Intelligent Motion Systems DSP-402 Section 6

35Part 2: DSP-402 Implementation

Section 6

Proﬁle Position Mode

General Information

A target_position is applied to the Trajectory Generator. It is generating a position_demand_value for the position control

loop described in the Position Control Function Section. These two function blocks are optionally controlled by individual

parameter sets.

At the input to the Trajectory Generator, parameters may have optional limits applied before being normalized to internal

units. Normalized parameters are denoted with an asterisk. The simplest form of a Trajectory Generator is just to pass through

a target_position and to transform it to a position_demand_value* with internal units (increments) only.

For the IMS MDrivePlus CANopen the following values apply:

target_position — microsteps

profile_velocity — microsteps/sec

end_velocity — microsteps/sec

profile_acceleration — microsteps/sec2

profile_deceleration — microsteps/sec2

position_demand_value — microsteps

Input Data Description

Operating Mode Description

Profile Position target_position, profile_velocity, end_velocity, profile_

acceleration, profile_deceleration

Output Data Description

Operating Mode Description

Profile Position position_demand_value

•

•

•

•

•

•

Trajectory Generator

Position target_position (607Ah)

profile_velocity (6081h)

end_velocity (6082h)

profile_acceleration (6083h)

profile_deceleration (6084h)

Velocity

Acceleration

Multiplier

polarity (607Eh)

position_demand_value (60FCh)

Figure 6.1: Trajectory Generator Block Diagram

Note that the

MDrivePlus CANopen

is fixed at 256

microsteps/full motor

step or 51,200

microsteps per motor

revolution.

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) 12 MDrivePlus CANopen R020507 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) 16 MDrivePlus CANopen R020507 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 Page Page Page Section 4 Device Control Device Control State Machine 26 MDrivePlus CANopen R020507 0 1 16 15 12 Object 6040h Controlword 6040 Controlword r/w 29Part 2: DSP-402 Implementation Object 6041h Statusword Statusword ro 6041 Unsigned16 Page Section 5 Page Page Page 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 Page Page Page 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 Page 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 54 MDrivePlus CANopen R020507 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