6060h Mode of Operation | Intelligent Motion Systems DSP-402

SECTION 5

Modes of Operation

Object 6060h — Modes of Operation

The performance of the MDrivePlus CANopen depends on the activated Modes of Operation. It is not possible to operates the modes in parallel. The user must select a mode to operate in. An example of exclusive functions are Profile Velocity and Profile Position modes.

The MDrivePlus allows the user to switch dynamically from operation mode to operation mode.

Mode of Operation

(6060h)

Operation

Mode

Function

Profile Velocity Mode

Profile Position Mode

Homing Mode

Mode of Operation Display

(6061h)

Figure 5.1: Mode of Operation

The IMS MDrivePlus CANopen supports the following Modes of Operation:







Profile Position

Profile Velocity

Homing Mode

Object Description

	Index		Name			Object Code		Data Type
	6060h		Mode of Operation			VAR		±Integer8
Entry Description

		Access		PDO Mapping	Range		Default
		rw		n/a	±Integer8		n/a

Data Description

The actual mode is reflected in the modes_of_operation_display (index 6061h), and not in the modes of operation (index 6060h). It may be changed by writing to modes of operation.

Part 2: DSP-402 Implementation

31

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Intelligent Motion Systems DSP-402 manual 6060h Mode of Operation, ±Integer8, Object 6060h Modes of Operation

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 Introduction Can Message FormatMDrivePlus Architecture Device Control Homing Mode SectionProfile Position Mode Section Profile Velocity Mode Section Trajectory Generator Objects and the Object Dictionary Yes/No Xxxx h Index Name Range DefaultPDO Mapping Category Intentionally Left Blank PDO Attributes Accessing The MDrivePlus CANopenService Data Object SDO Process Data Object PDO PDO Mapping Procedure Consumer PDO Default Mapping Example Consumer PDOPDO Mapping 1600h Object Description Mapping Parameters PDO ObjectsConsumer PDO1 RPDO1 1400h Object Description Consumer PDO1 RPDO1 1400h Entry Description 1601h Entry Description Mapping Parameters Consumer PDO2 RPDO2 1401h Object DescriptionConsumer PDO2 RPDO2 1401h Entry Description 1601h Object Description Mapping Parameters 1602h Entry Description Mapping Parameters Consumer PDO3 RPDO3 1402h Object DescriptionConsumer PDO3 RPDO3 1402h Entry Description 1602h Object Description Mapping Parameters Producer PDO2 TPDO2 1801h Object Description Producer PDO1 TPDO1 1800h Entry Description1A00h Object Description Mapping Parameters 1A00h Entry Description Mapping Parameters Producer PDO3 TPDO3 1802h Entry Description 1A01h Object Description Mapping Parameters1A01h Entry Description Mapping Parameters Producer PDO3 TPDO3 1802h Object Description 1A02h Entry Description Mapping Parameters Unsigned Object 2000h I/O Discretes ConfigAccessibility Codes Discretes 2002 h Config Input Switches Object 2002h I/O Discretes ConfigObject 2004h Input Filter Mask Config 2004h 2006h Input Filter TimeObject 2006h Input Filter Time ms Unsigned Hardware 2010h Analog InputSee Entry Desc 2020h Software Limits as 2033 h Capture Input 2031 h Unit Options2032 h Clock Options See Table Object 2205h Hold Current Percent 2204 h Run Current %2205 h Hold Current % Object 2204h Run Current Percent Point Target Options Setting2211h Integer 5003h Factory5002h Ascii Ser. No Control and Status words State Machine State Machine Transitions Internal 6040 h Unsigned16Object 6040h Controlword Object 6041h Statusword Statusword Bit 7 Warning Bit 4 Voltage EnabledBits 12-13 Operation Mode Specific Bit 5 Quick Stop Active Object 6060h Modes of Operation 6060h Mode of Operation±Integer8 Modes of Operation 6061 h Mode of Operation Display Object 6061h Modes of Operation DisplayObject 6502h Supported Drive Modes = Mode Supported = Mode Not Supported Intentionally Left Blank Input Data Description Profile Position ModeGeneral Information Trajectory Generator 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 607A h Target Position Possible Integer6081 h Profile Velocity 6082 h End Velocity 6083 h Profile Acceleration6084 h Profile Deceleration Object 6086h Motion Profile Type 6086 h Motion Profile Type Internal States Homing ModeInput Data Description Output Data Description Statusword 6041h of Homing Mode 607C h Homing OffsetHoming Offset 607Ch Homing Method 6098h 6098 h Homing Method± Integer Possible ± Integer 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 15 and 16 Reserved Methods 17 to 30 Homing without an Index PulseMethods 31 and 32 Reserved Homing Speeds 6099h 6099 h Homing SpeedsMethods 33 and 34 Homing on an Index Pulse Method 35 Homing on the Current Position Intentionally Left Blank Position Control Function 6062 h6063 h Position Actual Value 6064 h Position Actual Value Unsigned Mfg-Specific 6065 h Following Error Window6066 h Following Error Timeout 6068 h Position Window Time 606C h Velocity Actual Value Profile Velocity ModeControlword 6040h of Profile Velocity Mode Statusword 6041h of Profile Velocity Mode Object 60FFh Target Velocity 60FF h Target Velocity60FF h Maximum Slippage Integer Mfg-Specific 60FD h Digital Inputs Optional Application FE General I/OObject 60FDh Digital Inputs Object 60FEh Digital Outputs 60FE h Digital Outputs Warranty Excellence in Motion