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Intelligent Motion Systems
DSP-402
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MDrivePlus CANopen R020507
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Contents
Main
FORCE
CANopen DSP402 Application Revision R020507
Contents
Page
Page
Page
List of Figures
List of Tables
Page
Excellence in Motion
DSP-402 Application guide
Page
3Part 2: DSP-402 Implementation
Section 1
Introduction to the MDrivePlus CANopen DSP-402 Implementation
CAN Message Format
MDrivePlus Architecture
Start Arbitration (Command and Address) Control Data CRC ACK End Space
Device Control
Modes of Operation
Objects and the Object Dictionary
Object Formatting
XXXX
Index Name
Index
Index Name
Object Code
Page
Page
Section 2
Accessing The MDrivePlus CANopen
Data
Process Data Object (PDO)
Service Data Object (SDO)
1601h
Default Mapping Example - Consumer PDO 2
11Part 2: DSP-402 Implementation
PDO Objects
Consumer PDO1 (RPDO1) 1400h (Object Description)
Consumer PDO1 (RPDO1) 1400h (Entry Description)
1600h (Object Description Mapping Parameters)
1600h (Entry Description Mapping Parameters)
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Consumer PDO2 (RPDO2) 1401h (Object Description)
Consumer PDO2 (RPDO2) 1401h (Entry Description)
1601h (Object Description Mapping Parameters)
1601h (Entry Description Mapping Parameters)
13Part 2: DSP-402 Implementation
Consumer PDO3 (RPDO3) 1402h (Object Description)
Consumer PDO3 (RPDO3) 1402h (Entry Description)
1602h (Object Description Mapping Parameters)
14 MDrivePlus CANopen R020507
Producer PDO1 (TPDO1) 1800h (Entry Description)
1A00h (Object Description Mapping Parameters)
1A00h (Entry Description Mapping Parameters)
Producer PDO2 (TPDO2) 1801h (Object Description)
15Part 2: DSP-402 Implementation
1A01h (Object Description Mapping Parameters)
1A01h (Entry Description Mapping Parameters)
Producer PDO3 (TPDO3) 1802h (Object Description)
Producer PDO3 (TPDO3) 1802h (Entry Description)
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1A02h (Entry Description Mapping Parameters)
Section 3
Manufacturer Specic Objects
I/O Discretes
2000
Object 2000h: I/O Discretes (Config)
2002
Config Input Switches
011 00010
7 6 5 4 3 2 1 0
MSB
2004
Input Filter Mask
Input Filter Time
2006
19Part 2: DSP-402 Implementation
Page
Page
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Section 4
Device Control
Device Control
State Machine
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0
1
16
15
12
Object 6040h Controlword
6040
Controlword
r/w
29Part 2: DSP-402 Implementation
Object 6041h Statusword
Statusword
ro
6041
Unsigned16
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Section 5
Page
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Section 6
Prole Position Mode
General Information
Input Data Description
Output Data Description
Functional Description
37Part 2: DSP-402 Implementation
V2 V1 T0T1T2T3
target_position X1
Time
Controlword (6040h) of Profile Position Mode
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Section 7
Homing Mode
Homing
General Information
Controlword (6040h) of Profile Position Mode
607C
Homing Offset (607Ch)
Homing Offset
rw
Possible
Page
Method 2: Homing on the Positive Limit Switch and Index Pulse
Methods 3 and 4: Homing on the Positive Home Switch and Index Pulse
Methods 5 and 6: 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 Pulse
Methods 31 and 32: Reserved
Methods 33 and 34: Homing on an Index Pulse
6099
Method 35: Homing on the Current Position
Homing Speeds
Homing Speeds (6099h)
Unsigned 32
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Section 8
Page
51Part 2: DSP-402 Implementation
Section 9
Prole Velocity Mode
Velocity Actual Value
606C
Controlword (6040h) of Profile Velocity Mode
Page
Section 10
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Object 60FEh Digital Outputs
60FE
This object provides for digital outputs.
LSBMSB
ARRAY
Digital Outputs
WARRANTY
intelligent motion systems, INC.
Excellence in Motion
www.imshome.com