Intelligent Motion Systems DSP-402 instruction

3116 15 10 9 8 7 6 5 4 3 2 1 0

	0	0	0	0	1	0	0	1	0	1
MSB	Reserved									LSB
	Reserved

Cyclic Sync Torque

MFG Specific

Cyclic Sync Velocity

Cyclic Sync Position

Interpolated Position

Homing

1 = Mode Supported

0 = Mode Not Supported

Reserved

Profile Torque

Profile Velocity

Velocity

Profile Position

Figure 5.3: Supported Drive Modes

Part 2: DSP-402 Implementation

33

Image 41

Intelligent Motion Systems DSP-402 manual = Mode Supported = Mode Not Supported

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 MDrivePlus Architecture IntroductionCan Message Format 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 PDO Mapping PDO Mapping Procedure Consumer PDODefault Mapping Example Consumer PDO 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 2004h Input Filter Mask Config 2002 h Config Input SwitchesObject 2002h I/O Discretes Config Object 2006h Input Filter Time ms 2004h2006h Input Filter Time 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 Object 6040h Controlword 6040 hUnsigned16 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 6502h Supported Drive Modes 6061 h Mode of Operation DisplayObject 6061h Modes of Operation Display = 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 6081 h Profile Velocity 607A h Target PositionPossible Integer 6084 h Profile Deceleration 6082 h End Velocity6083 h Profile Acceleration Object 6086h Motion Profile Type 6086 h Motion Profile Type Input Data Description Homing ModeOutput Data Description Internal States Homing Offset 607Ch Statusword 6041h of Homing Mode607C h Homing Offset ± 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 31 and 32 Reserved Methods 15 and 16 ReservedMethods 17 to 30 Homing without an Index Pulse 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 Object 60FDh Digital Inputs 60FD h Digital InputsOptional Application FE General I/O Object 60FEh Digital Outputs 60FE h Digital Outputs Warranty Excellence in Motion