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Intelligent Motion Systems
DSP-402
manual
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Models:
DSP-402
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Default
Warranty
h Config Input Switches
Accessibility Codes
Options Setting
Service Data Object SDO
Bit 4 Voltage Enabled
Profile Position Mode
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Contents
Forcetm
CANopen DSP402 Application Revision R020507
Contents
Device Control
Profile Position Mode
Optional Application FE General I/O
List of Figures
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Application Guide
MDrivePlus CANopen R020507
MDrivePlus Architecture
Introduction
Can Message Format
Homing Mode Section
Profile Position Mode Section
Profile Velocity Mode Section
Device Control
Objects and the Object Dictionary
Trajectory Generator
Xxxx h Index Name
Yes/No
Default
PDO Mapping
Category
Range
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Accessing The MDrivePlus CANopen
Service Data Object SDO
Process Data Object PDO
PDO Attributes
PDO Mapping
PDO Mapping Procedure Consumer PDO
Default Mapping Example Consumer PDO
PDO Objects
Consumer PDO1 RPDO1 1400h Object Description
Consumer PDO1 RPDO1 1400h Entry Description
1600h Object Description Mapping Parameters
Consumer PDO2 RPDO2 1401h Object Description
Consumer PDO2 RPDO2 1401h Entry Description
1601h Object Description Mapping Parameters
1601h Entry Description Mapping Parameters
Consumer PDO3 RPDO3 1402h Object Description
Consumer PDO3 RPDO3 1402h Entry Description
1602h Object Description Mapping Parameters
1602h Entry Description Mapping Parameters
Producer PDO1 TPDO1 1800h Entry Description
1A00h Object Description Mapping Parameters
1A00h Entry Description Mapping Parameters
Producer PDO2 TPDO2 1801h Object Description
1A01h Object Description Mapping Parameters
1A01h Entry Description Mapping Parameters
Producer PDO3 TPDO3 1802h Object Description
Producer PDO3 TPDO3 1802h Entry Description
1A02h Entry Description Mapping Parameters
Object 2000h I/O Discretes Config
Accessibility Codes
Discretes
Unsigned
Object 2004h Input Filter Mask Config
2002 h Config Input Switches
Object 2002h I/O Discretes Config
Object 2006h Input Filter Time ms
2004h
2006h Input Filter Time
2010h Analog Input
See Entry Desc
2020h Software Limits as
Unsigned Hardware
2031 h Unit Options
2032 h Clock Options
See Table
2033 h Capture Input
2204 h Run Current %
2205 h Hold Current %
Object 2204h Run Current Percent
Object 2205h Hold Current Percent
Options Setting
2211h
Integer
Point Target
Factory
5002h
Ascii Ser. No
5003h
State Machine
Control and Status words
State Machine Transitions
Internal
Object 6040h Controlword
6040 h
Unsigned16
Statusword
Object 6041h Statusword
Bit 4 Voltage Enabled
Bits 12-13 Operation Mode Specific
Bit 5 Quick Stop Active
Bit 7 Warning
6060h Mode of Operation
±Integer8
Modes of Operation
Object 6060h Modes of Operation
Object 6502h Supported Drive Modes
6061 h Mode of Operation Display
Object 6061h Modes of Operation Display
= Mode Supported = Mode Not Supported
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Profile Position Mode
General Information
Trajectory Generator
Input Data Description
Functional Description
Set-Point Transmission from Host Computer
Controlword 6040h of Profile Position Mode
Single Set-Point Mode Move After a Move 6040h Bit 5=0
6081 h Profile Velocity
607A h Target Position
Possible Integer
6084 h Profile Deceleration
6082 h End Velocity
6083 h Profile Acceleration
6086 h Motion Profile Type
Object 6086h Motion Profile Type
Homing Mode
Input Data Description
Output Data Description
Internal States
Homing Offset 607Ch
Statusword 6041h of Homing Mode
607C h Homing Offset
6098 h Homing Method
± Integer
Possible ± Integer
Homing Method 6098h
Method 2 Homing on the Positive Limit Switch and Index Pulse
Methods 7 to 14 Homing on the Home Switch and Index Pulse
Homing on the Negative Home Switch and Index Pulse
Methods 31 and 32 Reserved
Methods 15 and 16 Reserved
Methods 17 to 30 Homing without an Index Pulse
6099 h Homing Speeds
Methods 33 and 34 Homing on an Index Pulse
Method 35 Homing on the Current Position
Homing Speeds 6099h
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6062 h
6063 h Position Actual Value
6064 h Position Actual Value
Position Control Function
6065 h Following Error Window
6066 h Following Error Timeout
6068 h Position Window Time
Unsigned Mfg-Specific
Profile Velocity Mode
Controlword 6040h of Profile Velocity Mode
Statusword 6041h of Profile Velocity Mode
606C h Velocity Actual Value
60FF h Target Velocity
60FF h Maximum Slippage
Integer Mfg-Specific
Object 60FFh Target Velocity
Object 60FDh Digital Inputs
60FD h Digital Inputs
Optional Application FE General I/O
60FE h Digital Outputs
Object 60FEh Digital Outputs
Warranty
Excellence in Motion
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