Intelligent Motion Systems DSP-402 manual List of Figures

	List of Figures
Figure 1.1: Message Format	3
Figure 1.2: MDrivePlus Architecture	3
Figure 1.3: Functional Architecture	4
Figure 1.4: MDrivePlus CANopen Object Dictionary	5
Figure 2.1: PDO Producer – Consumer Relationship	9
Figure 2.2: SDO Client – Server Relationship	9
Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2	10
Figure 3.1: Input Filter Mask	18
Figure 4.1: Device Control	25
Figure 4.2: State Machine States/Transitions Block Diagram	27
Figure 4.3: Statusword Bits	29
Figure 6.1: Trajectory Generator Block Diagram	35
Figure 6.2: Set-Point Transmission from Host Computer	36
Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0	37
Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1	37
Figure 7.1: The Homing Function	41
Figure 7.2: Home Offset	42
Figure 7.3: Homing on the Negative Limit and Index Pulse	43
Figure 7.4: Homing on the Positive Limit and Index Pulse	44
Figure 7.5: Homing on the Positive Home Switch and Index Pulse	44
Figure 7.7: Homing on the Home Switch and Index Pulse - Positive Initial Move	45
Figure 7.6: Homing on the Negative Home Switch and Index Pulse	45
Figure 7.8: Homing on the Home Switch and Index Pulse - Negative Initial Move	46
Figure 7.9: Homing without an Index Pulse	46
Figure 7.10: Homing on the Index Pulse	47
Figure 10.1: Object 60FD Structure	53
Figure 10.2: Object 60FE Structure	54
	List of Tables
Table 1.1: Object Dictionary	5
Table 4.1: State Machine States	25
Table 4.2: State Machine Transitions	26
Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant) 28
Table 4.4: MDrivePlus CANopen Operation Modes	28
Table 4.5: Device State Bits for Statusword	29
Table 6.1: Profile Position Mode Bits of Controlword	37
Table 8.1: Profile Velocity Mode Bits of Controlword	51
Table 8.2: Profile Velocity Mode Bits of Statusword	51