606C h Velocity Actual Value | Intelligent Motion Systems DSP-402

SECTION 9

Profile Velocity Mode

Controlword (6040h) of Profile Velocity Mode

15	9	8		7		6
See 1.3			Halt		See 1.3		Reserved

MSB

30 See 1.3

LSB

	Bit	Name	Value	Description
	8	Halt	0	Execute the Motion
	8	Halt	1	Stop axis
			1	Stop axis

Table 8.1: Profile Velocity Mode Bits of Controlword

Statusword (6041h) of Profile Velocity Mode

9	14			13		12			11	10	9	0
See 1.4			Max Slippage Error				Speed		See 1.4	Target Reached		See 1.4
MSB												LSB

Bit			Name		Value	Description
					0	Halt=0: Target position not reached
10	Target Reached					Halt=1: Axis decelerating
10	Target Reached				1	Halt=0: Target position reached
					1	Halt=0: Target position reached
						Halt=1: Axis velocity is 0
12			Speed		0	Speed is not equal to 0
12			Speed		1	Speed is equal 0
					1	Speed is equal 0
13		Max Slippage			0	Maximum slippage not reached
13			Error		1	Maximum slippage reached
			Error		1	Maximum slippage reached

Table 8.2: Profile Velocity Mode Bits of Statusword

Object 606Ch — Velocity Actual Value

This object shall provide the actual velocity value derived either from the velocity sensor or the position sensor. The value shall be given in microsteps per second.

Object Description

	Index	Name		Object Code	Data Type
	606Ch	Velocity Actual Value		VAR	Integer 32
Entry Description

	Access	PDO Mapping	Range			Default
	ro	n/a	Integer 32			n/a

Part 2: DSP-402 Implementation

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Image 59

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 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 PDO Mapping Procedure Consumer PDODefault Mapping Example Consumer PDO 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 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 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 Object 6040h Controlword 6040 hUnsigned16 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 Object 6502h Supported Drive Modes 6061 h Mode of Operation DisplayObject 6061h Modes of Operation Display = 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 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 Internal States Homing ModeInput Data Description Output Data Description Homing Offset 607Ch Statusword 6041h of Homing Mode607C h Homing Offset 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 31 and 32 Reserved Methods 15 and 16 ReservedMethods 17 to 30 Homing without an Index Pulse 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 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