactoryAscii Ser. No 5003h Control and Status words State Machine State Machine Transitions Internal Unsigned16 6040 hObject 6040h Controlword Object 6041h Statusword Statusword Bits 12-13 Operation Mode Specific Bit 4 Voltage EnabledBit 5 Quick Stop Active Bit 7 Warning ±Integer8 6060h Mode of OperationModes of Operation Object 6060h Modes of Operation Object 6061h Modes of Operation Display 6061 h Mode of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank General Information Profile Position ModeTrajectory Generator Input Data Description Set-Point Transmission from Host Computer Functional Description Single Set-Point Mode Move After a Move 6040h Bit 5=0 Controlword 6040h of Profile Position Mode Possible Integer 607A h Target Position6081 h Profile Velocity 6083 h Profile Acceleration 6082 h End Velocity6084 h Profile Deceleration Object 6086h Motion Profile Type 6086 h Motion Profile Type Input Data Description Homing ModeOutput Data Description Internal States 607C h Homing Offset Statusword 6041h of Homing ModeHoming Offset 607Ch ± Integer 6098 h Homing MethodPossible ± Integer Homing Method 6098h Method 2 Homing on the Positive Limit Switch and Index Pulse Homing on the Negative Home Switch and Index Pulse Methods 7 to 14 Homing on the Home Switch and Index Pulse Methods 17 to 30 Homing without an Index Pulse Methods 15 and 16 ReservedMethods 31 and 32 Reserved Methods 33 and 34 Homing on an Index Pulse 6099 h Homing SpeedsMethod 35 Homing on the Current Position Homing Speeds 6099h Intentionally Left Blank 6063 h Position Actual Value 6062 h6064 h Position Actual Value Position Control Function 6066 h Following Error Timeout 6065 h Following Error Window6068 h Position Window Time Unsigned Mfg-Specific Controlword 6040h of Profile Velocity Mode Profile Velocity ModeStatusword 6041h of Profile Velocity Mode 606C h Velocity Actual Value 60FF h Maximum Slippage 60FF h Target VelocityInteger Mfg-Specific Object 60FFh Target Velocity Optional Application FE General I/O 60FD h Digital InputsObject 60FDh Digital Inputs Object 60FEh Digital Outputs 60FE h Digital Outputs Warranty Excellence in Motion