Elmo DSP 402 User Manual

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Elmo Motion Control

CANopen DSP 402

Implementation Guide

December 2004

Important Notice

This guide is delivered subject to the following conditions and restrictions:

 This guide contains proprietary information belonging to Elmo Motion Control Ltd.

Such information is supplied solely for the purpose of assisting users of servo drives in implementing CANopen networking.

 The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change without notice.

 Information in this document is subject to change without notice. Corporate and

individual names and data used in examples herein are fictitious unless otherwise noted.

SimplIQ

Doc. No. MAN-

CAN402IG

Elmo Motion Control Ltd.

Revision History

Ver. 1.2 Dec. 2004 References to Harmonica changed to SimplIQ (MAN-CAN402IG)

• New Profile Torque chapter

• Chapter on interpolation was modified

Ver. 1.1 Nov. 2003 mapping of the following objects modified: (MAN-CAN402IG)

0x6040,0x6060,0x607A,0x6081,0x6082,0x6083,0x6084,0x6089, 0x60C1,0x60C2

Ver. 1.0 Sept. 2003 Initial Release (HARCREN1102)

Elmo Motion Control Inc.

1 Park Drive, Suite 12 Westford, MA 01886 USA Tel: +1 (978) 399-0034 Fax: +1 (978) 399-0035

Elmo Motion Control GmbH

Steinbeisstrasse 41 D-78056, Villingen-Schwenningen Germany Tel: +49 (07720) 8577-60 Fax: +49 (07720) 8577-70

www.elmomc.com

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Contents

1: Introduction ............................................................................................................................ 1

1.1 Operating Principles......................................................................................................... 1

1.2 Abbreviations and Terms................................................................................................. 2

1.3 Elmo Documentation........................................................................................................ 3

2: The DSP 402 Object Dictionary ........................................................................................... 4

3: Emergencies ............................................................................................................................ 9

4: Predefinition........................................................................................................................... 9

Object 0x1000: Device type .............................................................................................. 9

Object 0x1001: Error register............................................................................................ 9

5: Common Entries....................................................................................................................12

5.1 Drive Error........................................................................................................................12

Object 0x6007: Abort connection option code.............................................................. 12

Object 0x603F: Error code .............................................................................................. 13

5.2 Motor Data........................................................................................................................13

Object 0x6402: Motor type.............................................................................................. 13

Object 0x6403: Motor catalog number .......................................................................... 14

Object 0x6404: Motor manufacturer.............................................................................. 15

Object 0x6406: Motor calibration data .......................................................................... 15

Object 0x6407: Motor service periods ........................................................................... 16

5.3 Drive Data.........................................................................................................................16

Object 0x6502: Supported drive modes ........................................................................ 17

Object 0x6504: Drive manufacturer............................................................................... 17

Object 0x6505: http drive catalog address.................................................................... 18

Object 0x60FD: Digital inputs........................................................................................ 18

6: Device Control.......................................................................................................................20

6.1 Objects...............................................................................................................................20

Object 0x6040: Controlword .......................................................................................... 26

Object 0x6041: Statusword............................................................................................. 28

6.2 Halt, Stop and Fault Objects...........................................................................................31

Object 0x605A: Quick stop option code........................................................................ 31

Object 0x605B: Shutdown option code ......................................................................... 32

Object 0x605C: Disable operation option code ............................................................ 33

Object 0x605D: Halt option code................................................................................... 34

Object 0x605E: Fault reaction option code ................................................................... 35

7: Modes of Operation..............................................................................................................36

7.1 Functional Description....................................................................................................36

7.2 Objects...............................................................................................................................36

Object 0x6060: Modes of operation ............................................................................... 36

Object 0x6061: Modes of operation display.................................................................. 37

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8: Factors .....................................................................................................................................38

8.1 Relationship between Physical and Internal Units.......................................................38

8.2 Functions and Limits.......................................................................................................38

8.3 Objects...............................................................................................................................39

Object 0x607E: Polarity................................................................................................... 39

Object 0x6089: Position notation index......................................................................... 40

Object 0x608A: Position dimension index.................................................................... 40

Object 0x608B: Velocity notation index ........................................................................ 41

Object 0x608C: Velocity dimension index.................................................................... 42

Object 0x608D: Acceleration notation index ................................................................ 42

Object 0x608E: Acceleration dimension index ............................................................. 43

Object 0x608F: Position encoder resolution ................................................................. 44

Object 0x6090: Velocity encoder resolution.................................................................. 45

Object 0x6093: Position factor........................................................................................ 46

Object 0x6094: Velocity encoder factor......................................................................... 47

Object 0x6095: Velocity factor 1..................................................................................... 48

Object 0x6096: Velocity factor 2..................................................................................... 49

Object 0x6097: Acceleration factor ................................................................................ 51

9: Homing ...................................................................................................................................53

9.1 General Information ........................................................................................................53

9.2 Objects...............................................................................................................................55

Object 0x607C: Home offset........................................................................................... 55

Object 0x6098: Homing method .................................................................................... 56

Object 0x6099: Homing speeds...................................................................................... 57

Object 0x609A: Homing acceleration............................................................................ 58

9.3 Functional Description....................................................................................................58

9.4 DSP 402 Homing Methods..............................................................................................60

9.4.1 Method 1: Homing on the negative limit switch and index pulse.................60

9.4.2 Method 2: Homing on the positive limit switch and index pulse..................60

9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse ....61

9.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse ...61

9.4.5 Methods 7 to 14: Homing on the home switch and index pulse....................62

9.4.6 Methods 15 and 16: Reserved ............................................................................63

9.4.7 Methods 17 to 30: Homing without an index pulse ........................................63

9.4.8 Methods 31 and 32: Reserved ............................................................................63

9.4.9 Methods 33 and 34: Homing on the index pulse .............................................63

9.4.10 Method 35: Homing on the current position....................................................63

10: Position Control Function..................................................................................................64

10.1 General Information ........................................................................................................64

10.2 Objects...............................................................................................................................65

Object 0x6062: Position demand value ......................................................................... 65

Object 0x6063: Position actual value............................................................................. 65

Object 0x6064: Position actual value............................................................................. 66

Object 0x6065: Following error window....................................................................... 66

Object 0x6066: Following error time out ...................................................................... 67

Object 0x6067: Position window.................................................................................... 68

Object 0x6068: Position window time........................................................................... 68

Object 0x60FC: Position demand value - increments.................................................. 69

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11: Profiled Position..................................................................................................................70

11.1 General Information ........................................................................................................70

11.2 Objects...............................................................................................................................72

Object 0x607A: Target position...................................................................................... 72

Object 0x607B: Position range limit............................................................................... 72

Object 0x607D: Software position limit ........................................................................ 74

Object 0x607F: Max profile velocity.............................................................................. 75

Object 0x6081: Profile velocity....................................................................................... 76

Object 0x6082: End velocity (not yet implemented).................................................... 76

Object 0x6083: Profile acceleration................................................................................ 77

Object 0x6084: Profile deceleration ............................................................................... 77

Object 0x6085: Quick stop deceleration........................................................................ 78

Object 0x6086: Motion profile type ............................................................................... 78

11.3 Functional Description ....................................................................................................79

12: Interpolated Position ..........................................................................................................81

12.1 General Information ........................................................................................................81

12.2 Objects...............................................................................................................................84

Object 0x60C0: Interpolation sub mode select ............................................................. 84

Object 0x60C1: Interpolation data record..................................................................... 85

Object 0x60C2: Interpolation time period .................................................................... 86

Object 0x60C3: Interpolation sync definition............................................................... 87

Object 0x60C4: Interpolation data configuration......................................................... 88

12.3 Functional Description ....................................................................................................91

12.3.1 Linear Interpolation............................................................................................92

12.3.2 Spline Interpolation ............................................................................................92

12.3.3 Motion Synchronization.....................................................................................93

iii

13: Profiled Velocity..................................................................................................................94

13.1 General Information ........................................................................................................94

13.2 Objects...............................................................................................................................96

Object 0x6069: Velocity sensor actual value................................................................. 96

Object 0x606A: Sensor selection code ........................................................................... 96

Object 0x606B: Velocity demand value......................................................................... 97

Object 0x606C: Velocity actual value............................................................................ 98

Object 0x606D: Velocity window .................................................................................. 98

Object 0x606E: Velocity window time .......................................................................... 99

Object 0x606F: Velocity threshold................................................................................. 99

Object 0x6070: Velocity threshold time....................................................................... 100

Object 0x60FF: Target velocity..................................................................................... 100

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14: Profiled Torque Mode......................................................................................................101

14.1 General Information ......................................................................................................101

14.1.1 Internal states ....................................................................................................102

Controlword of profile torque mode .......................................................................... 102

14.2 Objects dictionary entries..............................................................................................103

14.2.1 Objects defined in other chapters....................................................................103

14.2.2 Objects description............................................................................................103

Object 0x6071: Target torque ....................................................................................... 103

Object 0x6072: Max torque........................................................................................... 104

Object 0x6073: Max Current......................................................................................... 104

Object 0x6074: Torque Demand value ........................................................................ 105

Object 0x6075: Motor Rate Current............................................................................. 106

Object 0x6076: Motor Rate Torque .............................................................................. 106

Object 0x6077: Torque Actual value............................................................................ 107

Object 0x6078: Current Actual value .......................................................................... 107

Object 0x6087: Torque slope ........................................................................................ 108

Object 0x6088: Torque profile type ............................................................................. 108

Appendix A: Dimension Index Table .................................................................................109

Appendix B: Notation Index Table......................................................................................110

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

1: Introduction

This document describes the objects and operational modes of the Elmo DSP-based motion controller implementation of the CiA DSP 402 protocol. The Elmo Harmonica digital servo drive (part of the example in this document.

Generally, the DSP 402 protocol refers only to the load behavior relating to the operation of speed, position, limits and emergencies. It does not deal with control parameters such as PI/P, scheduling and feed forward. The motor can be tuned and the plant parameters set with the Elmo Composer, which may or may not use this protocol for settings. The protocol offers methods in which a profiled reference can be given to the final load.

The DSP 402 implementation is applicable to Elmo position unit modes; that is

UM=4 or UM=5. This is assumed by the Elmo drive itself and it gives no other indication.

SimplIQ family of digital servo drives ) is used as the main

The Elmo controller provides a number of different options for setting commands and parameters, such as via the binary interpreter, OS interpreter, RS-232 interpreter and user programs. When the user works with DSP 402, all relevant motion commands must be given through this method only. Other command sources may prevent it from operating properly according to the protocol.

Subsequently modifying controller states, modes and reference parameters using other methods may lead to undefined states. For example, in a fault state, a FAULT_RESET from the controlword must be given before enabling the motor again. But sending MO=1 through the OS interpreter may activate the motor and leave the status word of the DSP 402 with an undefined status.

Other command sources are still useful for purposes not covered by the DSP 402 protocol. Examples include:

 Monitoring the states of and inputs to the

 Using the Composer to monitor

SimplIQ digital servo drive behavior through the RS-

SimplIQ digital servo drive.

232 port while the digital servo drive is under control of the CAN DSP 402 protocol.

 Using the user program (or any of the interpreters) to program issues outside the

range of DSP 402 usage. For example, when the DSP 402 digital output command is not used, the digital outputs can be operated freely by a user program.

1.1 Operating Principles

The CiA DSP 402 CANopen Device Profile for Drives and Motion Control is used to provide drives in a CAN network with an understandable and consistent behavior. The profile is built on top of a CAN communication profile, called CANopen, which describes the basic communication mechanisms common to all devices in the CAN network.

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

The purpose of the drive units is to connect axle controllers or other motion control products to the CAN bus. They usually receive configuration information via service data objects for I/O configurations, limit parameters for scaling, or application-specific parameters. At run time, data ban be obtained from the drive unit via the CAN bus either by polling or in event-driven mode (with properly-mapped TPDOs).

The motion control products use process-data object mapping for real-time operation, which may be configured using service data objects (SDOs). This communication channel is used to interchange real-time data-like set-points or actual values such as position actual values.

The most important part of a device profile is the object dictionary description. The object dictionary is essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. The DSP 402 standard objects of single-axis drives, like the Harmonica, are all in the index range of 0x6000 to 0x67ff.

1.2 Abbreviations and Terms

The following terms are used in this document:

abs/rel Absolute and relative, which are indications of how to treat

the position reference command in relation to the actual location.

Elmo Composer An Elmo software application used for controller setup,

application downloading and monitoring.

Hexadecimal Numbers marked with either “h” (such as 1000h) or “0x”

(such as 0x1000) refer to a hexadecimal value. Objects and numbers may appear in either form in different CAN documents.

hm Homing mode

ip Interpolated position mode

Load position What the position sensor measures, expressed in position

units (in contrast to position sensor increments).

Non-volatile The object data may be saved to the flash memory of a

device using the SV command, or by setting object 0x1010 (sub1).

Position sensor increments Units measured by the load position sensor. The speed is

derived from the position sensor.

pp Profiled position mode

tq Profiled torque mode

pv Profiled velocity mode

Reference Motion parameters can be specified in terms of

meters/second for speed, or encoder counts for position.

rfg The reference generator, which generates the trajectory for

velocity mode only.

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

1.3 Elmo Documentation

This manual – included in the Elmo CANopen Implementation Guide – is part of the Elmo

SimplIQ digital servo drive documentation set, as outlined in the following diagram:

CANopen Implementation Guide

SimplIQ

Programming

Composer User Manual

Setup

Software Manual

Command Reference Manua

SimplIQ Servo Drive

Installation

In addition to this document, the

 The Harmonica, Cello and Bassoon Installation Guides, which provides full

instructions for installing a drive

 The Composer User Manual, which includes explanations of all the software tools that

are a part of Elmo’s Composer software environment

 The

 The CANopen Implementation Guide, which explains how to implement CANopen DS

SimplIQ Software Manual, which describes the comprehensive software used with

the

SimplIQ line of line of line of digital servo drives

This is the main source of detailed explanations of all SimplIQ commands

mentioned in this manual.

SimplIQ Software Manual, which describes the comprehensive software used with

the

SimplIQ digital servo drive.

301-based communication with a

Installation Guides

SimplIQ documentation set includes:

SimplIQ digital servo drive.

SimplIQ drives are fully compliant with CiA’s DSP305 protocol for Layer Setting

Service (LSS).

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

2: The DSP 402 Object Dictionary

This section describes the objects related to the DSP 402 device specific functionality. For more information about the object dictionary, refer to the Elmo

Implementation Guide.

Name Index Description Access Mappable?

SimplIQ CANopen DS 301

Abort connection

0x6007 Function to perform on heartbeat

event. (Link)

R/W N

option code

Error code 0x603F Captures the last error R N

Controlword 0x6040 Allows changing of drive states. R/W Y

Statusword 0x6041 Indicates current drive status. R Y

Quick stop

0x605A Sets the quick stop option code. R/W N

option code

Shut down

0x605B Sets the shut down option code. R/W N

option code

Disable

0x605C Sets the disable operation option code. R/W N

operation option code

Halt option code 0x605D Sets the Halt option code. R/W N

Fault reaction

0x605E Sets drive reaction when fault occurs. R/W N

option code

Modes of

0x6060 Sets mode of operation R/W Y

operation

Modes of operation display

Position demand value

Actual position internal unit

Position actual value

Position following error window

Position following error window time

Position window

0x6061 Displays actual mode of operation. R N

0x6062 Output of profiler. Position

R Y

command.

0x6063 Actual position taken from position

R Y

sensor, in increments.

0x6064 Actual position as taken from

R Y

position sensor, in user units.

0x6065 Defines a range of tolerated position

R/W N values symmetrical to the position demand value.

0x6066 Defines the timeout for the next error

R/W N window to set the following error indication.

0x6067 Defines a symmetrical position

R/W N window for the target position for target reached indication.

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Name Index Description Access Mappable?

Position window time

Velocity sensor actual value

Velocity sensor selection code

Velocity demand value

Velocity actual sensor

Velocity window

Velocity window time

Velocity threshold

Velocity threshold time

0x6068 Defines the time in which the position

R/W N within the position window indicates target reached.

0x6069 Actual velocity as calculated from the

R Y main velocity sensor, in increments.

0x606A Selects the velocity sensor reading

R/W N from either the position or the velocity sensor.

0x606B Demand value for velocity controller. R Y

0x606C Actual velocity from either position

R Y or velocity sensor.

0x606D Monitors whether required target

R/W N velocity was achieved.

0x606E Defines the time in which a target

R/W N velocity is considered as reached.

0x606F Defines the value in which the

R/W N velocity is considered to be 0.

0x6070 Defines (with object 0x607F) the time

R/W N in which the velocity is considered to be 0.

Target torque 0x6071 The input value for the torque

controller in profile torque mode.

Max torque

0x6072

The maximum permissible torque in the motor.

Max current 0x6073 The maximum permissible torque

creating current in the motor.

Torque demand value

Motor rated current

Motor rated torque

Torque actual value

Current actual value

Profiled target position

0x6074 The maximum permissible torque

creating current in the motor.

0x6075 This value is taken from the motor

nameplate.

0x6076 This value is taken from the motor

name plate.

0x6077 The instantaneous torque in the drive

motor.

0x6078 The instantaneous current in the

drive motor.

0x607A Defines target position for absolute or

relative point-to-point motion.

R/W Y

R/W

R/W N

R N

R/W N

R Y

R/W Y

Position range limit

0x607B Sets the limits in which the position

numerical values are available.

R/W N

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Name Index Description Access Mappable?

Homing offset 0x607C Defines offset from homing zero

position to application zero position.

Software position limit

0x607D Defines limits for demand position

value and actual position value.

Polarity 0x607E Sets polarity for position or speed

command and actual value.

Max profile velocity

0x607F Defines limit to which a profile

velocity speed is saturated.

Profile velocity 0x6081 Sets the speed for the profile position

motion.

Profile acceleration

0x6083 Defines the acceleration for the

profile velocity and profile position motion.

Profile deceleration

0x6084 Defines deceleration for profile

velocity and profile position motion.

Quick stop deceleration

0x6085 Sets the deceleration for a quick stop

state.

R/W N

R/W Y

R/W N

R/W Y

R/W N

Motion profile type

0x6086 Defines method by which profile

motion is evaluated (linear or jerk)

R/W N

Torque slope 0x6087 the rate of change of torque R/W Y

Torque profile type

0x6088 Used to select the type of torque

profile used to perform a torque

R/W N

change.

Position

0x6089 Used to scale position objects. R/W N

notation index

Position dimension index

Velocity notation index

Velocity dimension index

Acceleration notation index

0x608A This object defines the position

dimension index.

0x608B This is defined by the physical

dimensions and calculated by unit type.

0x608C This is used together with the velocity

notation index to define a unit.

0x608D The unit is defined by the physical

dimensions and calculated by unit

R/W N

type and exponent

Acceleration dimension index

0x608E This defines the acceleration

dimension index, which is used

R/W N

together with the acceleration notation index (object 0x608D) to define a unit

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Name Index Description Access Mappable?

Position encoder resolution

Velocity encoder

0x608F Defines relation between motor

revolution and position increments.

0x6090 Defines ratio of encoder increments/

sec per motor revolutions/sec.

R/W N

resolution

Position factor 0x6093 Converts position in user units to

R/W N position in internal increments

Velocity Encoder factor

Velocity factor 1 0x6095 Converts motor data into velocity

0x6094 Converts desired velocity in velocity

units into internal increments/sec.

R/W N

R/W N data.

Velocity factor 2 0x6096 Converts encoder data for position

R/W N into encoder data for velocity.

Acceleration factor

Homing method 0x6098 Defines method by which homing

0x6097 Converts the acceleration from user

units to internal increments/sec.

R/W N

R/W N procedure is performed.

Homing speed 0x6099 Sets speed for homing procedure. R/W N

Homing acceleration

Interpolated position sub

0x609A Sets acceleration for homing

sequence.

0x60C0 Sets sub-mode for interpolated

position algorithm.

mode

Interpolated data record

Interpolated position time

0x60C1 Sets data for interpolation position

trajectory.

0x60C2 Defines time for interpolation

position trajectory.

period

Interpolation data

0x60C4 Defines method to store position data

record.

configuration

Position demand value

0x60FC Reads position command in

increments as given to position controller

Digital input 0x60FD Reads digital input according to DSP

402, and also reflects Elmo digital input logical state.

R/W N

R/W Y

R/W Y: buffer

position

N: all the other entries.

R Y

Target velocity 0x60FF Sets velocity reference for velocity

profiler.

R/W Y

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Name Index Description Access Mappable?

Motor type 0x6402 R/W N

Motor catalog

0x6403 32 characters. R/W N

number

Motor

0x6404 32 characters. R/W N

manufacturer

http motor

0x6405 R/W N

catalog address

Motor

0x6406 R/W N

calibration date

Motor service

0x6407 R/W N

period

Driver modes 0x6502 R/W N

Drive

0x6504 R N

manufacturer

Drive manu-

0x6505 R N

facturer web site

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

3: Emergencies

Emergency messages are detailed in the SimplIQ CANopen Implementation Guide.

4: Predefinition

Object 0x1000: Device type

The object at index 1000h describes the device type and functionality. The SimplIQ returns 0x20192 for servo drive supporting DSP 402.

Object 0x1001: Error register

All bits are defined as in the The device-specific bit in the error register is used by the DSP 402 protocol. The error code can be read from the predefined error field at object 1003h and is compatible with device profiles for drives available for other field bus systems from object 0x603F as well.

SimplIQ CANopen Implementation Manual and CiA DS-301.

The error register captures the latest emergency messages. SimplIQ servo drives

allow the user to block the transmission of an emergency according to object 0x2F20. Nevertheless, a blocked emergency message is captured in the relevant entry of the error register.

PDO Mapping

The Elmo drive supports more than one operating mode of DSP 402. It also allows more than one method to set and query commands. In addition, the use of more than one standard PDO is predefined. With the Harmonica, four TPDOs and four RPDOs are free for any mapping according to the Elmo object dictionary. At reset (power up, NMT communication reset and NMT node reset), a default mapping is introduced according to DSP 402. These default mapping can be later changed by the user.

Receive PDO 1 mapped to the controlword in the following manner:

Index Sub-index Name Default Value

1400h 0 Number of entries 2

1 COB-ID used by PDO 4000027Fh

2 Transmission type 255

Index Sub-index Name Default Value

1600h 0 Number of mapped entries 1

1 Controlword 6040 00 10h

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it changes (typically after reception of a controlword):

Index Sub-index Name Default Value

1800h 0 Number of entries 3

1 COB-ID used by PDO 400001FFh

2 Transmission type 255

3 Inhibit Time 0

4 Reserved 0

5 Event timer 0

Index Sub-index Name Default Value

1A00h 1 Number of entries 1

Statusword 6041 00 10h

Index Sub-index Name Default Value

2F20h 1 TPDO1 asynchronous

events

The asynchronous transmission of TPDO1 reflects changes performed

3 milliseconds prior to the transmission.

Receive PDO 2 is mapped to the binary interpreter by default. This is done for compatibility reasons and to enable communication with the Elmo Composer.

Index Sub-index Name Default Value

1401h 0 Number of entries 2

1 COB-ID used by PDO 4000037Fh

2 Transmission type 254

Index Sub-index Name Default Value

1601h 0 Number of entries 1

1 Binary interpreter

command

2013 00 40h

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Transmit PDO 2 is mapped to the binary interpreter result object, transmitted each time the binary interpreter completes its processing. The event behavior is set by object 0x2F20, defined in the

SimplIQ CANopen Implementation Manual.

Index Sub-index Name Default Value

1801h 0 Number of entries 3

1 COB-ID used by PDO 400002FFh

2 Transmission type 254

3 Inhibit time 0

4 Reserved 0

5 Event timer 0

Index Sub-index Name Default Value

1A01h 1 Number of entries 1

2 Binary interpreter result 2014 00 40h

Index Sub Name Default Value

2F20h 2 TPDO2 events 0x8000000

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

5: Common Entries

5.1 Drive Error

The drive functionality in case of an error is determined using the following objects:

6007h: defined according to the

603Fh: reflects the 16 lower bits of object 0x1003, which, together with this object, get the

emergency value regardless of the emergency message mask in object 2F21h.

Object 0x6007: Abort connection option code

This object details the motor control behavior after a heartbeat failure. It has no effect if the motor is already off.

 Object description:

Index 6007h

SimplIQ CANopen Implementation Manual.

Name Abort connection option code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range -32,768…32,767

Default value 0

 Data description:

(Command details are found in SimplIQ Command Reference Manual.)

Option Code Meaning

0 No action

1 Malfunction Motor is off (MO=0) and motor failure code is

Details

0x800. The failure is reported and possibly activates an AUTOERR routine similar to other failures (MF command).

2 Device control

command “Disable_voltage”

3 Device control

command “Quick_stop”

Motor is off (MO=0), but no failure indication is set (MF=0).

ST command is executed. Its action depends on unit mode (UM).

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

Object 0x603F: Error code

This object captures the code of the last error that occurred in the drive. It corresponds to the value of the lower 16 bits of object 1003h, pre-defined error field.

 Object description:

Index 603Fh

Name Error code

Object code VAR

Data type UNSIGNED16

Category Optional

 Entry description:

Access Read only

PDO mapping No

Value range UNSIGNED16

Default value 0

5.2 Motor Data

Objects 6402h to 64FFh serve as a database for motor parameters. The values are typically found on the motor nameplate or the manufacturer’s motor catalog and are used to maintain a service database within the controlling device of the drive. Most of the entries are typically entities from the manufacturer’s motor catalog. The Elmo DSP 402 implementation supports the following objects:

6402h: Motor type

6403h: Motor catalog number

6404h: Motor manufacturer

6405h: Http motor catalog address

6406h: Motor calibration date

6407h: Motor service period

Object 0x6402: Motor type

This object defines the type of motor driven by the controller. The values of this object are represented in the following table:

 Object values:

Value Motor Type

0 Non-standard motor

1 DC motor

9 Micro-step stepper motor

10 Sinusoidal PM brushless motor

11 Trapezoidal PM brushless motor

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This object contains information for the user only and does not convey the value of

the CA[28] command at the calibration procedure of a drive.

 Object description:

Index 6402h

Name Motor type

Object code VAR

Data type UNSIGNED16

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range UNSIGNED16

Default value

Object 0x6403: Motor catalog number

This object describes the manufacturer’s motor catalog number (nameplate number). The maximum length of this object is 32 characters.

 Object description:

Index 6403h

Name Motor catalog number

Object code VAR

Data type VISIBLE_STRING

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range

Default value

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Object 0x6404: Motor manufacturer

This object gives the motor manufacturer’s name. The maximum length of this object is 32 characters.

 Object description:

Index 6404h

Name Motor manufacturer

Object code VAR

Data type VISIBLE_STRING

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range

Default value

Objects of data type VISIBLE_STRING have 32 characters.

Object 0x6406: Motor calibration d

ata

Date of the motor last inspection.

 Object description:

Index 6406h

Name Motor calibration date

Object code VAR

Data type TIME_OF_DAY

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range No

Default value No

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Object 0x6407: Motor service periods

Value, in hours, of the nominal motor lifetime. The motor needs servicing after this time.

 Object description:

Index 6407h

Name Motor service period

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range Unsigned32

Default value No

5.3 Drive Data

Objects 6500h to 65FFh serve as a database for drive parameters. The Elmo DSP 402 implementation supports the following objects:

6502h: Supported drive modes:

Homing mode (hm), profiled position mode (pp), interpolated position mode (ip), profiled velocity mode (pv), Profiled torque mode (tq).

6504h: Drive manufacturer

6505h: Http drive catalog address

60FDh: Drive digital input

These objects, except 6503h, are “read only” and are burnt into the drive as part of the manufacturing process. Object 6503h is a non-volatile object, which serves as a database for the user to enter the type of drive as appears in the nameplate (for example, HAR A15/200CAN). The default value is 0.

The following objects provide more information about the drive:

 1008h: Manufacturer device name

 100Ah: Manufacturer software version

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Object 0x6502: Supported drive modes

 Object description:

Index 6502h

Name Supported drive modes

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read only

PDO mapping No

Value range UNSIGNED32

Default value 0x65

 Data description:

31 16 15 7 6 5 4 3 2 1 0 Manufacturer

reserved ip hm reserved tq pv vl pp

specific

Object 0x6504: Drive manufacturer

This object gives the drive manufacturer’s name.

 Object description:

Index 6504h

Name Drive manufacturer

Object code VAR

Data type VISIBLE_STRING

Category Optional

 Entry description:

Access Read only

PDO mapping No

Value range

Default value Elmo Motion Control Ltd.

According to DSP 402, object 0x6504 has read/write access, although with the

Harmonica, it has read only access.

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Object 0x6505: http drive catalog address

This object gives the Internet address of the drive manufacturer.

 Object description:

Index 6505h

Name http drive catalog address

Object code VAR

Data type VISIBLE_STRING

Category Optional

 Entry description:

Access Read only

PDO mapping No

Value range

Default value http:\\www.elmomc.com

According to DSP 402, object 0x6505 has read/write access, although with the

SimplIQ, it has read only access.

Object 0x60FD: Digital inputs

This object defines simple digital inputs for drives.

The reflected functions are:

• Negative limit switch – Similar to RLS

• Positive limit switch – Similar to FLS

• Home switch – As reflected in the IL[5] command

 Object description:

Index 60FDh

Name Digital inputs

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read only

PDO mapping Yes

Value range UNSIGNED32

Default value 0

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 Data description:

31 22 21 16 15 4 3 2 1 0 Manufactu

rer specific

Digital input 1…10 logic state

Reserved Interlock Home

switch

Positive limit switch

Negative limit switch

MSB The switch must be “active high.”

Notes:

 The interlock is always 0.

 “Active high” means that the bit is set to high when the switch is logically

active.

 Bits 16 – 25 reflect the logic active state of the digital inputs, starting from 1.

Logic active means that the switch can be active in either high state or low state according to the IL[N] definition. More information can be found in the

SimplIQ

Command Reference Manual.

 Different SimplIQ drives support a different number of digital inputs. It is

advised to use only the relevant bits according to the specific drive.

 This object is evaluated every 3 milliseconds.

When mapped as asynchronous, this object is transmitted at every change within the calculation resolution period. Inhibit time can be used to prevent busload or to control the time latency causing the same TPDO to be transmitted due to other asynchronous events.

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6: Device Control

6.1 Objects

6040h: controlword 6041h: statusword

The Device Control function block controls all functions of the device, categorized as:

 Device control of the state machine

 Operation mode functions

The state of the device is controlled by the controlword, while the status of the device is indicated by the statusword.

The state machine is controlled externally by the controlword and external signals. Write access to the controlword is always allowed. The SimplIQ is always in external mode, thus the “Remote” indication in the statusword is always ‘1’. The state machine is also controlled by internal signals such as faults and modes of operation.

The following diagram illustrates the Device Control function.

The Elmo drive is always in remote mode; that is, it can be controlled only

externally by using the SDO and PDO.

controlword

(6040h)

Logical Operation

Logical OperationLogical Operation

State Machine

State MachineState Machine

Terminals

statusword

(6041h)

Remote

Faults

Status of the Drive Function

Figure

6-1: Remote Mode

State Machine

The state machine describes the device status and the possible control sequence of the drive. A single state represents a special internal or external behavior. The state of the drive also determines which commands are accepted; for example, a point-to-point motion can be started only when the drive is in OPERATION ENABLE state.

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States may be changed using the controlword and/or according to internal events. The current state can be read using the statusword.

controlword

(6040h)

Internal Events

State Machine

State MachineState Machine

statusword

(6041h)

(6041h) Actions

Actions

Internal Events

Figure 6-2: State Machine in System Context

The device states and possible control sequence of the drive are described by the state machine, as depicted in the following figure:

Power Disabled

Power Enabled

Start

NOT READY TO

SWITCH ON

DISABLED

READY TO

SWITCH ON

SWITCHED ON

Fault

1210

FAULT REACTION

ACTIVE

NOT READY TO

SWITCH ON

OPERATION

ENABLE

Figure

11 16

QUICK STOP

ACTIVE

6-3: State Machine Block Diagram

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Drive States

The following states of the device are possible:

 * NOT READY TO SWITCH ON:

Low-level power (24V) has been applied to the drive. The drive is being initialized and is running the self test.

A brake output, if present, is applied in this state. The drive function is disabled.

This state is an internal state in which communication is enabled only at the

end. The user can neither retrieve nor monitor this state.

 * SWITCH ON DISABLED:

Drive initialization is complete. The drive parameters have been set up. Drive parameters may be changed. High voltage may not be applied to the drive, (such as for safety reasons; refer to following note).

The drive function is disabled.

Notes:

 In this state, if high power is applied anyway, no indication of an error is

given. The application must be responsible for handling the state transition.

 SWITCH ON DISABLED is the minimum state to which a user may switch.

 * READY TO SWITCH ON:

High voltage may be applied to the drive. The drive parameters may be changed. The drive function is disabled.

 * SWITCHED ON:

High voltage has been applied to the drive. The power amplifier is ready. The drive parameters may be changed. The drive function is disabled.

No indication is given if the drive high voltage has not been applied.



* OPERATION ENABLE:

No faults have been detected. The drive function is enabled and power is a

pplied to the motor.

The drive parameters may be changed. (This corresponds to normal operation of the drive.)

In this state, a brake is automatically released according to the brake parameter

(BP[N]) timing.

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 * QUICK STOP ACTIVE:

The drive parameters may be changed. The quick stop function is being executed. The drive function is enabled and power is applied to the motor.

 According to the quick stop option code, the drive stops the motion and either

stays in quick stop or disables the motor. The term “drive stops” means that the rfg completed the deceleration trajectory and not that the motor is stationary.



 If the quick stop option code (object 0x605A) is 0 (disable drive function), the state

of the drive is SWITCH ON DISABLED.

 * FAULT REACTION ACTIVE:

The drive parameters may be changed. A fault has occurred in the drive.

The fault reaction function is being executed. The drive function is disabled.

This parameter cannot be retrieved by the user. The drive automatically

switches to FAULT state.

 * FAULT:

The drive parameters may be changed. A fault has occurred in the drive. High voltage switch-on/-off depends on the application.

The drive function is disabled.

State Transitions of the Drive Supervisor

State transitions are caused by internal events in the drive or by commands from the host via the controlword.

 State Transition 0: START => NOT READY TO SWITCH ON

Event: Reset. Action: The drive self-tests and/or self-initializes.

 State Transition 1: NOT READY TO SWITCH ON => SWITCH ON DISABLED

Event: The drive has self-tested and/or initialized successfully. Action: Activate communication.

 State Transition 2: SWITCH ON DISABLED => READY TO SWITCH ON

Event: Shutdown command received from host. Action: None

 State Transition 3: READY TO SWITCH ON => SWITCHED ON

Event: Switch On command received from host. Action: The power section is switched on if it is not already on.

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 State Transition 4: SWITCHED ON => OPERATION ENABLE

Event: Enable Operation command received from host. Action: The drive function is enabled.

 State Transition 5: OPERATION ENABLE => SWITCHED ON

Event: Disable Operation command received fro

m host.

Action: The drive operation is disabled.

 State Transition 6: SWITCHED ON => READY TO SWITCH ON

Event: Shutdown command received from host. Action: The pow

er section is switched off.

 State Transition 7: READY TO SWITCH ON => SWITCH ON DISABLED

Event: Quick Stop and Disable Voltage command

s received from host.

Action: None.

State Transitio

 n 8: OPERATION ENABLE => READY TO SWITCH ON

Event: Shutdown command received from host. Action: The power section is switched off immediately,

and the motor is free to rotate

if not braked.

State Transitio

 n 9: OPERATION ENABLE => SWITCH ON DISABLED

Event: Disable Voltage command received from host. Action: The power section is switched off immediately, and the motor i

s free to rotate

if not braked.

State Transitio

 n 10: SWITCHED ON =>SWITCH ON DISABLED

Event: Disable Voltage or Quick Stop command received from host. Action: The power section is switched off immedia

tely, and the motor is free to rotate

if not braked.

 State Transition 11: OPERATION ENABLE =>QUICK STOP ACTIVE

Event: Quick Stop command received from host. Action: The quick stop function is executed.

State Transition 12: QUICK STOP ACTIVE=>SWITCH ON DISABLED



Event: Quick Stop completed or Disable Voltage command received from host. This transition is possible if the quick stop option code is hig

her than 5 (stay in QUICK STOP ACTIVE state). Action: The profile generator finished the d

eceleration and the motor is disabled.

 State Transition 13: All => FAULT REACTION ACTIVE

Event: A fault has occurred in the drive. Action: Execute appropriate fault reaction.

 State Transition 14: FAULT REACTION ACTIVE => FAU

Event: The fault reaction is completed. Action: The drive function is disabled. The power section may be switched

 State

Transition 15: FAULT=>SWITCH ON DISABLED

Fault Reset command received from host.

Event: Action:

The fault condition is reset if no fault currently exists in the drive.

off.

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After leaving FAULT state, the Fault Reset bit of the controlword must be

cleared by the host. The drive does not monitor this bit in other states. If this bit is not cleared from a previous fault st

ate, when the next fault occurs, the drive automatically enters SWITCH ON DISABLED state with no indications or warn

ing.

 State T

Event: En the quick Action: Th

ransition 16: QUICK STOP ACTIVE=>OPERATION ENABLE

able Operation command received from host. This transition is possible if stop option code (object 0x605A) is 5, 6.

e drive function is enabled.

Notes:

This transition forces a “motion begin”; for example, if the controlword forces transition 11 during a home seque nce, the motor will stop according to the quick stop option code. If a new homing speed and homing acceleration are set to the drive and the controlword

sets transition 16, the home sequence

will continue according to the method and with the new home parameters.

 If the motor is turned off by an external source (such as the inter

during OPERATION ENABLE, the minimum state SWITCH ON ENABLE will merge with no further notification.

Important Notes about State Transition:

If a command that causes a change of state i s received, it is processed completely and the new state is attained before the next command is processed.

 er up or at

The drive performs transitions 0 and 1 after initiation, either at pow NMT node reset. From this state, it is up to the host to change the trans according to the application needs.

preter)

itions

 e

“Drive function is disabled” implies that no energy is being supplied to th motor. Reference values are not processed.



“Drive function is enabled” implies that energy can be supplied to the motor. The reference values (torque, velo

city and position) are processed.

 “Fault occurred” implies that a fault has occurred in the drive during

“Operation Enable”. In this case, there is a transition to state FAULT REACTION ACTIVE, during which the device executes a motor disab function. After executing this fault reaction, the device switches to state FAUL It is possible to leave this state only through the Fault Reset command, and only if the fault is not active anymore.

 If a fault occurs in OPERATION ENABLE state, an emergency message – if not

masked – is sent with the fault reason. The last 16 fault messages are latched and can be retrieved later by uploading object 0x1003, defined in DS-301.

 In a fault state, setting MO=1 through methods other than the controlword

activates the motor and leads to an ambiguous state of the DSP 402 protocol.

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Illegal Transition

After initiation of a drive by either power on or NMT node reset, the drive automatically performs transitions 0 and 1 to the SWITCH ON DISABLED state. The controlword can then be used to cause any of the transitions defined previously. If a transition is illegal (such as requesting a QUICK STOP in a FAULT state), the controlword is rejected with abort code 0609 0030, “Value range of parameter exceeded.” If an RPDO is used to control the drive, an RPDO style emergency is transmitted with the error code. The emergency structure and meaning is illustrated in the

SimplIQ CANopen Implementation

Manual. This emergency can be masked in accordance with object 2F21h. In case of an illegal transition, bit 7 in the statusword (warning) is set for at least the next transmission of this statusword. The bit is after a legal transition of the controlword.

The resolution for statusword transmission is approximately 3 milliseconds. Events

that are modified during this time are sensed and responded to, but no notification of them is made by the statusword.

Object 0x6040: Controlword

The controlword contains bits for:

 Controlling the state

 Controlling operating modes

 Manufacturer-specific options

 Object description:

Index 6040h

Name Controlword

Object code VAR

Data type UNSIGNED16

Category Mandatory

 Entry description:

Access Read/write

PDO mapping Possible

Value range UNSIGNED16

Default value No

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 Data description:

15 11 10 9 8 7 6 4 3 2 1 0

Manufacturer specific

O O O M O M M M M

MSB LSB

O: Optional M: Mandatory

Reserved Halt Fault

reset

Operation mode specific

Enable operation

Quick stop

Enable voltage

Switch on

Bits 0 – 3 and 7:

Device control commands are triggered by the following bit patterns in the controlword:

Command

7 3 2 1 0

Fault Reset

Bits of the controlword

Enable Operation

Quick Stop

Enable Voltage

Transitions

Switch On

Shutdown 0 X 1 1 0 2, 6, 8

Switch ON 0 0 1 1 1 3*

Switch ON 0 1 1 1 1 3**

Disable

0 X X 0 X 7, 9, 10, 12

Voltage

Quick Stop 0 X 0 1 X 7, 10, 11

Disable

0 0 1 1 1 5

Operation

Enable

0 1 1 1 1 4, 16

Operation

Fault Reset

X X X X 15

Device Control Command Triggers

 Bits marked with X are not relevant.

 * The drive executes the functionality of SWITCH_ON.

 ** The drive does nothing in this state, which is treated the same as in *.

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Bits 4, 5, 6 and 8:

These bits are operation-mode specific. Their description is found in the chapter about the special mode.

Velocity

Bit

Mode

4 rfg enable New set-point Reserved Reserved Homing

5 rfg unlock Change set

6 rfg use ref abs/rel Reserved Reserved Reserved Reserved

8 Halt Halt Halt Halt Halt Halt

Profile Position Mode

immediately

Operation Mode

Profile Velocity Mode

Reserved Reserved Reserved Reserved

Profile Torque Mode

Homing Mode

operation start

Interpolation Position Mode

Enable ip mode

Not all modes mentioned in the table are implemented in Elmo servo drives.

Bits 9 and 10:

These bits are reserved for future use. They are de-activated by setting them to 0. If they have no special function, they are set to zero.

Bits 11, 12, 13, 14 and 15:

These bits are manufacturer specific.

Object 0x6041: Statusword

The statusword indicates the present state of the drive. No bits are latched. The statusword contains bits for:

 The current drive state

 The operating state of the mode

 Manufacturer-specific options

 Object description:

Index 6041h

Name Statusword

Object code VAR

Data type UNSIGNED16

Category Mandatory

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 Entry description:

Access Read only

PDO mapping Yes

Value range UNSIGNED16

Default value No

 Data description:

Bit Description

0 Ready to switch on

1 Switched on

2 Operation enabled

3 Fault

4 Voltage enabled

5 Quick stop

6 Switch on disabled

7 Warning

8 Manufacturer specific

9 Remote

10 Target reached

11 Internal limit active

12 - 13 Operation mode specific

14 - 15 Manufacturer specific

Bits 0 - 3, 5 and 6: The following bits indicate the status of the device:

Value (binary) State

xxxx xxxx x0xx 0000 Not ready to switch on

xxxx xxxx x1xx 0000 Switch on disabled

xxxx xxxx x01x 0001 Ready to switch on

xxxx xxxx x01x 0011 Switch on

xxxx xxxx x01x 0111 Operation enabled

xxxx xxxx x00x 0111 Quick stop active

xxxx xxxx x0xx 1111 Fault reaction active

xxxx xxxx x0xx 1000 Fault

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Bit 4: Voltage Enabled:

High voltage is applied to the drive when this bit is set to 1.

Bit 5: Quick Stop:

When reset, this bit indicates that the drive is reacting to a Quick Stop request. Bits 0, 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable of regenerating. The setting of the other bits indicates the status of the drive (for example, the drive is performing a quick stop in reaction to a non-fatal fault. The fault bit is set in addition to bits 0, 1 and 2).

Bit 7: Warning:

A drive warning is present if bit 7 is set. While no error has occurred, this state must still be indicated; for example, job refused. The status of the drive does not change. The cause of this warning may be found by reading the fault code parameter. This bit is set when an illegal controlword is received and reset after at least one statusword of this transition has been transmitted.

Bit 8:

This bit is reserved for the manufacturer. It is not used and is set to 0.

Bit 9: Remote:

If bit 9 is set, parameters may be modified via the CAN network, and the drive executes the contents of a command message. If the bit remote is reset, the drive is in local mode and does not execute the command message. The drive may transmit messages containing actual valid values such as a position actual value, depending on the actual drive configuration. The drive accepts accesses via SDO in local mode.

The Remote bit is always set by the Elmo servo drive.

Bit 10: Target Reached:

Bit 10 is set by the drive to indicate that a set-point has been reached. The set-point is dependent on the operating mode. The relevant description is found in the chapter about the special mode. The change of a target value by software alters this bit.

If the quick stop option code is 5 or 6, this bit is set when the quick stop operation is finished and the drive is halted.

If a Halt occurs and the drive has halted, this bit is also set.

Bit 11: Internal Limit Active:

The drive can set this bit to indicate that an internal limitation is active (such as software position limit).

Bits 12 and 13:

These bits are operation-mode specific. Their description is found in the chapter about the special mode. The following table provides an overview of the bits:

Bit

vl pp pv tq hm ip

12 Reserved Set-point

acknowledge

13 Reserved Following

error

Operation Mode

Speed Reserved Homing

attained

Max slippage error

Reserved Homing

error

ip mode active

Reserved

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Not all modes mentioned in the table are implemented in Elmo servo drives.

Bits 14 and 15:

These bits are reserved. They are not used and are set to 0.

6.2 Halt, Stop

and Fault Objects

605A: Quick stop option code

605B: Shutdown option c

605C: Disable operation mo

ode

605D: Halt option code

605E: Fault reaction code

Slow down ramp – DC value

uick stop ramp – SD value

Q Disable drive – MO=0

Object 0x605A:

This parameter determi

Quick stop option code

nes which action should be taken if the Quick Stop function is

executed.

 Object description:

Index 605Ah

Name Quick stop option code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value 2

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 Data description:

Value Description

-32,768…-1 Manufacturer specific

0 Disable drive function

1 Slow down on slow-down ramp and then disable the drive

2 Slow down on quick-stop ramp and then disable the drive

3 Slow down on current limit and than disable the drive (tq

mode only)

4 Not supported

5 Slow down on slow-down ramp and stay in QUICK STOP

7 Slow down on the current limit and stay in QUICK STOP

(tq mode only)

8 Not supported

9…32,767 Reserved

An attempt to set an unsupported value causes the transmission of abort code

0609 0030: Value exceeded.

Object 0x605B: Shutdown option code

This parameter determines which action should be taken in case of the transition: OPERATION ENABLE => READY TO SWITCH ON.

 Object description:

Index 605Bh

Name Shutdown option code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value 0

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 Data description:

Value Description

-32,768…-1 Manufacturer specific

0 Disable drive function

1 Slow down on slow-down ramp; disable drive function

2…32,767 Reserved

An attempt to set an unsupported value causes the transmission of abort code

0609 0030, value exceeded.

Object 0x605C: Disable operation option code

This parameter determines which action shou

ld be taken in case of the transition:

OPERATION ENABLE => SWITCHED ON.

 Object description:

Index 605Ch

Name Disable operation option code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value 1

 Data description:

Value Description

-32,768…-1 Manufacturer specific

0 Disable drive function

1 Slow down on slow-down ramp and then disable drive function

2…32,767 Reserved

An attempt to set an unsupported value causes the transmission of abort

code 0609 0030: Value exceeded.

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Object 0x605D: Halt option code

This parameter determines which action should be taken if bit 8 (halt) in the controlword is active.

 Object description:

Index 605Dh

Name Halt option code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value 1

 Data description:

Value Description

-32,768…-1 Manufacturer specific

0 Disable drive function

1 Slow down on slow-down ramp

2 Slow down on quick-stop ramp

3 Slow down on current limit (only for tq mode)

3…32,767 Reserved

In Profile Position mode, the Halt option is not affected when this object is set.

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Object 0x605E: Fault reaction option code

 Object description:

Index 605Eh

Name Fault reaction option code

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value 0

 Data description:

Value Description

-32,768…-1 Manufacturer specific

0 Disable drive function

1…4 Not supported

1…32,767 Reserved

Notes:

 An attempt to set an unsupported value causes the transmission of abort

code 0609 0030: Value exceeded.

 All drive faults are considered fatal. When a fatal fault occurs, the drive is

no longer able to control the motor, requiring that the drive be switched-off immediately.

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7: Modes of Operation

6060h: Modes of operation 6061h: Modes of operation display

7.1 Functional Description

The drive behavior depends on the activated modes of operation. Different modes can be implemented, although not in parallel. Therefore, the user must activate the required function by selecting a mode of operation. The modes-of-operation variables are initialized at reset to “no mode” (value -1). Modes can be set in any state, including OPERATION ENABLE. At OPERATION ENABLE, the motor stands still until an explicit motion command is received via a control word. Bit 10 in the statusword (Target reached) is set.

When switching modes in OPERATION ENABLE, the transition proceeds as if bit 8 (Halt) in the controlword has been set. The motion first stops according to object 605Dh. The mode actually changes only after a complete stop, according to the definition of target reached. The actual mode is reflected via object 6061h.

The statusword contains bits whose meaning depends on the mode of operation. When switching modes, the “mode dependent” bits in the controlword and statusword must be monitored.

7.2 Objects

Object 0x6060: Modes of operation

 Object description:

Index 6060h

Name Modes of operation

Object code VAR

Data type INTEGER8

Category Mandatory

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER8

Default value -1

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 Data description:

Value Description

-128…-2 Reserved

-1 No mode

0 Reserved

1 Profile position mode

2 Velocity (not supported)

3 Profiled velocity mode

4 Torque profiled mode

5 Reserved

6 Homing mode

7 Interpolated position mode

8…127 Reserved

Notes:

A read of this object shows only the value of modes of operation. The actual mode of the drive is reflected in the modes o f operation display object. It may be changed by writing to modes of operation.

 ted mode causes the transmission of abort

An attempt to access an unsuppor code 0609 0030: Value exceeded.

Object 0x6061: Modes of operation display

This object shows the current mode of operation. The meaning of the re corresponds to that of the

modes of operation option code (index 6060h).

turned value

 Object description:

Index 6061h

Name Modes of operation display

Object code VAR

Data type INTEGER8

Category Mandatory

 Entry description:

only Access Read

PDO mapping No

Value range INTEGER8

Default value -1



Data description: Similar to object 6060h, modes of operation.

The actual mode is reflected in the modes of operation display (index 6061h),

and not in modes of operation (index 6060h).

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8: Factors

607Eh: Polarity

6089h: Position notation index

608Ah: Position dimension index

608Bh: Velocity notation index

608Ch: Velocity dimension index

608Dh: Acceleration notation index

608Eh: Acceleration dimension index

608Fh: Position encoder resolution

6090h: Velocity encoder resolution

6093h: Position factor

6094h: Velocity encoder factor

6095h: Velocity factor 1

6096h: Velocity factor 2

6097h: Acceleration factor

Physical dimensions and sizes need to be converted into the device internal units, requiring a number of different factors. This chapter describes how these factors influence the system, how they are calculated and which data is needed to build them.

8.1 Relationship between Physical and Internal Units

The factors defined in the factor group determine a relationship between the Elmo drive internal units and the application physical units. The factors are a result of the calculation of two parameters – called dimension index and notation index – which are defined

Appendix A and Appendix B. One parameter indicates the physical dimensions, and the

other indicates the decimal exponent for the values. These factors are directly used to normalize the physical values.

The application-specific parameters are used in the corresponding mode of operation to build the described factors. Parameters that are commonly used are integrated in the object dictionary without defining their junctions. This guarantees a common parameter number for further use without the need for predefinition.

8.2 Functions and Limits

 Factors cannot be set while the drive is in OPERATION ENABLE state.

 Divisors cannot be set to 0. An abort message with abort code 0609 0030 will be

transmitted.

 Values are truncated to the nearest integer.

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8.3 Objects

Object 0x607E: Polarity

Position demand value and position actual value are multiplied by 1 or -1, depending on the value of the polarity flag.

 Object description:

Index 607Eh

Name Polarity

Object code VAR

Data type UNSIGNED8

Category Optional

 Entry description:

Access Read/write

PDO mapping Yes

Value range UNSIGNED8

Default value 0

 Data Description

7 6 5 . . . 0

Position polarity

Velocity polarity

Reserved

Value Description

0 Multiply by 1

1 Multiply by -1

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Object 0x6089: Position notation index

This index is used to scale position objects. The unit is defined by the physical dimensions and calculated by unit type and exponent, declared in the dimension/ notation index tables (refer to Appendix A and Appendix B).

Notes:

 The Elmo drive does not use this object; it is available for user convenience.

 The object is not checked for value and consistency.

 Object description:

Index 6089h

Name Position notation index

Object code VAR

Data type INTEGER8

Category Optional

 Entry description:

Access Read/write

PDO mapping Yes

Value range INTEGER8

Default value 0

Object 0x608A: Position dimension index

This object defines the position dimension index, which is used together with the position notation index (object 0x6089) to define a unit (refer to Appendix A).

Notes:

 The Elmo drive does not use this object; it is available for user convenience.

 The object is not checked for value and consistency.

 This object is non-volatile.

 Object description:

Index 608Ah

Name Position dimension index

Object code VAR

Data type UNSIGNED8

Category Optional

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 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED8

Default value —

Object 0x608B: Velocity notation index

This object defines the velocity notation index. The unit is defined by the physical dimensions and calculated by unit type and exponent, declared in the dimension/ notation index tables (refer to Appendix A and Appendix B).

Notes:

 The Elmo drive does not use this object; it is available for user convenience.

 The object is not checked for value and consistency.

 This object is non-volatile.

 Object description:

Index 608Bh

Name Velocity notation index

Object code VAR

Data type INTEGER8

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER8

Default value —

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Object 0x608C: Velocity dimension index

This object defines the velocity dimension index, which is used together with the velocity notation index (object 0x608B) to define a unit (refer to Appendix A and Appendix B).

Notes:

 The Elmo drive does not use this object; it is available for user convenience.

 The object is not checked for value and consistency.

 This object is non-volatile.

 Object description:

Index 608Ch

Name Velocity dimension index

Object code VAR

Data type UNSIGNED8

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED8

Default value —

Object 0x608D: Acceleration notation index

This object defines the acceleration notation index. The unit is defined by the physical dimensions and calculated by unit type and exponent, declared in the dimension / notation index tables (refer to Appendix A and Appendix B).

Notes:

 The Elmo drive does not use this object; it is available for user convenience.

 The object is not checked for value and consistency.

 This object is non-volatile.

 Object description:

Index 608Dh

Name Acceleration notation index

Object code VAR

Data type INTEGER8

Category Optional

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 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER8

Default value —

Object 0x608E: Acceleration dimension index

This object defines the acceleration dimension index, which is used together with the acceleration notation index (object 0x608D) to define a unit (refer to Appendix A).

Notes:

 The Elmo drive does not use this object; it is available for user convenience.

 The object is not checked for value and consistency.

 This object is non-volatile.

 Object description:

Index 608Eh

Name Acceleration dimension index

Object code VAR

Data type UNSIGNED8

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED8

Default value —

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Object 0x608F: Position encoder resolution

This object defines the ratio of encoder increments per motor revolution:

resolutionencoderposition __ =

incrementsencoder

srevolutionmotor

 Object description:

Index 608Fh

Name Position encoder resolution

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Encoder increments

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Motor revolutions

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

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Object 0x6090: Velocity encoder resolution

This object defines the ratio of encoder increments/second per motor revolutions/ second.

resolutionencodervelocity __ =

incrementsencoder

sec/_

srevolutionmotor

 Object description:

Index 6090h

Name Velocity encoder resolution

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Encoder increments per second

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Motor revolutions per second

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

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Object 0x6093: Position factor

This object converts the desired position (in position units) into the internal format (in increments). The object entries are the numerator and the divisor.

 Object description:

Index 6093h

Name Position factor

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Numerator

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Divisor

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

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Notes:

 The position factor is calculated according to this object regardless of the setting

of any other objects, such as 0x608F (position encoder resolution).

 The actual value range of the divisor may not exceed 16,383 due to numeric

overflow.

Object 0x6094: Velocity encoder factor

This object converts the desired velocity (in velocity units) into the internal format (in increments/second).

 Object description:

Index 6094h

Name Velocity encoder factor

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Numerator

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

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Sub-index 2

Description Divisor

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Notes:

 The position factor is calculated according to this object regardless of the setting

of any other objects, such as 0x6090 (velocity encoder resolution).

 The actual value range of the divisor may not exceed 16,383 due to numeric

overflow.

Object 0x6095: Velocity factor 1

This object is used to convert motor data (such as maximum motor revolutions) into velocity data (such as maximum velocity) because the data items are based on different physical dimensions.

 Object description:

Index 6095h

Name Velocity factor 1

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

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Sub-index 1

Description Numerator

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Divisor

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Notes:

 The velocity factor 1 is calculated according to this object regardless of the setting

of any other objects, such as 0x6092 (feed constant).

 The actual value range of the divisor may not exceed 16,383 due to numeric

overflow.

Object 0x6096: Velocity factor 2

This object is used to define the relationship between the velocity encoder data and the position encoder data, because they are based on different dimensions.

 Object description:

Index 6096h

Name Velocity factor 2

Object code ARRAY

Data type UNSIGNED32

Category Optional

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 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Numerator

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Divisor

Entry category Optional

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Notes:

 The velocity factor 2 is calculated according to this object regardless of the setting

of any other objects, such as 0x608F (position encoder resolution).

 The actual value range of the divisor may not exceed 16,383 due to numeric

overflow.

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Object 0x6097: Acceleration factor

This object converts the acceleration (in acceleration units/second format (in increments/second

) into the internal

 Object description:

Index 6097h

Name Acceleration factor

Object code ARRAY

Data type UNSIGNED32

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Numerator

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Divisor

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 1

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Notes:

 The acceleration factor is calculated according to this object regardless of the

setting of any other objects, such as 0x6094 (velocity encoder factor).

 The actual value range of the divisor may not exceed 16,383 due to numeric

overflow.

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9: Homing

607Ch: Home offset

6098h: Homing method

6099h: Homing speeds

609Ah: Homing acceleration

9.1 General Information

This chapter describes the method by which a drive seeks the home position (also called the datum, reference point or zero point). Homing can be performed using limit switches at the ends of travel or a home switch (zero point switch) in mid-travel; most of the methods also use the index (zero) pulse train from an incremental encoder.

Input Data

The user can specify the speeds, acceleration and method of homing. An additional object, home offset, is used to displace zero in the user’s coordinate system from the home position. There are two homing speeds: in a typical cycle the faster speed is used to find the home switch and the slower speed is used to find the index pulse.

Output Data

There is no output data except for those bits in the statusword that return the status or result of the homing process and the demand to the position control loops.

Internal States

The homing mode is controlled by the bits of the controlword and statusword

Homing Mode Controlword

Bit Function

0…3 Described in Device Control

4 Home operation start

5..6 Reserved

7 Described in Device Control

8 Halt

9..12 Described in Device Control

13..15 Described in Device Control

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Name Value Description

Homing operation start

0 Homing mode inactive.

0→1 Start homing mode.

1 Homing mode active.

1→0 Interrupt homing mode.

0 Execute the instruction of bit 4. Halt

1 Stop axle with homing deceleration.

Notes:

 If homing is interrupted by setting bit 4 from “1” to “0”, the movement of the

motor is not interrupted; that is, the motor remains in its present state, either moving or not. The home sequence is interrupted and the home target is not attained. By setting the bit back to “1”, the homing mode begins again.

 If a Halt occurs, the drive stops the homing method and halts the motor

according to object 609Ah. When this bit is set to “0” and bit 4 remains “1”, the home method begins again.

Statusword of Homing Mode

Bit Function

0…9 Described in Device Control

10 Target reached

11 Described in Device Control

12 Homing attained

13 Homing error

14…15 Described in Device Control

Name Value Description

Target reached

0 Halt = 0: Homing position not reached

Halt = 1: Axle decelerates

1 Halt = 0: Homing position reached

Halt = 1: Velocity of axle is 0

0 Homing mode not yet completed. Homing attained

1 Homing mode carried out successfully.

0 No homing error. Homing error

1 Homing error occurred.

Homing mode carried out unsuccessfully. Error cause found in error code.

During the homing process, no reference position limits are active. If no physical

limit exists — such as the limit switch — the load may travel indefinitely.

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9.2 Objects

Object 0x607C: Home offset

This object is the difference between the zero position for the application and the machine home position (found during homing), measured in position units. During homing, the machine home position is found. Once homing is completed, the zero position is offset from the home position by adding the home offset to the home position. All subsequent absolute moves are taken relative to this new zero position, as illustrated in the following diagram.

Home

Position

home_offset

By default, the home offset is 0.

 Object description:

Index 607Ch

Name Home offset

Object code VAR

Data type INTEGER32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Zero

Position

Value range INTEGER32

Default value No

The zero position is determined after a successful homing sequence (home attain).

Internal position limits are taken relative to the zero position point.

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Object 0x6098: Homing method

This object determines the method used during homing.

 Object description:

Index 6098h

Name Homing method

Object code VAR

Data type INTEGER8

Category Mandatory

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER8

Default value 0

 Data description:

Value Description

-128…-1 Manufacturer specific

0 No homing operation required

1…35 Methods 1 to 35 (see Functional

Description)

36…127 Reserved

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Object 0x6099: Homing speeds

This entry in the object dictionary defines the speeds used during homing, in velocity units. The value is normalized to increments by velocity code factor. Typically, a high speed is used when searching for a home switch and the slow speed is used when searching for the index.

 Object description:

Index 6099h

Name Homing speeds

Object code ARRAY

Data type UNSIGNED32

Category Mandatory

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Speed during search for switch

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 0

Sub-index 2

Description Speed during search for zero

Entry category Mandatory

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 0

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The speed is submitted to the maximum speed limit given by the user during

setup. Otherwise, an abort message with abort code 0609 0030, “Value range of parameter exceeded” is activated. If the limits have been changed during the process, the drive enters a fault state.

Object 0x609A: Homing acceleration

This object establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes, and is given in acceleration units.

 Object description:

Index 609Ah

Name Homing acceleration

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value No

Home deceleration is performed according to the SD value set during setup. The

user may use the binary interpreter to modify this value. Refer to the relevant Command Reference Manual for the SD parameter information.

9.3 Functional Description

Choosing a method of homing by writing a value to homing method clearly establishes the:

 Homing signal (positive limit switch, negative limit switch, home switch)

 Direction of actuation

 Position of the index pulse, where appropriate

Homing is performed on either the main position sensor (PX) or the auxiliary position sensor (PY), depending on the unit mode — for position loop (UM=5) or dual loop (UM=4) — respectively. The relevant source is selected when homing is activated by the controlword.

The home position and zero position are offset by the home offset (see the home offset definition for how this offset is used).

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Various homing positions are illustrated in the diagrams that follow (section 9.4). A

circled number indicates the code for selecting the homing position. The direction of movement is also indicated.

Additional homing methods are available with other modes of the Elmo drives,

such as the binary interpreter or the user program.

Four sources of homing signal are available: the negative and positive limit switches, the home switch and, and the index pulse, which are handled by fast inputs. The captured value is independent of drive sampling time. Limit switches must be previously defined during the drive setup (using the IL[N] command).

In the homing sequence diagrams, the encoder count increases as the axle position moves to the right. In other words, the left is the minimum position and the right is the maximum position. In the SimplIQ drive, the user may select the configuration;

otherwise, it is determined according to the setup process.

Error Cases

Error cases are events in which the drive cannot reach the home method or operate the home demand parameters, such as high speed. In cases where the limit is known in advance — such as home speed higher than the speed limit — an abort message is executed. In cases where a fault is hit during the operation of the home procedure — such as an abort switch — the drive goes into a fault state. The homing error bit in the statusword is set and an emergency message for motor fault, if not masked, is transmitted. The error register can be monitored for the fault indication. In cases where a limit prevents the home sequence from being finished, such as reaching a mechanical limit, no special indication is given. It is up to the application to monitor or set a timeout sequence for the home procedure.

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9.4 DSP 402 Homing Methods

The following sub-sections describe the details of how each homing mode functions. The Elmo drives support each of these methods.

9.4.1 Method 1: Homing on the negative limit switch and index pulse

Using this method, the initial direction of movement is leftward if the negative limit switch is inactive (here shown as low). The home position is at the first index pulse to the right of the position where the negative limit switch becomes inactive.

Figure 9-1: Homing on the negative limit switch and index pulse

9.4.2 Method 2: Homing on the positive limit switch and index pulse

Using this method, the initial direction of movement is rightward if the positive limit switch is inactive (here shown as low). The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive.

Figure 9-2: Homing on the positive limit switch and index pulse

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9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse

Using methods 3 or 4, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or right of the pint where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 9-3: Homing on the positive home switch and index pulse

9.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse

Using methods 5 or 6, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Figure 9-4: Homing on the negative home switch and index pulse

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9.4.5 Methods 7 to 14: Homing on the home switch an

index pulse

These methods use a home switch that is active over only a portion of the travel; in effec the switch has a “momentary” action as the axle position sweeps past the switch.

Using methods 7 to 10, the initial direction of movement is to the right, and using methods 11 to 14, the initial direction of movement is to the lef switch is active at the start of motion. In this case, the initial direction of motion is dependent on the edge being sought. The home position is at the index pulse on either side of the rising or falling edges of the home switch, as shown in the following two diagrams. If the initial direction of movement leads away from the home switch, the drive must reverse on encountering the relevant limit switch.

t, except if the home

Figure 9-5: Homing on the home switch and index pulse — positive initial move

Figure 9-6: Homing on the home switch and index pulse — negative initial move

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9.4.6 Methods 15 and 16: Reserved

These methods are reserved for future expansion of the homing mode.

9.4.7 Methods 17 to 30: Homing without an index pulse

These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse; it is dependent only on the relevant home or limit switch transitions. For example, methods 19 and 20 are similar to methods 3 and 4, as shown in the following diagram:

Figure 9-7: Homing on the positive home switch

9.4.8 Methods 31 and 32: Reserved

These methods are reserved for future expansion of the homing mode.

9. x pulse

4.9 Methods 33 and 34: Homing on the inde

Using methods 33 or 34, the direction of homing is negative or positive, respectively. The home position is at the index pulse found in the selected direction.

Figure 9-8: Homing on the positive home switch

9.4.10 Method 35: Homing on the current position

In this method, the current position is taken to be the home position.

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10: Position Control Function

6062h: Position demand value in position units

6063h: Position actual value in increments

6064h: Position actual value

6065h: Following error window

6067h: Position window

6068h: Position window time out

60F4h: Following error actual value

60FAh: Position control effort

60FCh: Position demand value in increments

10.1 General Information

This chapter describes all parameters required for closed-loop position control. The control loop is fed with the position demand value as one of the outputs of the trajectory generator and with the output of the position detection unit (position actual value) as input parameters. The behavior of the control is influenced by the control parameters. Position control parameters (PI/P) may be set using the Composer Wizard during setup.

To ensure that the physical limits of a drive are not exceeded, an absolute limit function is implemented for the position control effort. The Elmo drive implements a cascaded control loop in which the position control effort is a velocity demand value for the velocity control loop. For further information about tuning the position loop and using the Composer Wizard, refer to the

SimplIQ Composer User Manual and the SimplIQ Software

Manual.

The following terms are used in this chapter:

 Following error:

A position actual value outside the allowed range of the following error window around a

position demand value for longer than the following error timeout results in setting bit 13, following error, in the statusword.

The position following error calculates each cycle of the position control. The

position demand value must be set lower than the setup value of the drive following error ER[3]. When the position following error exceeds ER[3], the motion aborts.

 Position reached:

This function provides the option of defining a position range around a position demand value to be regarded as valid. If a drive position is within this area for a specified time — the position window time — the related control bit 10 target reached in the statusword is set. Bit 10 is reset to 0 when the motor is off.

The position range in the Elmo servo drive is limited to ±1 * 109 regardless of the

DSP 402 maximum range.

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10.2 Objects

Object 0x6062: Position demand value

The value of this object is taken from the internal position command and is given in position units after being converted by position factor.

 Object description:

Index 6062h

Name Position demand value

Object code VAR

Data type INTEGER32

Category Optional

 Entry description:

Access Read only

PDO mapping Yes

Value range INTEGER32

Default value 0

Object 0x6063: Position actual value

The actual value of the position measurement device is one of the two input values of the closed loop position control. The data unit is defined as increments.

 Object description:

Index 6063h

Name Position actual value - increments

Object code VAR

Data type INTEGER32

Category Mandatory

 Entry description:

Access Read only

PDO mapping Yes

Value range INTEGER32

Default value 0

Notes:

 Value range submits to the position range limits as defined in the specific drive.

For the Harmonica servo drive: ±1 * 10

 This object has a write access when the motor is not enabled.

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Object 0x6064: Position actual value

This object represents the actual value of the position measurement device, in userdefined units. When dual loop mode is active (UM=4), this object returns the value of the position sensor as derived from the load feedback (PY command); in all single loop modes (UM = 1,2,3,5), it returns the motor position feedback (PX command) value.

 Object description:

Index 6064H

Name Position actual value

Object code VAR

Data type INTEGER32

Category Optional

 Entry description:

Access Read only

PDO mapping Yes

Value range INTEGER32

Default value 0

Object 0x6065: Following error window

This object defines a range of tolerated position values symmetrical to the position demand value. Because it is usually used with user-defined units, a transformation into increments with the position factor is necessary. If the position actual value is out of the following error window, a following error occurs. A following error may occur:

 When a drive is blocked

 When the profile velocity is unreachable

 Due to wrong closed loop coefficients

If the value of the following error window is 2

-1, the following control is switched off.

The value of this object in increments is saturated to the maximum position range allowed in the drive (1,000,000,000).

By default, this object is set internally to ER[3]/2 and then converted to user units by position factor.

 Object description:

Index 6065h

Name Following error window

Object code VAR

Data type UNSIGNED32

Category Optional

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 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 0

Object 0x6066: Following error time out

When a following error occurs longer than the defined value of the timeout, given in multiples of milliseconds, the corresponding bit 13 following error in the statusword is set to 1. No further reaction is taken.

The Elmo drive setup parameter for position following error is ER[3]. When the

following error exceeds this value, the drive aborts the motion, the motor continues to run through its own inertia and the DSP 402 status is “switch on disable.”

 Object description:

Index 6066h

Name Following error time out

Object code VAR

Data type UNSIGNED16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED16

Default value 0

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Object 0x6067: Position window

This object defines a symmetrical range of accepted positions relative to the target position. If the actual value of the position encoder is within the position window, this target position is regarded as reached. Because the position window is usually specified in user-

defined units, the position factor must be used to transform this value into increments. Before it can be used with this function, the target position must be handled in the same manner as in the trajectory generator for limiting functions and transformation into internal machine units.

The Elmo drive always checks the target position window in its own setup

parameters TR[1] and TR[2] at the real-time level. Therefore, the following points must be taken into account:

 The position error mechanism cannot be switched off.

 The limits of the position window and the position window time (in internal units)

are 32,000 increments and 100 milliseconds, respectively.

 Object description:

Index 6067h

Name Position window

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value No

Object 0x6068: Position window time

When the actual position is within the position window during the defined position window time — given in multiples of milliseconds — the corresponding bit 10 target reached in the statusword is set to 1. Refer to the description in the position window object.

 Object description:

Index 6068h

Name Position window time

Object code VAR

Data type UNSIGNED16

Category Optional

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 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED16 (note in object 6067h)

Default value 20

Object 0x60FC: Position demand value - increments

This output of the trajectory generator in profile position mode is an internal value using increments.

 Object description:

Index 60FCh

Name Position demand value - increments

Object code VAR

Data type INTEGER32

Category Optional

 Entry description:

Access Read only

PDO mapping Yes

Value range INTEGER32

Default value 0

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11: Profiled Position

607Ah: Target position

607Bh: Position range limit

607Dh: Software position limit

607Fh: Maximum profile velocity

6081h: Profiled velocity

6082h: End velocity

6083h: Profiled acceleration

6084h: Profiled deceleration

6086h: Motion profile type

60C5h: Maximum acceleration

60C6h: Maximum deceleration

11.1 General Information

This chapter describes how to set a point-to-point (PTP) movement under a profiled position where a target position is applied to the trajectory generator. It generates a position demand value to the control loop. The trajectory generator input includes profiled velocity, acceleration, deceleration, and selection of motion type, motion polarity and stopping option. The inputs to the trajectory are given in user units and are limited before being normalized to internal increments.

Notes:

 Limits supported by the DSP 402 protocol may be submitted to internal limits

that protect the drive or support any previous behavior for compatibility reasons.

 The velocity, acceleration, deceleration is submitted to the limits according to

the relevant limit range.

C ontrolword of the profiled position mode:

Bit Function

0…3 Described in Device Control

4 Set new point

5 Change set immediately

6 Absolute/relative movement

7 Described in Device Control

8 Halt

9..12 Described in Device Control

13 New point is buffered

14..15 Described in Device Control

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Name Value Description

0 Does not assume target position. New set-point

1 Assumes target position.

0 Finish actual positioning and then start next positioning. Change set

immediately

1 Interrupt actual positioning and start next positioning.

0 Target position is an absolute value. abs\rel

1 Target position is a relative value.

0 Execute positioning. Halt

1 Stop axle with profile acceleration.

0 New set point is not buffered. New buffered

point

1 New set point is buffered.

Statusword of the profiled position mode:

Bit Function

0…9 Described in Device Control

10 Target reached

11 Described in Device Control

12 Set new point acknowledge

13 Following error

12…15 Described in Device Control

Name Value Description

Target reached

0 Halt = 0: Target position not reached.

Halt = 1: Axle decelerates.

1 Halt = 0: Target position reached.

Halt = 1: Velocity of axle is 0.

Set new point acknowledge

0 Trajectory generator has not assumed the

positioning values (yet).

1 Trajectory generator has assumed the

positioning values.

0 Following error

1 Following error.

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11.2 Objects

Object 0x607A: Target position

The target position is the position to which the drive should move in position profile mode, using the current settings of motion control parameters such as velocity, acceleration, deceleration and motion profile type. The target position is given in userdefined position units. It is converted to position increments using the position factor. The

target position is interpreted as absolute or relative, depending on the Abs/Rel flag in the controlword.

 Object description:

Index 607Ah

Name Profile target position

Object code VAR

Data type INTEGER32

Category Mandatory

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER32

Default value No

Object 0x607B: Position range limit

This object contains two sub-parameters that limit the numerical range of the input value: min position range limit and max position range limit. On reaching or exceeding these limits, the input value automatically wraps to the other end of the range. Wrap-around of the input value can be prevented by setting software position limits.

Notes:

 The high position range limit and the low position range limit must be even.

 This object cannot be set while in OPERATION ENABLE or QUICK STOP state.

 Object description:

Index 607Bh

Name Position range limit

Object code ARRAY

Data type INTEGER32

Category Mandatory

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 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Min position range limit

Entry category Mandatory

Access Read/write

PDO mapping No

Value range INTEGER32

Default value No

Sub-index 2

Description Max position range limit

Entry category Mandatory

Access Read/write

PDO mapping No

Value range INTEGER32

Default value No

The value of the position range limit is reflected in the XM[1] and XM[2] commands,

to which the range and restrictions are ultimately submitted (refer to the

SimplIQ

Command Reference Manual).

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Object 0x607D: Software position limit

This object contains the sub-parameters min position limit and max position limit, which define the absolute position limits for the position demand value and the position actual value. Every new target position must be checked against these limits. The position limits are specified in position units (same as target position) and are always relative to the machine home position.

Before being compared with the target position, the position limit must be corrected internally by the home offset, as follows:

 Internal correct minimum position limit = min position limit - home offset

 Internal corrected maximum position limit = max position limit - home offset

This calculation is performed when home offset or software position limit is changed.

 Object description:

Index 607Dh

Name Software position limit

Object code ARRAY

Data type INTEGER32

Category Mandatory

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Min position limit

Entry category Mandatory

Access Read/write

PDO mapping No

Value range INTEGER32

Default value No

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Sub-index 2

Description Max position limit

Entry category Mandatory

Access Read/write

PDO mapping No

Value range INTEGER32

Default value No

The value of the software position limit is reflected in the VH[3] and VL[3]

commands, to which the range and restrictions are ultimately submitted (refer to the

SimplIQ Command Reference Manual).

Object 0x607F: Max profile velocity

The max profile velocity is the maximum speed allowed in either direction during a profiled move. It is given in the same units as profile velocity.

 Object description:

Index 607Fh

Name Max profile velocity

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value No

The value of this object is limited internally to the maximum allowed velocity

as reflected in VH[2] and VL[2].

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Object 0x6081: Profile velocity

This object is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion. The profile velocity is given in user-defined speed units. It is converted to position increments per second using the velocity encoder factor.

 Object description:

Index 6081h

Name Profile velocity

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value No

The value and default value of the profile velocity is reflected in the SP command, to

which the range and restrictions are ultimately submitted (refer to the

SimplIQ

Command Reference Manual).

Object 0x6082: End velocity (not yet implemented)

The end velocity defines the velocity required by the drive upon reaching the target position. Normally, the drive stops at the target position; that is, the end velocity = 0. The end velocity is given in the same units as profile velocity.

 Object description:

Index 6082h

Name End velocity

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 0

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Object 0x6083: Profile acceleration

The profile acceleration is given in user-defined acceleration units. It is converted to position increments per second

using the normalizing factors.

 Object description:

Index 6083h

Name Profile acceleration

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value No

The value of the profile acceleration is reflected in the AC command, to which the

range and restrictions are ultimately submitted (refer to the

SimplIQ Command

Reference Manual).

Object 0x6084: Profile deceleration

The profile deceleration is given in the same units as profile acceleration. If the end velocity (object 0x6082) is different than 0, this object is not valid and the profiled deceleration is considered to be similar to the profiled acceleration.

 Object description:

Index 6084h

Name Profile deceleration

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value No

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The value of the profile deceleration is reflected in the DC command, to which the

range and restrictions are ultimately submitted (refer to the

SimplIQ Command

Reference Manual).

Object 0x6085: Quick stop deceleration

The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is given and the quick stop option code (see 605Ah) is set to 2. The quick stop deceleration is given in the same units as the profile acceleration.

 Object description:

Index 6085h

Name Quick stop deceleration

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range UNSIGNED32

Default value 0

Object 0x6086: Motion profile type

This object is used to select the type of motion profile used to perform a profile move.

 Object description:

Index 6086h

Name Motion profile type

Object code VAR

Data type INTEGER16

Category Mandatory

 Entry description:

Access Read/write

PDO mapping No

Value range INTEGER16

Default value 0

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 Data description:

Value Description

-32,768…-1 Manufacturer specific

0 Linear ramp (trapezoidal profile)

1 Not supported

2 Not supported

3 Not supported

4…32,767 Reserved

11.3 Functional Description

Two different means of applying target positions to a drive are supported by this device profile:

 Set of set-points:

After reaching the target position, the drive unit immediately processes the next target position that results in a move in which the velocity of the drive is not normally reduced to zero after achieving a set-point.

 Single set-point:

After reaching the target position, the drive unit signals this status to a host computer and then receives a new set-point. After reaching a target position, the velocity is normally reduced to zero before starting a move to the next set-point.

The two modes are controlled by the timing of the bits “new set-point” and “change set immediately” in the controlword, and “set-point acknowledge” in the statusword. These bits allow a request-response mechanism to be set up in order to prepare a set of set-points while another set is still being processed in the drive unit. This minimizes reaction times within a control program on a host computer.

The Elmo drive introduces a buffered mode (bit 13 in the controlword), in which up to 16 subsequent profiled motions can be programmed. The programmed profiles are executed when the previous motion is target reached. In buffered motion, set-point acknowledge behaves in a manner similar to non-buffered mode, whereby the bit is reset when new data can be buffered. Using change set immediately interrupts the buffered motion. In this case, the buffer is reset and the last programmed motion is executed immediately.

The sequence of a set new point is:

1. The host sends the trajectory data and validates it by setting the new set point.

2. The Elmo drive acknowledges reception and buffering of the new data by setting

set-point acknowledge.

3. The host sends a command to start the first motion by resetting the new set point.

4. The motion begins. If the drive can accept more set points, the set-point acknowledge

resets.

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5. Unless it was interrupted by a change set immediately, the next trajectory is executed

as soon as a target reached is set.

Notes:

 A target position can be programmed at any status but can be executed only in

ENABLE OPERATION state. Otherwise, an emergency message is transmitted.

 The amount of buffered data can be received by object 0x2F15.

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12: Interpolated Position

60C0h: Interpolation sub mode select

60C1h: Interpolation data record

60C2h: Interpolation time period

60C3h: Interpolation sync definition

60C4h: Interpolation data configuration

12.1 General Information

Interpolated Position mode is used to control multiple coordinated axles or a single axle with the need for time-interpolation of set-point data. The mode normally uses time synchronization mechanisms like the sync object for a time coordination of the related drive units.

The interpolation data record contains the interpolation data; the data type and the data size of the sub-indices of this structure are according to the sub-mode, as described in object 0x60C0. For all cases of motion, the interpolation cycle time is defined by the object interpolation time period. Time synchronization can be performed by the Sync message defined in DS301 (refer to the Elmo CANopen Implementation Guide).

Interpolated Position mode allows a host controller to transmit a stream of interpolation data with an explicit time reference to the drive. The Elmo drive supports an input buffer that allows the interpolation data to be sent in bursts rather than continuously in real time. The actually available and the maximum size of the input buffer can be requested by the host using the interpolation data configuration. The buffer size is the number of interpolation data records that may be sent to a drive to fill the input buffer; it is not the size in bytes.

The interpolation algorithm is defined in the interpolation sub mode select. Linear interpolation is the default interpolation method. For each interpolation cycle, the drive calculates a position demand value by interpolating interpolation data over a period of time.

Limit functions of speed acceleration deceleration and position are applied to the interpolation data.

Internal states

The interpolated position mode is controlled by the bits of the controlword and statusword

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 Interpolation inactive

The state entered when the device is in OPERATION ENABLED state and Interpolated Position mode is selected and displayed (object 0x6061). The drive unit accepts input data and buffers it for interpolation calculations, but does not move the axles.

 Interpolation active

The state entered when the device is in OPERATION ENABLED state, the interpolated position mode is selected and it is enabled. The drive unit accepts input data and moves the axles.

 Buffer reset

Buffer points start from the first entry. The interpolation buffer is reset in the following cases:

 Entering Interpolated Position mode

 Modifying Interpolation sub-mode.

 Entering INTERPOLATION INACTIVE state

 Setting buffer clear state in object 0x60C4

 Motion is halted

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Controlword of Interpolated Position mode:

Name Value Description

0 Interpolated position mode is inactive. Enable ip mode

1 Interpolated position mode is active.

0 Execute the instruction of bit 4. Halt

1 Stop axle according to halt option code.

Notes:

 If the interpolation is interrupted by setting bit 4 from 1 to 0, the drive stops at

quick stop deceleration (object 0x6085) and is treated similarly to axis halted. In this case, the buffer is cleared; that is, the actual buffer size is the maximum buffer size.

 Setting bit 4 to 1 always starts the interpolation from the first data record. It is up

to the user to ensure consistency of the trajectory.

 In case of a Halt, the drive stops the interpolation and stops the motor according

to object 0x605D. This case is treated similarly to interpolation interrupted described previously.

 In case the motor is stopped due to an internal fault or controlword command, the

interpolation is disabled, even if bit 4 is 1. Interpolation can be enabled again only after the device enters the OPERATION_ENABLE state and bit 4 is set to 1.

Statusword of Interpolated Position mode:

Bit Function

0…9 Described in Device Control

10 Target reached

11 Described in Device Control

12 Ip mode active.

13 Reserved

14…15 Described in Device Control

Name Value Description

Target reached

Halt = 0: Position not reached.

Halt = 1: Axle decelerates.

Halt = 0: Position reached.

Halt = 1: Velocity of axle is 0.

0 Interpolation mode not active. IP mode active

1 Interpolation mode active.

Setting bit 4 from 0 to 1 starts the interpolation from the first entry of the interpolation buffer.

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12.2 Objects

Object 0x60C0: Interpolation sub mode select

This object reflects or changes the actual chosen interpolation mode, selected by the user.

The interpolation sub-modes can be changed only when the interpolated mode is inactive.

When modifying the interpolation mode, a new mapping (if needed) of object 0x60C1 must be made after the sub mode is modified. Failing to do so may cause unpredictable results.

 Object description:

Index 60C0h

Name Interpolated sub mode select

Object code VAR

Data type INTEGER16

Category Optional

 Entry description:

Access Read/write

PDO mapping No

Value range -1...0

Default value 0 (linear interpolation)

 Data description:

Value Description

-32768..-2 Reserved

-1 Cubic spline (PV)

0 Linear interpolation

1…32767 Reserved

For more details, refer to section Error! Reference source not found.

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Object 0x60C1: Interpolation data record

This object is the data words, which are necessary for performing the interpolation algorithm. The interpretation of the data words may vary with the different possible interpolation modes as set by 60C0h.

 Object description:

Index 60C1h

Name Interpolation data record

Object code ARRAY

Data type 60C0h = -1 : DSP402 PV data record (0x44)

60C0h = 0 : INTEGER32 60C0h > 0 : not defined

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping Yes

Value range 1

Default value 1

Sub-index 1

Description Parameter of the IP function

Entry category Mandatory

Access Read/Write

PDO mapping Yes

Value range 60C0h = -1 : DSP 402 PV data record

(0x44) 60C0h = 0 : INTEGER32 60C0h > 0 : not defined

Default value No

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Object 0x60C2: Interpolation time period

This object is used to define the relative time taken between two set points for the interpolation position modes. The interpolation time unit is given in 10

interpolation time index

seconds. The interpolation time period can be changed only when the interpolated mode is inactive.

 Object description:

Index 60C2h

Name Interpolation time period

Object code RECORD

Data type Interpolation time period (object 0x80)

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping Yes

Value range 2

Default value 2

Sub-index 1

Description Interpolation time unit

Entry category Mandatory

Access Read/Write

PDO mapping Yes

Value range 1..255 msec

Default value 1

Sub-index 2

Description Interpolation time index

Entry category Mandatory

Access Read only

PDO mapping No

Value range -3 , -4 (refer to Appendix B)

Default value -3

The interpolated time period is always in milliseconds (10

sub-index 2, Interpolation time index.

-3

seconds) regardless of

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Object 0x60C3: Interpolation sync definition

Devices in the interpolation position mode often interact with other devices. Therefore it is necessary to define a communication object, which is used to synchronize these interactions. This can be done by the general Sync as described in /3/, or a specific group-sync-signal. Each reception of this trigger-signal or a specified number of occurrences of the trigger-signal can synchronize the devices.

 Description of synchronize on group:

Value Description

0 General Sync is used

1…255 Reserved

 Object description:

Index 60C3h

Name Interpolation sync definition

Object code ARRAY

Data type UNSIGNED8

Category Optional

 Entry description:

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 2

Default value 2

Sub-index 1

Description Synchronize on group

Entry category Mandatory

Access Read only

PDO mapping No

Value range UNSIGNED8

Default value 0

Sub-index 2

Description IP sync every n event

Entry category Mandatory

Access Read/Write

PDO mapping No

Value range UNSIGNED8

Default value 1

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Object 0x60C4: Interpolation data configuration

The interpolation data configuration enables the user to get information about the buffer size and set the buffer configuration and strategy.

 Type of buffer organization:

Value Description

0 FIFO buffer

1 Ring buffer

2…255 Reserved

 Description of buffer clear values:

Value Description

 Clear input buffer  Access disabled  Clear all Ip data records

Enable access to input buffer for drive functions

2…255 Reserved

 Object description:

Index 60C4h

Name Interpolated data configuration

Object code RECORD

Data type Interpolated data configuration record

(object 0x81)

Category Optional

 Entry description:

Access Read/Write

PDO mapping Yes

Value range UNSIGNED32

Default value No

Sub-index 0

Description Number of entries

Entry category Mandatory

Access Read only

PDO mapping No

Value range 6

Default value 6

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Sub-index 1

Description Maximum buffer size

Entry category Mandatory

Access Read only

PDO mapping No

Value range UNSIGNED32

Default value 1

Sub-index 2

Description Actual buffer size

Entry category Mandatory

Access Read/Write

PDO mapping No

Value range UNSIGNED32

Default value 0

Sub-index 3

Description Buffer organization

Entry category Mandatory

Access Read/Write

PDO mapping No

Value range 0…1 (described on following pages)

Default value 0

Sub-index 4

Description Buffer position

Entry category Mandatory

Access Read/Write

PDO mapping Yes

Value range UNSIGNED16

Default value 1

Sub-index 5

Description Size of data record

Entry category Mandatory

Access Read only

PDO mapping No

Value range

60C0h = -1 : 8 bytes 60C0h = 0: 4 bytes

Default value INTEGER32

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Sub-index 6

Description Buffer clear

Entry category Mandatory

Access Write only

PDO mapping No

Value range UNSIGNED8 (described below)

Default value 0

Notes:

 The maximum and actual buffer size are the number of interpolated data records

that may be sent to the drive to fill the input buffer. They are not the size in bytes. The actual buffer size may be between max buffer size to.

 The buffer position has an effect when the ring buffer is selected.

 The buffer organization may change only when interpolated mode is not active.

Reorganization of the buffer clears the input buffer.

 Buffer can be clear by sub-index 6 only if interpolation is not active.

Buffer strategies

The contents of the buffer items can only be accessed via the interpolation data record. The maximum buffer size is given in object 0x60C4 is used by the host to determine the actual buffer size.

Commonly, first-in-first-out (FIFO) structures or ring buffers are used as input buffers.

 FIFO:

If the buffer is organized as FIFO, every new received interpolation data record is placed at the end of the queue, and the drive takes the next data record from the top of the queue. When the last item of a data record is stored, the buffer pointer is incremented in order to point to the next buffer position. With this buffer principle, the object buffer position has no affect. The FIFO buffer is organized as a cyclic buffer so that after the last buffer entry is updated (entry of max buffer size), the first entry may be available again depending on actual buffer size. When the buffer is full, an emergency is transmitted and the last message is discarded.

If buffer is empty interpolation is disabled and emergency may be transmitted if

o CANopen Implementation Guide). defined so by object 0x2F21 (refer to the Elm

 Ring buffer:

If the buffer is structured as a ring, the host can place an interpolation data record into any valid position in the ring by changing the pointer defined in buffer position. Without changing the buffer position, all data records are written at the same location. The drive reads the next entry out of the buffer by an internal ring pointer. It is set to the first data record with buffer clear, after the reorganization of the input buffer. The user cannot exceed the max buffer

CANopen DSP 402 Implementation Guide

∆

MAN-CAN402IG (Ver. 1.2)

12.3 Functional Description

In Interpolated Position mode, the drive executes a time-synchronized motion path. The user specifies the value of the reference signal at an initial time, and at fixed-time intervals from then on (as in the following figure).

T∆ T∆ T∆ T∆

TimeT sta rt

Figure 9: Interpolated Motion

is set by the object 0x60c2, in milliseconds. The data

In the figure, the time interval

T∆

records P0,P1,P2,… (object 0x60C1) to define the motion path data relating to the times

,,2

TT T+∆ + ∆,...

start start start

The motion path is synchronized to the CAN microsecond timer, as set and corrected by the SYNC-Time stamp mechanism.

The user must specify the data records P0,P1,P2,…fast enough – at an average rate of at least one record per

. The drive can store up to 64 records, so that the path may be

programmed in bursts in order to relax the feeding real-time requirements.

In order to enter IP mode, use the controlword (0x6040) to start the motor, and then use the modes of operation(0x6060) object to select IP mode.

You can monitor the mode using the statusword (0x6041) and modes of operation display (0x6061).

The interpolation sub-mode in object 0x60C0 determines the type of interpolation performed.

The Elmo drive supports two types of interpolation:

 Linear interpolation (default)

 Cubic spline interpolation

The structure of the 0x60C1 object depends on the interpolation sub-modes. Refer to the definition of 0x60C1 to learn more about sub-mode switching.

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

12.3.1 Linear Interpolation

Linear interpolation requires only the position specified in data record object 0x60C1. The structure of the position data is according to data type 0x41 (refer to the Elmo CANopen Implementation Guide). The velocity at each time point is calculated by finding the difference between the corresponding position and the position of the previous point, as in the following figure.

T∆ T∆ T∆ T∆

T sta rt

Figure 10: Linear IP

In the linear interpolation, two set points can be given in one message and thereby save on busload and real time requirements.

12.3.2 Spline Interpolation

In cubic spline interpolation, the user specifies both the position and the speed at each time point. The record data type is 0x44 (refer to the Elmo CANopen Implementation Guide). The drive constructs the motion path to be at the given time, at the given position, with the given speed, as in the following figure. Spline interpolation can yield a more accurate path specification with fewer time points, but it requires the care in constructing the speed data.

Time

T∆ T∆ T∆ T∆

T sta rt

Figure 11: Spline IP

Time

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

12.3.3 Motion Synchronization

The IP mode enables the synchronized motion of multiple axes. The motions of several slave axes are synchronized if they all run IP, and they all being the IP at the same time. Synchronization can proceed continuously using the SYNC-Time stamp mechanism.

In order to start several axes synchronously, map the controlword to a synchronous RPDO, and then use the mapped controlword to enable interpolation for all axes. Nothing will happen until the next SYNC. Then, all drives will enable interpolated motion at once, setting the SYNC arrival time as the “zero” time of the path specification.

If the axes have been previously synchronized by SYNCs and Time stamps, the moving axes will be relatively synchronized to the precision of microseconds.

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

13: Profiled Velocity

6069h: Velocity sensor actual value

6060h: Velocity window

606Ah: Sensor selection code

606Bh: Velocity demand value

606Ch: Velocity actual value

606Dh: Velocity window

606Eh: Velocity window time

606Fh: Velocity threshold

6070h: Velocity threshold time

60FFh: Target velocity

13.1 General Information

Profile Velocity mode includes the following sub-functions:

 Demand value input via trajectory generator

 Velocity capture using the position sensor or velocity sensor

 Velocity control function with the appropriate input and output signals

 Monitoring of the profile velocity using a window function

 Monitoring of the velocity actual value using a threshold

The input parameters of the reference value generator are:

 Profile velocity

 Profile acceleration

 Profile deceleration

 Emergency stop

 Motion profile type

These parameters and the operation of the reference value generator are described in

section

The velocity controller calculates a torque variable. When a different target position arrives, it is executed immediately.

11:.

Notes:

 A target velocity can be executed only in OPERATION ENABLED state.

Otherwise, the process aborts with an emergency message.

 The velocity, acceleration and deceleration are submitted to the limits according

to the relevant limit range.

Elmo DSP 402 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Revision History

1.2 Abbreviations and Terms

Object 0x1000: Device type

Object 0x1001: Error register

Object 0x6007: Abort connection option code

Object 0x603F: Error code

5.2 Motor Data

Object 0x6402: Motor type

Object 0x6403: Motor catalog number

Object 0x6404: Motor manufacturer

Object 0x6407: Motor service periods

Object 0x6502: Supported drive modes

Object 0x6504: Drive manufacturer

Object 0x6505: http drive catalog address

Object 0x60FD: Digital inputs

Object 0x6040: Controlword

Object 0x6041: Statusword

Object 0x605B: Shutdown option code

Object 0x605C: Disable operation option code

Object 0x605D: Halt option code

Object 0x605E: Fault reaction option code

Object 0x6060: Modes of operation

Object 0x6061: Modes of operation display

8.1 Relationship between Physical and Internal Units

8.2 Functions and Limits

Object 0x607E: Polarity

Object 0x6089: Position notation index

Object 0x608A: Position dimension index

Object 0x608B: Velocity notation index

Object 0x608C: Velocity dimension index

Object 0x608D: Acceleration notation index

Object 0x608E: Acceleration dimension index

Object 0x608F: Position encoder resolution

Object 0x6090: Velocity encoder resolution

Object 0x6093: Position factor

Object 0x6094: Velocity encoder factor

Object 0x6095: Velocity factor 1

Object 0x6096: Velocity factor 2

Object 0x6097: Acceleration factor

Object 0x607C: Home offset

Object 0x6098: Homing method

Object 0x6099: Homing speeds

Object 0x609A: Homing acceleration

9.4 DSP 402 Homing Methods

9.4.10 Method 35: Homing on the current position

10.1 General Information

10.2 Objects

Object 0x6062: Position demand value

Object 0x6063: Position actual value

Object 0x6064: Position actual value

Object 0x6065: Following error window

Object 0x6066: Following error time out

Object 0x6067: Position window

Object 0x6068: Position window time

Object 0x60FC: Position demand value - increments

11.1 General Information

11.2 Objects

Object 0x607A: Target position

Object 0x607B: Position range limit

Object 0x607D: Software position limit

Object 0x607F: Max profile velocity

Object 0x6081: Profile velocity

Object 0x6082: End velocity (not yet implemented)

Object 0x6083: Profile acceleration

Object 0x6084: Profile deceleration

Object 0x6085: Quick stop deceleration

Object 0x6086: Motion profile type

11.3 Functional Description

12.1 General Information

12.2 Objects

Object 0x60C0: Interpolation sub mode select

Object 0x60C1: Interpolation data record

Object 0x60C2: Interpolation time period

Object 0x60C3: Interpolation sync definition

Object 0x60C4: Interpolation data configuration

12.3 Functional Description