Intelligent Motion Systems DSP-402 User Manual

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DSP-402 APPLICATION GUIDE

MDrivePlus CANopen Change Log

Date Revision Changes

10/06/2006 R100606 Initial Release

12/20/2006 R122006 Added newly supported objects to DSP-402 Implementation

02/05/2007 R020507 Added new object support, broke out DSP 402 to separate document.

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.

Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are trademarks of Intelligent Motion Systems, Inc.

Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury. Per Intelligent Motion Systems, Inc.’s terms and conditions of sales, the user of Intelligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems, Inc., against all damages.

CANopen DSP402 Application

Revision R020507

Section 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation ..................................3

Introduction ..................................................................................................................................3

CAN Message Format ...................................................................................................................3

MDrivePlus Architecture ...............................................................................................................3

Device Control ..............................................................................................................................4

Modes of Operation ......................................................................................................................4

Homing Mode .........................................................................................................................4

Profile Position Mode ...............................................................................................................4

Profile Velocity Mode ...............................................................................................................4

Trajectory Generator ................................................................................................................5

Objects and the Object Dictionary ................................................................................................5

Object Formatting .........................................................................................................................6

Object Description ...................................................................................................................6

Entry Description .....................................................................................................................6

Sub-Indexes ..............................................................................................................................7

Section 2: Accessing The MDrivePlus CANopen ....................................................................................9

Introduction ..................................................................................................................................9

Process Data Object (PDO) ..........................................................................................................9

PDO Attributes ........................................................................................................................9

Service Data Object (SDO) ...........................................................................................................9

SDO Attributes ........................................................................................................................9

PDO Mapping ............................................................................................................................10

PDO Mapping Procedure (Consumer PDO) ..............................................................................10

PDO Objects ..............................................................................................................................11

Consumer PDO1 (RPDO1) 1400h (Object Description) .....................................................11

Consumer PDO1 (RPDO1) 1400h (Entry Description) .......................................................11

1600h (Object Description – Mapping Parameters) ...............................................................11

1600h (Entry Description – Mapping Parameters) .................................................................11

Consumer PDO2 (RPDO2) 1401h (Object Description) .....................................................12

Consumer PDO2 (RPDO2) 1401h (Entry Description) .......................................................12

1601h (Object Description – Mapping Parameters) ...............................................................12

1601h (Entry Description – Mapping Parameters) .................................................................12

Consumer PDO3 (RPDO3) 1402h (Object Description) .....................................................13

Consumer PDO3 (RPDO3) 1402h (Entry Description) .......................................................13

1602h (Object Description – Mapping Parameters) ...............................................................13

1602h (Entry Description – Mapping Parameters) .................................................................13

Producer PDO1 (TPDO1) 1800h (Object Description) .......................................................13

Producer PDO1 (TPDO1) 1800h (Entry Description) .........................................................14

1A00h (Object Description – Mapping Parameters) ...............................................................14

1A00h (Entry Description – Mapping Parameters) .................................................................14

Producer PDO2 (TPDO2) 1801h (Object Description) .......................................................14

Producer PDO2 (TPDO2) 1801h (Entry Description) .........................................................14

1A01h (Object Description – Mapping Parameters) ...............................................................15

1A01h (Entry Description – Mapping Parameters) .................................................................15

Producer PDO3 (TPDO3) 1802h (Object Description) .......................................................15

Producer PDO3 (TPDO3) 1802h (Entry Description) .........................................................15

1A02h (Object Description – Mapping Parameters) ...............................................................15

1A02h (Entry Description – Mapping Parameters) .................................................................16

Contents

Section 3: Manufacturer Specific Objects ............................................................................................17

Introduction ................................................................................................................................17

Accessibility Codes ..............................................................................................................17

Object 2000h: I/O Discretes (Config) .........................................................................................17

Object Description .................................................................................................................17

Entry Description ...................................................................................................................17

Object 2002h: I/O Discretes (Config) .........................................................................................18

Object Description .................................................................................................................18

Entry Description ...................................................................................................................18

Object 2004h: Input Filter Mask (Config) ..................................................................................18

Object Description .................................................................................................................19

Entry Description ...................................................................................................................19

Object 2006h: Input Filter Time (ms) .........................................................................................19

Object Description .................................................................................................................19

Entry Description ...................................................................................................................19

Object 2010h: Analog Input .......................................................................................................20

Object Description .................................................................................................................20

Entry Description ...................................................................................................................20

Object 2020h: Software Limits as Hardware Limits.....................................................................20

Object Description .................................................................................................................20

Entry Description ...................................................................................................................20

Object 2022h: Actual Position Software Limit ............................................................................20

Object Description .................................................................................................................20

Entry Description ...................................................................................................................20

Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out) .........................................21

Object Description .................................................................................................................21

Entry Description ...................................................................................................................21

Object 2032h: Clock Options .....................................................................................................21

Object Description .................................................................................................................21

Entry Description ...................................................................................................................21

Object 2033h: Capture Input ......................................................................................................21

Object Description .................................................................................................................21

Entry Description ...................................................................................................................22

Object 2204h: Run Current Percent ............................................................................................22

Object Description .................................................................................................................22

Entry Description ...................................................................................................................22

Object 2205h: Hold Current Percent ..........................................................................................22

Object Description .................................................................................................................22

Entry Description ...................................................................................................................22

Object 2211h: Position Present Point Target ...............................................................................23

Object Description .................................................................................................................23

Entry Description ...................................................................................................................23

Object 2212h: Position Final Point Target ...................................................................................23

Object Description .................................................................................................................23

Entry Description ...................................................................................................................23

Object 5001h: Configuration ......................................................................................................23

Entry Description ...................................................................................................................24

Object 5002h: ASCII Serial Number ..........................................................................................24

Entry Description ...................................................................................................................24

Object 5003h: ASCII Part Number .............................................................................................24

Entry Description ...................................................................................................................24

Object 5004h: Motor Parameters ................................................................................................24

Entry Description ...................................................................................................................24

Section 4: Device Control ....................................................................................................................25

Device Control ............................................................................................................................25

Control and Status words .......................................................................................................25

State Machine .............................................................................................................................25

Notes On State Transitions ........................................................................................................27

Object 6040h — Controlword ....................................................................................................28

Object Description .................................................................................................................28

Entry Description ...................................................................................................................28

Data Description ....................................................................................................................28

Device Control Command Bit Patterns (Bits 0-3 and 7).........................................................28

Device Operation Mode Bit Patterns (Bits 4-6 and 8) ............................................................28

Object 6041h — Statusword .......................................................................................................29

Object Description .................................................................................................................29

Entry Description ...................................................................................................................29

Data Description ....................................................................................................................29

Section 5: Modes of Operation ............................................................................................................ 31

Object 6060h — Modes of Operation ........................................................................................31

Object Description ......................................................................................................................31

Entry Description ...................................................................................................................31

Data Description ....................................................................................................................31

Object 6061h — Modes of Operation Display ............................................................................32

Object Description .................................................................................................................32

Entry Description ...................................................................................................................32

Data Description ....................................................................................................................32

Object 6502h — Supported Drive Modes ...................................................................................32

Object Description .................................................................................................................32

Entry Description ...................................................................................................................32

Data Description ....................................................................................................................32

Section 6: Profile Position Mode .........................................................................................................35

General Information ...................................................................................................................35

Input Data Description ...............................................................................................................35

Output Data Description ............................................................................................................35

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

Controlword (6040h) of Profile Position Mode ...........................................................................37

Object 6081h — Profile Velocity ................................................................................................38

Object Description .................................................................................................................38

Entry Description ...................................................................................................................38

Statusword (6041h) of Profile Position Mode ..............................................................................38

Object 607Ah — Target Position ................................................................................................38

Object Description .................................................................................................................38

Entry Description ...................................................................................................................38

Object 6082h — End Velocity ....................................................................................................39

Object Description .................................................................................................................39

Entry Description ...................................................................................................................39

Object 6083h — Profile Acceleration ..........................................................................................39

Object Description .................................................................................................................39

Entry Description ...................................................................................................................39

Object 6084h — Profile Deceleration .........................................................................................39

Object Description .................................................................................................................39

Entry Description ...................................................................................................................39

Object 6086h — Motion Profile Type .........................................................................................40

Object Description .................................................................................................................40

Entry Description ...................................................................................................................40

Section 7: Homing Mode .....................................................................................................................41

General Information ...................................................................................................................41

Input Data Description ..........................................................................................................41

Output Data Description .......................................................................................................41

Internal States .........................................................................................................................41

Controlword (6040h) of Profile Position Mode ...........................................................................41

Statusword (6041h) of Homing Mode ........................................................................................42

Homing Offset (607Ch) .............................................................................................................42

Object Description .................................................................................................................42

Entry Description ...................................................................................................................42

Homing Method (6098h) ...........................................................................................................43

Object Description .................................................................................................................43

Entry Description ...................................................................................................................43

Data Description ....................................................................................................................43

Functional Description of Homing Methods ..........................................................................43

Homing Speeds (6099h) .............................................................................................................47

Object Description .................................................................................................................47

Entry Description ...................................................................................................................47

Section 8: Position Control Function ..................................................................................................49

General Information ...................................................................................................................49

Object 6062h — Position Demand Value ...................................................................................49

Object Description .................................................................................................................49

Entry Description ...................................................................................................................49

Object 6063h — Position Actual Value Internal ..........................................................................49

Object Description .................................................................................................................49

Entry Description ...................................................................................................................49

Object 6064h — Position Actual Value .......................................................................................49

Entry Description ...................................................................................................................49

Object 6065h — Following Error Window .................................................................................50

Object Description .................................................................................................................50

iii

Entry Description ...................................................................................................................50

Object 6066h — Following Error Timeout .................................................................................50

Object Description .................................................................................................................50

Entry Description ...................................................................................................................50

Object 6068h — Position Window Time ....................................................................................50

Object Description .................................................................................................................50

Entry Description ...................................................................................................................50

Section 9: Profile Velocity Mode ..........................................................................................................51

Controlword (6040h) of Profile Velocity Mode ...........................................................................51

Statusword (6041h) of Profile Velocity Mode ..............................................................................51

Object 606Ch — Velocity Actual Value ......................................................................................51

Object Description .................................................................................................................51

Entry Description ...................................................................................................................51

Object 60FFh — Target Velocity .................................................................................................52

Entry Description ...................................................................................................................52

Object 60F8h — Maximum Slippage .........................................................................................52

Entry Description ...................................................................................................................52

Section 10: Optional Application FE (General I/O) ............................................................................53

Object 60FDh — Digital Inputs .................................................................................................53

Entry Description ...................................................................................................................53

Object 60FEh — Digital Outputs ...............................................................................................54

Entry Description ...................................................................................................................54

List of Figures

Figure 1.1: Message Format ...........................................................................................................3

Figure 1.2: MDrivePlus Architecture .............................................................................................3

Figure 1.3: Functional Architecture ...............................................................................................4

Figure 1.4: MDrivePlus CANopen Object Dictionary ...................................................................5

Figure 2.1: PDO Producer – Consumer Relationship ....................................................................9

Figure 2.2: SDO Client – Server Relationship ...............................................................................9

Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2 ......................................10

Figure 3.1: Input Filter Mask ......................................................................................................18

Figure 4.1: Device Control ..........................................................................................................25

Figure 4.2: State Machine States/Transitions Block Diagram .......................................................27

Figure 4.3: Statusword Bits ..........................................................................................................29

Figure 6.1: Trajectory Generator Block Diagram .........................................................................35

Figure 6.2: Set-Point Transmission from Host Computer ............................................................36

Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0 ......................................37

Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1 ....................................................37

Figure 7.1: The Homing Function ..............................................................................................41

Figure 7.2: Home Offset .............................................................................................................42

Figure 7.3: Homing on the Negative Limit and Index Pulse ........................................................43

Figure 7.4: Homing on the Positive Limit and Index Pulse ..........................................................44

Figure 7.5: Homing on the Positive Home Switch and Index Pulse .............................................44

Figure 7.7: Homing on the Home Switch and Index Pulse - Positive Initial Move .......................45

Figure 7.6: Homing on the Negative Home Switch and Index Pulse ...........................................45

Figure 7.8: Homing on the Home Switch and Index Pulse - Negative Initial Move .....................46

Figure 7.9: Homing without an Index Pulse ................................................................................46

Figure 7.10: Homing on the Index Pulse .....................................................................................47

Figure 10.1: Object 60FD Structure ............................................................................................53

Figure 10.2: Object 60FE Structure ............................................................................................54

List of Tables

Table 1.1: Object Dictionary .........................................................................................................5

Table 4.1: State Machine States ...................................................................................................25

Table 4.2: State Machine Transitions ...........................................................................................26

Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant) 28

Table 4.4: MDrivePlus CANopen Operation Modes ...................................................................28

Table 4.5: Device State Bits for Statusword..................................................................................29

Table 6.1: Profile Position Mode Bits of Controlword .................................................................37

Table 8.1: Profile Velocity Mode Bits of Controlword .................................................................51

Table 8.2: Profile Velocity Mode Bits of Statusword ....................................................................51

This Page Intentionally Left Blank

Excellence in Motion

DSP-402 Application guide

Section 1: Introduction to the MDrivePlus CANopen DSP-402

Implementation

Section 2: Manufacturer Speciﬁc Objects

Section 3: Accessing the MDrivePlus CANopen

Section 4: Device Control

Section 5: Modes of Operation

Section 6: Proﬁle Position

Section 7: Homing Mode

Section 8: Position Control Function

Section 9: Proﬁle Velocity

Section 10: Optional Application FE

Page Intentionally Left Blank

2 MDrivePlus CANopen R020507

Section 1

CAN Node

Application Layer and Communications Profile DS 301

Drive Profile DSP 402

Device Control State Machine

(Section XX)

Modes of Operation

Profile

Position

Mode

(Section X)

Homing

Mode

(Section X)

Profile

Velocity

Mode

(Section X)

Motor

MDrivePlus

CAN Network

Start

Arbitration

(Command and Address)

Control

Data

CRC ACK End Space

Marks Start of Message Frame

Marks End of Message Frame

Address and Message Modifier (PDO, SDO etc.)

Data Length

Up to 8 Bytes of Data

Cyclic Redundancy Checksum

Receiver Pulls Bit Low

Introduction to the MDrivePlus CANopen DSP-402 Implementation

Introduction

This document describes the Operational Modes and Objects utilized by the MDrivePlus CANopen. The MDrivePlus uses the CiA DSP402 protocol as described the the CiA document CANopen Device Profile for Drives and Motion Control V2.0B.

CAN Message Format

The MDrivePlus is compliant with CAN 2.0B Active Specification. The Data Packets follow the message format shown in Figure 1.1. The Figure is for reference only, please refer to the CAN 2.0B Specification.

Figure 1.1: Message Format

MDrivePlus Architecture

Figure 1.2: MDrivePlus Architecture

3Part 2: DSP-402 Implementation

Device Control

Homing Function

Position Function

Velocity Function

Trajectory Generator

Position Control

Loop

Velocity Control

Loop

Homing Mode (Section X)

Profile Position Mode (Section X)

Profile Velocity Mode (Section X)

The starting and stopping of the drive and several mode specific commands are executed by the state machine.

Modes of Operation

The operation mode defines the behavior of the drive. The following modes are defined in this profile:

Homing Mode

This chapter describes the various methods to find a home position (also: reference point, datum, zero point).

Profile Position Mode

The positioning of the drive is defined in this mode. Speed, position and acceleration can be limited and profiled moves using a Trajectory Generator are possible as well.

Profile Velocity Mode

The Profile Velocity Mode is used to control the velocity of the drive with no special regard of the position. It supplies limit functions and trajectory generation.

4 MDrivePlus CANopen R020507

Figure 1.3: Functional Architecture

Trajectory Generator

CAN

Contoller

Object Dictionary

I/O

Output (LED, Relay)

Input (Switch, Sensor)

Analog Input

Drive Logic

Motor

MDrivePlus Node

Additional System Nodes

The chosen operation mode and the corresponding parameters (objects) define the input of the Trajectory Generator. The Trajectory Generator supplies the control loop(s) with the demand values. They are generally mode specific.

Each Mode may use its own Trajectory Generator. A general description of its functionality is given in Section X, which is related to the Profile Position Mode.

Objects and the Object Dictionary

In a CANopen network, a device is controlled by writing to device parameters and reading the status of the device. This is accomplished using a pre-defined dictionary of instructions that can be written and status information that can be read. These pieces of information are called Objects.

The full set of objects are called the Object Dictionary. The Object Dictionary is the interface between the CANopen master, or controller and the MDrivePlus node on a CANopen network.

Figure 1.4: MDrivePlus CANopen Object Dictionary

Entries within the Object Dictionary are addressed using 16-bit Indexes. In the case of simple variables (VAR) the index references the value of the variable directly. In the case of records and arrays the index addresses the entire data structure.

To allow individual elements of the data structures a sub-index is defined. The fields accessed by the sub-index may be of differing data types.

Index (hex) Object

0000 Not Used

0001 – 004F Static Data Types

0020 – 003F Complex Data Types

0040 – 005F Manufacturer Specific Data

0060 – 007F Device Profile Specific Static Data Types

0080 – 009F Device Profile Specific Complex Data Types

00A0 – 0FFF Reserved for Future Use

1000 – 1FFF Communications Profile Area

2000 – 5FFF Manufacturer Specific Profile

6000 – 9FFF Standardized Device Profile

A000 – BFFF

C000 – FFFF Reserved for Future Use

Standardized Interface Profile

Table 1.1: Object Dictionary

5Part 2: DSP-402 Implementation

Object Formatting

This manual will display the Object and Entry data using the model detailed below.

Object Description

Index

XXXX

Name

Index Name

Object Code

VAR

Data Type

I/U

Index

The Index is the hexadecimal number that represents the index number of the object in the CANopen Object Dictionary. With the exception of IMS Manufacturer specific objects these are defined in CiA Device Profile for Drives and Controls DSP402. The applicable objects are defined in this document as well.

Index Name

The Index Name is the general name and description of the object. With the exception of IMS Manufacturer specific objects these are defined in CiA Device Profile for Drives and Controls DSP402.

Object Code

VAR - Variable

Data Type

Physically, the types consist of one or more bytes. One byte consists of 8 bits (Bit 0 to 7). Bit 0 is the LSB (Least Significant Bit). A byte can also be depicted hexadecimally (0x00 ... 0xff).

If a data type consists of n byte, the following applies:

Data byte 1 (Byte in address x) = highest value byte

Data byte n (Byte in address x+n-1) = lowest value byte

The data coding and the value ranges for the respective data types apply, unless otherwise explicitly stated in the data description of an MDrivePlus communication object.

Integer (I) Range Length

± Integer 8 –128 ... +127 1 Byte

± Integer 16 – 32,768 ... +32,767 2 Bytes

± Integer 32 – 2,147,483,647 ... +2,147,483,647 4 Bytes

Coding 2’s Complement

Unsigned (U) Range Length

Unsigned 8 0 ... 255 1 Byte

Unsigned 16 0 ... 65,535 2 Bytes

Unsigned 32 0 ... 4,294,967,295 4 Bytes

Coding Binary

Entry Description

Access

R/W/S/K

PDO Mapping

Yes/No

Access

R .......................................................................................Read Access

W .....................................................................................Write Access

S ........................................ Storable to Non Volatile Memory (NVM)

K .......................................................... Key Required for Write Access

Category

M .......................................................................................Mandatory

O ..........................................................................................Optional

Range

The range of the Index will be expressed as a ± Integer or Unsigned.

Default

The range of the Index will be expressed as a ± Integer or Unsigned.

Sub-Indexes

An object may have a number of Sub-Indexes which further define the operation of the object, such as I/O Configuration Parameters.

Sub-Indexes are formatted thus:

Sub-Index X

Description Sub-Index Functional Description

Entry Category Mandatory/Optional

Access R/W/S/K

PDO Mapping Yes/No

Value Range 1 Byte Hex

Default Value 1 Byte Hex

7Part 2: DSP-402 Implementation

Page Intentionally Left Blank

8 MDrivePlus CANopen R020507

Section 2

Producer Consumer

TPDO RPDO

RPDO

Data

Client

Server

ID Request

Accessing The MDrivePlus CANopen

Introduction

The access from the CAN network to the drive is done through data objects.

Process Data Object (PDO)

PDOs are messages in an unconfirmed service. They are used for the transfer of real-time data to and from the drive. The transfer is fast, because it is performed with no protocol overhead what means to transport eight application data bytes in one CAN-frame. The PDOs correspond to entries in the Object dictionary.

PDO Attributes

Two Types: RPDO (Receive) and TPDO (Transmit)

1. Up to 8 Bytes of application data per message frame. No additional protocol overhead is required.

2. Transfer is not confirmed

3. PDOs Require setup, SDOs map each byte of the PDO to one or more Object Entries.

4. PDOs operate using the Producer (TPDO)/Consumer (RPDO) relationship Push-Pull model.

5. Best for transferring data such as Device Status, Set-points etc.

Figure 2.1: PDO Producer – Consumer Relationship

Service Data Object (SDO)

A Service Data Object (SDO) reads from entries or writes to entries of the Object Dictionary. The SDO transport protocol allows transmitting objects of any size. The first byte of the first segment contains the necessary flow control information including a toggle bit to overcome the well-known problem of doubly received CAN frames. The next three byte of the first segment contain index and sub-index of the Object Dictionary entry to be read or written. The last four byte of the first segment are available for user data. The second and the following segments (using the very same CAN identifier) contain the control byte and up to seven byte of user data. The receiver confirms each segment or a block of segments, so that a peer-to-peer communication (client/server) takes place.

SDO Attributes

Can access any Object in the Object Dictionary regardless of size.

1. Transfer is confirmed

2. Direct access to the Object Dictionary

3. Client/Server relationship.

4. Best for setting up configuration parameters.

Figure 2.2: SDO Client – Server Relationship

9Part 2: DSP-402 Implementation

PDO Mapping

MDrive CANopen

Node

1601h

0 = 2 (# of SubIndex Entries 1 = 2 Byte ControlWord (6040h) 2 = 4 Byte Commanded SetPoint (607A)

RPDO 2

BYTES 0 - 1

BYTES 2 - 5 BYTE 6 - 7

ControlWord

003F

Set-Point (Position) Data

Unused

110 1 1 1

F = Operation

Enabled

abs/rel

change set immed.

new set-point

Default Mapping Example - Consumer PDO 2

00 00 00 00

Index

SubIndex

ControlWord = 03F

Move to Absolute SetPoint

ControlWord = 05F

Move to Relative SetPoint

ControlWord = 00F

Reset New Set-Point Bit

to Prepare for Next Move

Transition Bit MUST be reset to zero between set-points

The MDrivePlus CANopen allows you to map objects to PDOs to reduce the transfer application data more efficiently. By using the PDO the user can map a PDO to multiple objects (8 Data Bytes max.)

The example will show RPDO 1400h mapped to Control Word (6040h) and Target Position (607Ah).

RPDO Index Sub-Index Mapped To Index Bytes

1600

6040

607A

PDO Mapping Procedure (Consumer PDO)

PDO Mapping Example 1: Profile Position Mode – Mapping ControlWord and Target Position to RPDO1

Step Action Index Sub-Index Bytes Value

Place MDrive in PreOperational State —

2 Turn Off RPDO1 1400

Set 1600h Sub-Index 00 to 0 1600

4 Map ControlWord 6040h to 1600.01h, Establish New

Set Point

Map target_position 607Ah to 1600.02

6 Set 1600h.00 to 2 Max Sub-Indexes 1600

7 Turn On RPDO1 1400

8 Place MDrive in Profile Position Mode 6060

6040

607A

9 Place MDrive in Operational State

10 Send PDO to MDrive

Note: Before re-sending the PDO to the MDrive, the old set-point must be cleared by sending 6040.00h 004Fh in a second PDO or in an SDO.

01 — 8000 01C0

00 — 0

00 2 005F

Desired Axis

Position in Hex

00 — 2

00 — 0000 01C0

00 1 1

10 MDrivePlus CANopen R020507

Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2

PDO Objects

Consumer PDO1 (RPDO1) 1400h (Object Description)

Index Name Object Code Data Type Category

1400hReceive PDO1 Parameter Record PDO Communications Parameters Mandatory

Consumer PDO1 (RPDO1) 1400h (Entry Description)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W Mfg. Specific

01h COB-ID used by PDO Mandatory R/W

02h Transmission Type Mandatory R/W 255

03h Inhibit Time Optional

04h Reserved

0000 0200h +

NODE ID

R/W

05h Event Timer Optional R/W 0

1600h (Object Description – Mapping Parameters)

Index Name Object Code Data Type Category

1600hReceive PDO1 Mapping Record PDO Mapping Mandatory

1600h (Entry Description – Mapping Parameters)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 01

01h 1st Application Object Mandatory R/W 6040 0010

02h 2nd Application Object Mandatory R/W Mfg. Specific

03h 3rd Application Object Mandatory R/W Mfg. Specific

04h 4th Application Object Mandatory R/W Mfg. Specific

05h 5th Application Object Mandatory R/W Mfg. Specific

06h 6th Application Object Mandatory R/W Mfg. Specific

07h 7th Application Object Mandatory R/W Mfg. Specific

08h 8th Application Object Mandatory R/W Mfg. Specific

11Part 2: DSP-402 Implementation

Consumer PDO2 (RPDO2) 1401h (Object Description)

Index Name Object Code Data Type Category

1401hReceive PDO2 Parameter Record PDO Communications Parameters Optional

Consumer PDO2 (RPDO2) 1401h (Entry Description)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 02

0000 0300h or

01h COB-ID used by PDO Mandatory R/W

02h Transmission Type Mandatory R/W 255

03h Inhibit Time Optional

R/W

04h Reserved

8000 0000h +

NODE ID

05h Event Timer Optional R/W 0

1601h (Object Description – Mapping Parameters)

Index Name Object Code Data Type Category

1601

Receive PDO2 Mapping Record PDO Mapping Conditional, if 1401h is

implemented

1601h (Entry Description – Mapping Parameters)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 01

01h 1st Application Object Mandatory R/W 6040 0010

02h 2nd Application Object Optional R/W 6060 0008

03h 3rd Application Object Optional R/W Mfg. Specific

04h 4th Application Object Optional R/W Mfg. Specific

05h 5th Application Object Optional R/W Mfg. Specific

06h 6th Application Object Optional R/W Mfg. Specific

07h 7th Application Object Optional R/W Mfg. Specific

08h 8th Application Object Optional R/W Mfg. Specific

12 MDrivePlus CANopen R020507

Consumer PDO3 (RPDO3) 1402h (Object Description)

Index Name Object Code Data Type Category

1402hReceive PDO3 Parameter Record PDO Communications Parameters Optional

Consumer PDO3 (RPDO3) 1402h (Entry Description)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 02

0000 0400h or

01h COB-ID used by PDO Mandatory R/W

02h Transmission Type Mandatory R/W 255

03h Inhibit Time Optional

R/W

04h Reserved

8000 0000h +

NODE ID

05h Event Timer Optional R/W 0

1602h (Object Description – Mapping Parameters)

Index Name Object Code Data Type Category

1601hReceive PDO3 Mapping Record PDO Mapping Conditional, if 1402h is

implemented

1602h (Entry Description – Mapping Parameters)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 01

01h 1st Application Object Mandatory R/W 6040 0010

02h 2nd Application Object Optional R/W 607A 0020

03h 3rd Application Object Optional R/W Mfg. Specific

04h 4th Application Object Optional R/W Mfg. Specific

05h 5th Application Object Optional R/W Mfg. Specific

06h 6th Application Object Optional R/W Mfg. Specific

07h 7th Application Object Optional R/W Mfg. Specific

08h 8th Application Object Optional R/W Mfg. Specific

Producer PDO1 (TPDO1) 1800h (Object Description)

Index Name Object Code Data Type Category

1800hTransmit PDO1 Parameter Record PDO Communications Parameters Optional

13Part 2: DSP-402 Implementation

Producer PDO1 (TPDO1) 1800h (Entry Description)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R 02

01h COB-ID used by PDO Mandatory R/W

02h Transmission Type Mandatory R/W 255

03h Inhibit Time Optional

04h Reserved

R/W

4000 0180h +

NODE ID

05h Event Timer Optional R/W 0

1A00h (Object Description – Mapping Parameters)

Index Name Object Code Data Type Category

1A00hTransmit PDO1 Mapping Record PDO Mapping Mandatory

1A00h (Entry Description – Mapping Parameters)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 01

01h 1st Application Object Mandatory R/W 6041 0010

02h 2nd Application Object Optional R/W Mfg. Specific

03h 3rd Application Object Optional R/W Mfg. Specific

04h 4th Application Object Optional R/W Mfg. Specific

05h 5th Application Object Optional R/W Mfg. Specific

06h 6th Application Object Optional R/W Mfg. Specific

07h 7th Application Object Optional R/W Mfg. Specific

08h 8th Application Object Optional R/W Mfg. Specific

Producer PDO2 (TPDO2) 1801h (Object Description)

Index Name Object Code Data Type Category

1801hTransmit PDO2 Parameter Record PDO Communications Parameters Optional

Producer PDO2 (TPDO2) 1801h (Entry Description)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R —

4000 0280h or

01h COB-ID used by PDO Mandatory R/W

C000 0280h +

NODE ID

02h Transmission Type Mandatory R/W 255

03h Inhibit Time Optional

R/W

04h Reserved

05h Event Timer Optional R/W 0

14 MDrivePlus CANopen R020507

1A01h (Object Description – Mapping Parameters)

Index Name Object Code Data Type Category

1A01hTransmit PDO2 Mapping Record PDO Mapping Conditional if 1801h is

implemented

1A01h (Entry Description – Mapping Parameters)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 02

01h 1st Application Object Mandatory R/W 6041 0010

02h 2nd Application Object Optional R/W 6061 0008

03h 3rd Application Object Optional R/W Mfg. Specific

04h 4th Application Object Optional R/W Mfg. Specific

05h 5th Application Object Optional R/W Mfg. Specific

06h 6th Application Object Optional R/W Mfg. Specific

07h 7th Application Object Optional R/W Mfg. Specific

08h 8th Application Object Optional R/W Mfg. Specific

Producer PDO3 (TPDO3) 1802h (Object Description)

Index Name Object Code Data Type Category

1802hTransmit PDO3 Parameter Record PDO Communications Parameters Optional

Producer PDO3 (TPDO3) 1802h (Entry Description)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R —

4000 0380h or

01h COB-ID used by PDO Mandatory R/W

C000 0380h +

02h Transmission Type Mandatory R/W 255

03h Inhibit Time Optional

R/W

04h Reserved

05h Event Timer Optional R/W 0

1A02h (Object Description – Mapping Parameters)

Index Name Object Code Data Type Category

1A02hTransmit PDO3 Mapping Record PDO Mapping Conditional if 1802h is

implemented

NODE ID

15Part 2: DSP-402 Implementation

1A02h (Entry Description – Mapping Parameters)

Sub-Index Description Category Access Value Range Default

00h Highest Supported Sub-Index Mandatory R/W 02

01h 1st Application Object Mandatory R/W 6041 0010

02h 2nd Application Object Optional R/W 6064 0010

03h 3rd Application Object Optional R/W Mfg. Specific

04h 4th Application Object Optional R/W Mfg. Specific

05h 5th Application Object Optional R/W Mfg. Specific

06h 6th Application Object Optional R/W Mfg. Specific

07h 7th Application Object Optional R/W Mfg. Specific

08h 8th Application Object Optional R/W Mfg. Specific

16 MDrivePlus CANopen R020507

Section 3

Manufacturer Speciﬁc Objects

Introduction

The objects detailed in this section are IMS manufacturer specific configuration objects to conFigure :

I/O Type

•

Run/Hold Current

•

Factory Configuration

•

Accessibility Codes

R — Read

W — Write

S — Storable to Nonvolatile Memory (NVM)

K — Key Required

Object 2000h: I/O Discretes (Config)

Object Description

Index

2000

Entry Description

Sub-Index Description Category Access PDO

01h ConFigure I/O as Output Mandatory R/W No 0x00 — 0xFF

02h ConFigure I/O as Sourcing Mandatory R/W No 0x00 — 0xFF

03h ConFigure I/O as Both Mandatory R/W No 0x00 — 0xFF

04h

05h

Name

I/O Discretes

ConFigure I/O as Polarity

Out

Object Code

VAR

Mandatory R/W No 0x00 — 0xFF

Data Type

Unsigned 8

Value Range Default

Mapping

0x00 (1 = Output,

0 = Input)

0x00 (1 =

Sourcing Only, 0 =

Sinking Only)

0x00 (1 = Both

Source and Sink,

0 = See Sub-

Index 2)

0x00 (1 = Invert

Polarity of Digital

Inputs, 0 = See

Index 60FDh

Sub-Index 1 Bits

<23...16>)

0x00 (1 = Invert

Polarity of Digital

I/O, 0 = See Index

60FEh Sub-Index

1 Bits <23...16>)

17Part 2: DSP-402 Implementation

Object 2002h: I/O Discretes (Config)

LSBMSB

7 6 5 4 3 2 1 0

LSB

MSB

7 6 5 4 3 2 1 0

IN12 I N11 I N10 IN9 IN4 IN3 IN2 IN1

100 10000

011 00010

2004. 0 1

Input Filter Mask

2006. 0 1

Input Filter Time

60FDhDigit a l Input s

Fil te r I nputs 1 & 2

Fil te r Time 100 m Sec .

Object Description

Index

2002

Entry Description

Sub-Index Description Category Access PDO

01h ConFigure I/O as Home Mandatory R/W No 0x00 — 0xFF

02h

03h

Name

Config Input Switches

ConFigure I/O as Positive

Limit

ConFigure I/O as Negative

Limit

Object Code

VAR

Mandatory R/W No 0x00 — 0xFF

Data Type

Unsigned 8

Value Range Default

Mapping

0x00 (1 = Selects I/O# as the Home Switch)

0x00 (1 = Selects

Positive Limit)

0x00 (1 = Selects

Negative Limit)

Object 2004h: Input Filter Mask (Config)

The Input Filter Mask Object conFigure s the device to filter the selected inputs. The operation of the Object is shown in Figure 3.1 below.

I/O# as the

18 MDrivePlus CANopen R020507

Figure 3.1: Input Filter Mask

Object Description

Index

2004

Name

Input Filter Mask

Entry Description

Sub-Index Description Category Access PDO

01h Input Filter Mask Optional R/W No 00

02h Input Filter Mask Optional R/W No 00

03h Input Filter Mask Optional R/W No 00

04h Input Filter Mask Optional R/W No 00

05h Input Filter Mask Optional R/W No 00

06h Input Filter Mask Optional R/W No 00

07h Input Filter Mask Optional R/W No 00

Object 2006h: Input Filter Time (ms)

Object Description

Index

2006

Name

Input Filter Time

Object Code

VAR

Object Code

VAR

Data Type

Unsigned 8

Mapping

Data Type

Unsigned 8

Value Range Default

h –

Entry Description

Sub-Index Description Category Access PDO

01h Input Filter Time Optional R/W No 0 – 250 ms 0

02h Input Filter Time Optional R/W No 0 – 250 ms 0

03h Input Filter Time Optional R/W No 0 – 250 ms 0

04h Input Filter Time Optional R/W No 0 – 250 ms 0

05h Input Filter Time Optional R/W No 0 – 250 ms 0

06h Input Filter Time Optional R/W No 0 – 250 ms 0

07h Input Filter Time Optional R/W No 0 – 250 ms 0

08h Input Filter Time Optional R/W No 0 – 250 ms 0

Value Range Default

Mapping

19Part 2: DSP-402 Implementation

Object 2010h: Analog Input

Object Description

Index

2010

Entry Description

Sub-Index Description Category Access PDO

01h Analog Reading Mandatory R/W Yes 0 - 1023 0 Unsigned 16

02h

03h Input Filtering Mandatory R/W No 0 — 31

Name

Analog Input

Configuration

Mandatory R/W No

Object 2020h: Software Limits as Hardware Limits

Object Description

Index

2020

Name

Software Limits as Hardware

Object Code

VAR

Mapping

Object Code

VAR

Data Type

See Entry Desc.

Value Range Default Data Type

0=5V Scale

8=10V Scale

2=20mA Scale

Data Type

0 Unsigned 8

0=No

Filtering

Unsigned 8

Entry Description

Sub-Index Description Category Access PDO

01h Limit Reached Flag Optional R/W No 00

02h Limit Reached Mask Optional R/W No 00

Object 2022h: Actual Position Software Limit

Object Description

Index

2022

Name

Actual Position Software Limit

Entry Description

Sub-Index Description Category Access PDO

01h Actual Negative Limit Optional R/W No Full 32 Bit 80000000

Object Code

VAR

Mapping

Data Type

Signed 32

Mapping

Value Range Default

h –

Value Range Default

02h Actual Positive Limit Optional R/W

20 MDrivePlus CANopen R020507

Full 32 Bit 7FFFFFFF

Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out)

Object Description

Index

2031

Entry Description

Access

R/W/S

Note: Encoder functions only apply to the MDrive products. The MForce products do not have closed loop capability.

Bit

Position

0 Reserved Reserved Reserved Reserved Encoder

1 Reserved Reserved Reserved Reserved Encoder

Default 0 0 0 0 0 0 0 0

Example 0 0 0 0 1 1 0 0

0x80 0x40 0x20 0x10 0x08 0x04 0x02 0x01

Name

Unit Options

PDO Mapping

Range

0/1

Object Code

VAR

Disabled

Enabled

Data Type

Unsigned 8

Capture In Reserved Reserved

Trip Out Reserved Reserved

Object 2032h: Clock Options

Object Description

Default

Index

2032

Entry Description

Access

R/W/S

Bit

Position

0 n/a n/a n/a n/a n/a n/a n/a n/a

1 Invert

Default 0 0 0 0 0 0 0 1

Example 0 0 0 0 1 0 0

0x80 0x40 0x20 0x10 0x08 0x04 0x02 0x01

Direction

Name

Clock Options

PDO Mapping

Invert

Step

Reserved Square

Range

See Table

Step Up/Dn Reserved Quadrature Step/

Out

Object Code

VAR

Data Type

Unsigned 8

Default

Object 2033h: Capture Input

Object Description

Index

2033

Name

Capture Input

Object Code

VAR

Data Type

See Entry Desc.

Direction

21Part 2: DSP-402 Implementation

Entry Description

Sub-Index Description Category Access PDO

01h

02h

03h

04h

Enable Capture

Position

Enable Capture

Input Flag

Capture Input

Filter

Capture In

Position

Object 2204h: Run Current Percent

Object Description

Index

2204

Entry Description

Access

R/W/S

Name

Run Current %

PDO Mapping

Value Range Default Data Type

Mapping

R/W Yes 0/1

R/W No 0/1

R/W No

Object Code

VAR

Range

Data Type

Unsigned 8

1 - 100

Default

2204

10 MDrive Range 0 To

20 0.6 1.0

30 0.9 1.5

40 1.2 2.0

50 1.5 2.5

60 1.8* 3.0

70 2.1 3.5

80 2.4 4.0

90 2.7 4.5

100 3.0 5.0

Shaded Area Reserved for Future Use

*HC=67 for maximum 2.0 Amp Hold Current

MDrivePlus (All) MForce MicroDrive

100%

Actual Current Not

required as Motor is

appropriately sized

to the device.

Object 2205h: Hold Current Percent

Object Description

Index

2205

Name

Hold Current %

Run Current % By Device

(Amps RMS)

0.3 0.5

Object Code

VAR

MForce PowerDrive

(Amps RMS)

Data Type

Unsigned 8

Entry Description

Access

R/W/S

22 MDrivePlus CANopen R020507

PDO Mapping

Range

0 - 100

Default

Hold Current % By Device

2205

10 MDrive Range 0 To

20 0.6 1.0

30 0.9 1.5

40 1.2 2.0

50 1.5 2.5

60 1.8* 3.0

70 2.1 3.5

80 2.4 4.0

90 2.7 4.5

100 3.0 5.0

Shaded Area Reserved for Future Use

*HC=67 for maximum 2.0 Amp Hold Current

MDrivePlus (All) MForce MicroDrive

100%

Actual Current Not

required as Motor is

appropriately sized

to the device.

Object 2211h: Position Present Point Target

Object Description

(Amps RMS)

0.3 0.5

MForce PowerDrive

(Amps RMS)

Index

2211

Name

Position Present Point Target

Entry Description

Access

PDO Mapping

Object 2212h: Position Final Point Target

Object Description

Index

2212

Name

Position Final Point Target

Entry Description

Access

R/W/S

PDO Mapping

Range

± 2

Range

± 2

Object Code

VAR

Object Code

VAR

Data Type

Integer 32

Default

Data Type

Integer 32

Default

Object 5001h: Configuration

The following object is set at the factory, and is not user configurable.

Object Description

Index

5001

Name

Options Setting

Object Code Data Type

Unsigned 32

23Part 2: DSP-402 Implementation

Entry Description

Access

R/K

Object 5002h: ASCII Serial Number

The following object is set at the factory, and is not user configurable. It can be read by the user in the event that the contained data is needed for technical or application support.

Object Description

Index

5002

Entry Description

Access

R/K

Object 5003h: ASCII Part Number

The following object is set at the factory, and is not user configurable. It can be read by the user in the event that the contained data is needed for technical or application support.

Object Description

PDO Mapping

Name

ASCII Ser. No.

PDO Mapping

Range

N/A

Object Code Data Type

Range

N/A

Default

Factory

Unsigned 32

Default

Factory

Index

5003

Entry Description

Access

R/K

Object 5004h: Motor Parameters

The following object is set at the factory, and is not user configurable. It can be read by the user in the event that the contained data is needed for technical or application support.

Object Description

Index

5004

Entry Description

Access

R/K

Name

ASCII Part No.

PDO Mapping

Name

Motor Parameters

PDO Mapping

Object Code Data Type

Range

N/A

Object Code Data Type

Range

N/A

Unsigned 32

Default

Factory

Unsigned 32

Default

Factory

24 MDrivePlus CANopen R020507

Section 4

DEVICE CONTROL

State Machine

Controlword 6040h

Profile Position

Profile Velocity

Modes of Operation 6060h

Statusword

6041h

Device Control

The device control function block controls all the functions of the MDrivePlus CANopen and is divided into to sections:

1. Control of the State Machine

2. Operation Mode

Control and Status words

Controlword (Object Index 6040h) controls the state and operation modes of the MDrivePlus CANopen. Statusword (Object Index 6041h) returns the status of the MDrivePlus CANopen.

State Machine

The State Machine describes the status and control sequence of the MDrivePlus CANopen and specifies the Initialization sta-

tus, the Pre-Operational status, the Operational status, and the Stopped status. See Figure 1.2 for a diagrammatic representation of State machine states and state transitions.

State Machine States

State Status Description

Not Ready to Switch On Low Level Power Applied.

The drive is being initialized or is running a self test. A brake, if present, is applied in this state. The drive function is disabled.

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. The drive function is disabled.

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.

Operation Enable No faults have been detected.

The drive function is enabled and power is applied to the motor. The drive parameters may be changed. (This corresponds to normal operation of the drive.)

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.

Figure 4.1: Device Control

Fault Reaction Active

SUPPORT UNDER DEVELOPMENT

Fault

SUPPORT UNDER DEVELOPMENT

NOTE: If the ‘Quick-Stop-Option-Code’ is switched to 5 (Stay in Quick-Stop), the MDrivePlus cannot exit the Quick-Stop-State, but you can transmit to ‘Operation Enable’ with the command ‘Enable Operation’.

The drive parameters may be changed. A non-fatal fault has occurred in the drive. The Quick Stop function is being executed. The drive function is enabled and power is applied to the motor.

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

Table 4.1: State Machine States

25Part 2: DSP-402 Implementation

Transition

Number

State Machine Transitions

From State To State Event/Action

Start

Not Ready To Switch On

Switch On Disabled Ready to Switch On

Ready to Switch On Switched On

Switched On Operation Enable

Operation Enable Switched On

Switched On Ready to Switch On

Ready to Switch On Switch On Disabled

Operation Enable Ready to Switch On

Operation Enable Switch On Disabled

Switched On Switch On Disabled

Not Ready To Switch On

Switch On Disabled

Event: Reset.

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

Event:

Action:

Event: ‘Shutdown’ command received from host.

Action: None.

Event: ‘Switch On’ command received from host.

Action:

Event: ‘Enable Operation’ command received from host.

Action: The drive function is enabled.

Event:

Action: The drive operation will be disabled.

Event: ‘Shutdown’ command received from host.

Action: The power section is switched off.

Event: ‘Quick stop’ command received from host.

Action: None

Event: ‘Shutdown’ command received from host.

Action:

Event: ‘Disable Voltage’ command received from host.

Action:

Event:

Action:

The drive has self-tested and/or initialized successfully.

Activate communication and process data monitoring

The power section is switched on if it is not already switched on.

‘Disable Operation’ command received from host.

The power section is switched off immediately, and the motor is free to rotate if unbraked

‘Disable Voltage’ or ‘Quick Stop’ command received from host.

The power section is switched off immediately, and the motor is free to rotate if unbraked

Operation Enable Quick Stop Active

Quick Stop Active Switch On Disabled

All States

Fault Reaction Active

Fault Switch On Disabled

Quick Stop Active Operation Enable

Fault Reaction Active

Fault

Table 4.2: State Machine Transitions

Event: ‘Quick Stop’ command received from host.

Action: The Quick Stop function is executed.

‘Quick Stop’ is completed or ‘Disable Voltage’

Event:

Action: The power section is switched off.

Event: A fault has occured in the drive.

Action: Execute appropriate fault reaction.

Event: Fault reaction is completed.

Action:

Event: ‘Fault Reset’ command is recieved from the host.

Action:

Event:

Action:

command received from host. This transition is possible, if the Quick-Stop-Option-Code is different 5 (Stay in Quick-Stop)

The drive function is disabled, the power section may be switched off.

A reset of the fault condition is carried out if no fault exists currently on the drive. After leaving the ‘Fault’ state the Bit ‘Fault Reset’ of the controlword has to be cleared by the host.

‘Enable Operation’ command received from host. This transition is possible if the Quick-StopOption-Code is 5,6,7 or 8.

The drive function is enabled

26 MDrivePlus CANopen R020507

Power Disabled

Power Enabled

Fault

Start

Not Ready to Switch On

Fault Reaction Active

Fault

Switch On Disabled

Ready To Switch On

Switched On

Operation Enable Quick Stop Active

9 38

10 12

Controlword 6040h

Internal Event

Statusword

6041h

SUPPORT FOR FAULT

STATES UNDER

DEVELOPMENT

Notes On State Transitions

Commands directing a change in state are processed completely and the new state achieved before additional state

Transitions 0 and 1 occur automatically at drive power-on or reset. All other state changes must be directed by the

Drive function disabled indicates that no current is being supplied to the motor.

Drive function enabled indicates that current is available for the motor and profile position and profile velocity

Figure 4.2: State Machine States/Transitions Block Diagram

change commands are processed.

host.

reference values may be processed.

27Part 2: DSP-402 Implementation

Object 6040h — Controlword

Ths controlword is a mandatory, unsigned 16 bit number containing bits for controlling the state and operating modes for the MDrivePlus CANo-

pen.

Object Description

Index

6040

Entry Description

Access

r/w

Data Description

MSB

15 11 10 9 8

Manufacturer

Specific

O O O M O M M M M

O=Optional M= Mandatory

Device Control Command Bit Patterns (Bits 0-3 and 7)

Command

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

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

Disable Operation 0 0 1 1 1 5

Enable Operation 0 1 1 1 1 4, 16

Fault Reset X X X X 15

*The MDrivePlus CANopen executes the functionality of Switched On

** The MDrivePlus CANopen will do nothing

Name

Controlword

PDO Mapping

n/a

Reserved Halt Fault

Bit of Controlword (6040h)

Fault Reset

(Bit 7)

Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant)

Enable

Operation

(Bit 3)

Object Code

VAR

Range

Unsigned16

LSB

7 6 4 3 2 1 0

Operation

Reset

Mode Specific

Quick Stop

(Bit 2)

Enable

Operation

Enable

Voltage

(Bit 1)

Data Type

Unsigned16

Default

n/a

Quick

Stop

Switch On

Enable

Voltage

(Bit 0)

Switch

State

Transitions

Device Operation Mode Bit Patterns (Bits 4-6 and 8)

Operation Mode

Bit 8 Bit 6 Bit 5 Bit 4

Profile Position Halt Absolute/Relative Change Set Immediately New Setpoint

Profile Velocity Halt Reserved Reserved Reserved

Homing* Halt Homing Operation Start Reserved Reserved

*Homing Mode is currently under development for the MDrivePlus CANopen

Table 4.4: MDrivePlus CANopen Operation Modes

28 MDrivePlus CANopen R020507

Controlword 6040h Bits 4-6, 8

Object 6041h — Statusword

Statusword (6041h) Bits

LSB

MSB

Ready to S

witch O

Switched On

Opera

tion Enabled

Fault

ltage Enabled

Quick Stop Active

Switch On Disabled

Warnin

Manufacturer Specific

Remote

Target R

eache

Internal Limit Activ

Ope

tion Mode Specific

Ope

tion Mode Specific

0 M

15O14

12O11M10M9M8O7O6M5M4M3M2M1

The Statusword is a read-only object that indicates the current state of the drive, no bits are latched. Statusword consists of bits for:

The current state of the drive. The operating state of the mode. Manufacturer Specific options.

Object Description

Index

6041

Entry Description

Access

Data Description

Name

Statusword

PDO Mapping

n/a

Object Code

VAR

Range

Unsigned16

Data Type

Unsigned16

Default

n/a

X=Irrelevant Bit State, *Bit 4 shown for illustration purpose only.

Figure 4.3: Statusword Bits

Bits 0-3 and 5-6

The following bits indicate the status of the MDrivePlus CANopen.

Status

Not Ready to Switch On 0 X X 0 0 0 0

Switch On Disabled 1 X X 0 0 0 0

Ready to Switch On 0 1 X 0 0 0 1

Switched On 0 1 X 0 0 1 1

Operation Enabled 0 1 X 0 1 1 1

Quick Stop Active 0 0 X 0 1 1 1

Fault Reaction Active 0 X X 1 1 1 1

Fault 0 X X 0 0 0 0

5 6 4* 3 2 1 0

Table 4.5: Device State Bits for Statusword

Bit of Statusword (6041h)

29Part 2: DSP-402 Implementation

Bit 4: Voltage Enabled

The Disable Voltage request is active when the voltage_disabled bit is cleared to 0.

Bit 5: Quick Stop Active

When reset, this bit indicates that the drive is reacting on a quick stop request. Bits 0, 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable to regenerate. The setting of the other bits indicates the status of the drive (e.g. the drive is performing a quick stop as result of a reaction to a non-fatal fault. The fault bit is set as well as bits 0, 1 and 2).

Bit 7: Warning

A drive warning is present if bit 7 is set. The cause means no error but a state that has to be mentioned, e.g. temperature limit, job refused. The status of the drive does not change. The cause of this warning may be found by reading the fault code parameter. The bit is set and reset by the device.

Bit 8: Manufacturer Specific

This bit may be used by a drive manufacturer to implement any manufacturer specific functionality.

Bit 9: Remote

If bit 9 is set, then parameters may be modified via the CAN-network, and the drive executes the content of a command message. If the bit remote is reset, then the drive is in local mode and will not execute the command message. The drive may transmit messages containing valid actual values like a position_actual_value, depending on the actual drive

configuration. The drive will accept accesses via service data objects (SDOs) in local mode.

Bit 10: Target Reached

If bit 10 is set by the drive, then a setpoint has been reached (torque, speed or position depending on the modes_of_operation). The change of a target value by software alters this bit. If quickstop_option_code is 5, 6, 7 or 8, this bit must be set, when the quick stop operation is finished and the drive is halted. If Halt occured and the drive has halted then this bit is set too.

Bit 11: Internal Limit Active

This bit set by the drive indicates, that an internal limitation is active (e.g. position_range_limit).

Bits 12-13: Operation Mode Specific

Operation Mode

Profile Position Set Point

Acknowledge

Profile Velocity Speed Max Slippage Error

Homing* Homing Attained Homing Error

*Homing Mode is currently under development for the MDrivePlus CANopen

Table 4.6: MDrivePlus CANopen Operation Mode Status

Statusword 6041h

Bit 12 Bit 13

Following Error

Bit 14-15: Manufacturer Specific

These bits may be used by a drive manufacturer to implement any manufacturer specific functionality.

30 MDrivePlus CANopen R020507

Section 5

Operation

Mode

Function

Profile Velocity Mode

Profile Position Mode

Homing Mode

Mode of Operation

(6060h)

Mode of Operation Display

(6061h)

Modes of Operation

Object 6060h — Modes of Operation

The performance of the MDrivePlus CANopen depends on the activated Modes of Operation. It is not possible to operates the modes in parallel. The user must select a mode to operate in. An example of exclusive functions are Profile Velocity and Profile Position modes.

The MDrivePlus allows the user to switch dynamically from operation mode to operation mode.

Figure 5.1: Mode of Operation

The IMS MDrivePlus CANopen supports the following Modes of Operation:

Profile Position Profile Velocity Homing Mode

Object Description

Index

6060

Entry Description

Access

Data Description

The actual mode is reflected in the modes_of_operation_display (index 6061h), and not in the modes of operation (index 6060h). It may be changed by writing to modes of operation.

Name

Mode of Operation

PDO Mapping

n/a

Object Code

VAR

Range

±Integer8

Data Type

±Integer8

Default

n/a

31Part 2: DSP-402 Implementation

Mode of Operation (6060h)

Manuf

. Specific Mode

eserve

Interpolated P

osition Mode

eserve

Profile P

osition Mode

Profile V

elocity Mode

Homing Mode

elocity Mode

Profile T

orque Mode

-1...-1288...127 01234567

Gray Text modes unsupported by MDrivePlus CANopen

Figure 5.2: Modes of Operation

Object 6061h — Modes of Operation Display

The Modes of Operation Display shows the current mode of operation. The meaning of the returned value corresponds to that of the Modes of Operation option code (index 6060h)

Object Description

Index

6061

Entry Description

Access

Data Description

Same as Object 6060h Modes of Operation.

Name

Mode of Operation Display

PDO Mapping

n/a

Object 6502h — Supported Drive Modes

This object shall provide information on the supported drive modes.

Object Description

Index

6061

Entry Description

Name

Mode of Operation Display

Range

±Integer8

Object Code

VAR

Default

n/a

Object Code

VAR

Data Type

±Integer8

Data Type

±Integer8

Access

Data Description

Same as Object 6060h Modes of Operation.

32 MDrivePlus CANopen R020507

PDO Mapping

n/a

Range

±Integer8

Default

n/a

LSBMSB

31 16 15 10 9 8 7 6 5 4 3 2 1 0

Profile Position

Velocity

Profile Velocity

Profile Torque

Reserved

Homing

Interpolated Position

Cyclic Sync Position

Cyclic Sync Velocity

Cyclic Sync Torque

Reserved

MFG Specific

111 0000000

1 = Mode Supported 0 = Mode Not Supported

Figure 5.3: Supported Drive Modes

33Part 2: DSP-402 Implementation

Page Intentionally Left Blank

34 MDrivePlus CANopen R020507

Section 6

Trajectory Generator

Position target_position (607Ah)

profile_velocity (6081h) end_velocity (6082h)

profile_acceleration (6083h) profile_deceleration (6084h)

Velocity

Acceleration

Multiplier

polarity (607Eh)

position_demand_value (60FCh)

Proﬁle Position Mode

General Information

A target_position is applied to the Trajectory Generator. It is generating a position_demand_value for the position control loop described in the Position Control Function Section. These two function blocks are optionally controlled by individual parameter sets.

Figure 6.1: Trajectory Generator Block Diagram

At the input to the Trajectory Generator, parameters may have optional limits applied before being normalized to internal units. Normalized parameters are denoted with an asterisk. The simplest form of a Trajectory Generator is just to pass through a target_position and to transform it to a position_demand_value* with internal units (increments) only.

For the IMS MDrivePlus CANopen the following values apply:

target_position — microsteps

•

profile_velocity — microsteps/sec

•

end_velocity — microsteps/sec

•

profile_acceleration — microsteps/sec

•

profile_deceleration — microsteps/sec

•

position_demand_value — microsteps

•

Input Data Description

Operating Mode Description

Profile Position target_position, profile_velocity, end_velocity, profile_

acceleration, profile_deceleration

Output Data Description

Operating Mode Description

Profile Position position_demand_value

Note that the MDrivePlus CANopen is fixed at 256 microsteps/full motor step or 51,200 microsteps per motor revolution.

35Part 2: DSP-402 Implementation

Functional Description

Bit 4: new_set-point

Bit 12: set-point_acknowledge

Bit 5: change_set_immediately

data

0 = Single Set-Point 1 = Set of Set-points

Single Set-Point is Expected by MDrivePlus

Host Signals “Data is Valid” new_set-point = 1

MDrivePlus responds by setting Bit 12, set-point_acknowledge = 1

MDrivePlus responds by setting Bit 12, set-point_acknowledge = 0 MDrivePlus is ready to accept new data

Once Data is Validated, Host may release new_set-point

Indicates state Change of change_set_immediately to 1

ControlWord

(6040h)

StatusWord

(6041h)

There are two different ways to apply 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 which results in a move where the velocity of the drive normally is not reduced to zero after achieving a set-point.

2. Single set-point:

After reaching the target_position the drive unit signals this status to a host computer and then receives a new setpoint. After reaching a target_position the velocity normally is 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 to set up a request-response mechanism in order to prepare a set of set-points while another set still is processed in the drive unit. This minimizes reaction times within a control program on a host computer.

36 MDrivePlus CANopen R020507

Figure 6.2: Set-Point Transmission from Host Computer

Figure 6.2, Figure 6.3 and Figure 6.4 illustrate the difference between the “set of set-points” mode and the “single set-point” mode. The initial status of the bit change_set_immediately in the controlword determines which mode is used. Trapezoidal moves are used as this is the only motion_profile_type the MDrivePlus CANopen supports.

If the bit change_set_immediately is “0” (shaded area in Figure 3.2) a single set-point is expected by the drive . After data is applied to the drive, a host signals that the data is valid by changing the bit new_setpoint to “1” in the controlword . The drive responds with set-point_acknowledge set to “1” in the statusword  after it recognized and buffered the new valid data. Now the host may release new_setpoint  and afterwards the drive signals with set-point_acknowledge equal “0” its ability to accept new data again . In Figure 3.3 this mechanism results in a velocity of zero after ramping down in order to reach a target_position X1.at T1. After signalling to the host, that the set-point is reached like described above, the next target_posi- tion X2 is processed at T2 and reached at T3.

T1T

Velocity

Time

target_position X

Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0

Velocity

Time

Second target_position

given - immediate response

target_position reached

With change_set_immediately set to “1” , symbolized by the clear area in Figure 6.2, the host advises the drive to apply a new set-point immediately after reaching the last one. The relative timing of the other signals is unchanged. This behavior causes the drive to already process the next set-point X2 and to keep its velocity when it reaches the target_position X1 at T1. Then drive moves immediately to the already calculated next target_position X2.

Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1

Controlword (6040h) of Profile Position Mode

15 9 8 7 6 5 4 3 0

See 1.3 Halt See 1.3 abs/rel Change Set Immediately New Set-Point See 1.3

MSB LSB

Bit Name Value Description

4 New Set Point

Change Set

Immediately

6 abs/rel

8 Halt

0 Does not assume target position

1 Assume target position

0 Finish the actual positioning and then start the next positioning

1 Interrupt the actual positioning and start the next positioning

0 Target position is an absolute value

1 Target position is a relative value

0 Execute positioning

1 Stop motion with profile deceleration

Table 6.1: Profile Position Mode Bits of Controlword

37Part 2: DSP-402 Implementation

Statusword (6041h) of Profile Position Mode

9 14 13 12 11 10 9 0

See 1.4 Following Error Set-Point Acknowledge See 1.4 Target Reached See 1.4

MSB LSB

Bit Name Value Description

0 Halt=0: Target position not reached

10 Target Reached

13 Following Error

Set-Point

Acknowledge

Halt=1: Axis decelerating

1 Halt=0: Target position reached

Halt=1: Axis velocity is 0

0 Trajectory generator has not assumed the positioning values yet

1 Trajectory generator has assumed the positioning values

0 No following error

1 Following error

Table 6.2: Profile Position Mode Bits of Statusword

Object 607Ah — Target Position

The Target Position is the position that the drive should move to in position profile mode using the MDrivePlus CANopen parameters such as velocity, acceleration, deceleration, motion profile type etc. The target position is given in terms of 51,200 units per motor shaft revolution. The target position will be interpreted as absolute or relative depending on the absolute relative flag (bit 6) in the controlword.

Object Description

Index

607A

Entry Description

Access

Name

Target Position

PDO Mapping

Possible

Object Code

VAR

Range

Integer 32

Data Type

Integer 32

Default

n/a

Object 6081h — Profile Velocity

The profile velocity 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 steps per second..

Object Description

Index

6081

Entry Description

Access

Name

Profile Velocity

PDO Mapping

Possible

Object Code

VAR

Range

Integer 32

Data Type

Integer 32

Default

n/a

38 MDrivePlus CANopen R020507

Object 6082h — End Velocity

The end velocity defines the velocity which the drive must have on reaching the target position. Normally, the drive stops at the target position, i.e. the end_velocity = 0. The end velocity is given in the same units as profile velocity.

Object Description

Index

6082

Entry Description

Access

Object 6083h — Profile Acceleration

Profile Acceleration is given in steps/sec

Object Description

Index

6083

Entry Description

Access

Name

End Velocity

PDO Mapping

Possible

Name

Profile Acceleration

PDO Mapping

Possible

Object Code

VAR

Range

Integer 32

Object Code

VAR

Range

Integer 32

Data Type

Integer 32

Default

n/a

Data Type

Integer 32

Default

n/a

Object 6084h — Profile Deceleration

Profile Deceleration is given in steps/sec

Object Description

Index

6084

Entry Description

Access

Name

Profile Deceleration

PDO Mapping

Possible

Range

Integer 32

Object Code

VAR

Data Type

Integer 32

Default

n/a

39Part 2: DSP-402 Implementation

Object 6086h — Motion Profile Type

The Motion Profile Type is used to select the type of motion profile used to perform a move. The MDrivePlus CANopen is fixed at Value 0: Linear Ramp (Trapezoidal Profile)

Object Description

Index

6086

Entry Description

Access

Name

Motion Profile Type

PDO Mapping

Possible

Object Code

VAR

Range

Integer 16

Data Type

Integer 16

Default

40 MDrivePlus CANopen R020507

Section 7

control_word

status_word

position_demand_value

homing_method

homing_speed

Homing

Homing Mode

General Information

This chapter describes the method by which a drive seeks the home position (also called, the datum, reference point or zero point). There are various methods of achieving this 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.

Figure 7.1: The Homing Function

Input Data Description

The user can specify the speeds and the method of homing. 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. The manufacturer is allowed some discretion in the use of these speeds as the response to the signals may be Dependent upon the hardware used.

Output Data Description

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

Internal States

There is only one internal state called homing which is reflected in the bits of the statusword.

Controlword (6040h) of Profile Position Mode

15 9 8 7 6 5 4 3 0

See 1.3 Halt See 1.3 Reserved Homing Operation Start See 1.3

MSB LSB

Bit Name Value Description

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

1 Stop motion

Table 7.1: Homing Mode Bits of Controlword

Homing Operation

8 Halt

Start

41Part 2: DSP-402 Implementation

Statusword (6041h) of Homing Mode

HOME

OFFSET (Steps)

9 14 13 12 11 10 9 0

See 1.4 Homing Error Homing Attained See 1.4 Target Reached See 1.4

MSB LSB

Bit Name Value Description

0 Halt=0: Home position not reached

10 Target Reached

12 Homing Attained

13 Following Error

Halt=1: Axis decelerating

1 Halt=0: Home position reached

Halt=1: Axis velocity is 0

0 Homing Mode not yet complete

1 Homing Mode carried out successfully

0 No homing error

1 Homing error

Table 7.2: Homing Mode Bits of Statusword

Homing Offset (607Ch)

This object shall indicate the conFigure d difference between the zero position for the application and the machine home position (found during homing). During homing the machine home position is found and once the 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 shall be taken relative to this new zero position. This is illustrated in Figure 7.2. If this object is not implemented then the home offset shall be regarded as zero. The value of this object shall be given in micro steps. Negative values shall indicate the opposite direction.

Figure 7.2: Home Offset

Object Description

Index

607C

Entry Description

Access

Name

Homing Offset

PDO Mapping

Possible

Object Code

VAR

Range

Integer 32

Data Type

Integer 32

Default

42 MDrivePlus CANopen R020507

Axis Direction

Index Pulse

Negative Limit Switch

Homing Method (6098h)

The homing method object determines the method that will be used during homing.

Object Description

Index

6098

Entry Description

Access

Data Description

Value Description

-128 — -1 Manufacturer Specific

0 No Homing Operation Required

1 — 35 Homing Methods 1 through 35 (See Functional Description)

36 — 128 Reserved

Functional Description of Homing Methods

Name

Homing Method

PDO Mapping

Possible

Object Code

VAR

Range

± Integer 8

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.

Data Type

± Integer 8

Default

Figure 7.3: Homing on the Negative Limit and Index Pulse

43Part 2: DSP-402 Implementation

Method 2: Homing on the Positive Limit Switch and Index Pulse

Axis Direction

Index Pulse

Positive Limit Switch

Index Pulse

Home Switch

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 7.4: Homing on the Positive Limit and Index Pulse

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 to 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 7.5: Homing on the Positive Home Switch and Index Pulse

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 to 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.

44 MDrivePlus CANopen R020507

Index Pulse

Home Switch

Figure 7.6: Homing on the Negative Home Switch and Index Pulse

Home Switch

Positive Limit Switch

Index Pulse

Methods 7 to 14: Homing on the Home Switch and Index Pulse

These methods use a home switch which is active over only portion of the travel, in effect the switch has a ‘momentary’ action as the axle`s 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 left except if the home switch is active at the start of the 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.

Figure 7.7: Homing on the Home Switch and Index Pulse - Positive Initial Move

45Part 2: DSP-402 Implementation

Home Switch

Negative Limit Switch

Index Pulse

Figure 7.8: Homing on the Home Switch and Index Pulse - Negative Initial Move

Home Switch

Methods 15 and 16: Reserved

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

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 but only Dependent 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 7.9: Homing without an Index Pulse

Methods 31 and 32: Reserved

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

46 MDrivePlus CANopen R020507

Methods 33 and 34: Homing on an Index Pulse

Index Pulse

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.

Method 35: Homing on the Current Position

In method 35 the current position is taken to be the home position.

Homing Speeds (6099h)

Object Description

Figure 7.10: Homing on the Index Pulse

Index

6099

Entry Description

Sub-Index Description Category Access PDO

01h Number of Entries Mandatory RO No 2 2

02h

03h

Name

Homing Speeds

Speed during search for

switch

Speed during search for

zero

Object Code

VAR

Mandatory R/W Possible Unsigned 32 0

Data Type

Unsigned 32

Value Range Default

Mapping

47Part 2: DSP-402 Implementation

Page Intentionally Left Blank

48 MDrivePlus CANopen R020507

Section 8

Position Control Function

General Information

In this chapter, all parameters are described which are necessary for a 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) like a resolver or encoder as input parameters.

Object 6062h — Position Demand Value

This object shall provide the demanded position value. The value shall be given in motor steps.

Object Description

Index

6062

Entry Description

Access

Object 6063h — Position Actual Value Internal

This object shall provide the actual value of the position measurement device, which shall be one of the two input values of the closed-loop position control

Object Description

Index

6063

Entry Description

Access

Name

Position Demand Value

PDO Mapping

n/a

Name

Range

Integer 32

Position Actual Value*

PDO Mapping

n/a

Range

Integer 32

Object Code

VAR

Object Code

VAR

Data Type

Integer 32

Default

n/a

Data Type

Integer 32

Default

n/a

Object 6064h — Position Actual Value

This object represents the actual value of the position measurement device microsteps.

Object Description

Index

6064

Entry Description

Access

Name

Position Actual Value

PDO Mapping

n/a

Range

Integer 32

Object Code

VAR

Data Type

Integer 32

Default

n/a

49Part 2: DSP-402 Implementation

Object 6065h — Following Error Window

This object shall indicate t he conFigure d range of tolerated position values symmetrically to the position demand value. 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, unreachable profile velocity occurs, or at wrong closedloop coefficients. The value shall be given in user defined position units. If the value of the following error window is FFFF FFFFh, the following c ontrol shall be switched off.

Object Description

Index

6065

Entry Description

Access

Object 6066h — Following Error Timeout

This object shall indicate t he conFigure d time for a following error condition, after that the bit 13 of the statusword shall be set to 1. The reaction of the drive when a following error occurs is manufacturer -specific. The value shall be given in milliseconds.

Object Description

Index

6066

Entry Description

Name

Following Error Window

PDO Mapping

n/a

Name

Range

Unsigned 32

Following Error Timeout

Object Code

VAR

Object Code

VAR

Data Type

Unsigned 32

Default

n/a

Data Type

Unsigned 32

Access

Object 6068h — Position Window Time

This object shall indicate t he conFigure d time, during which the actual position within the posi tion window is measured. The value shall be given in milliseconds.

Object Description

Index

6068

Entry Description

Access

PDO Mapping

n/a

Name

Range

Unsigned 32

Position Window Time

PDO Mapping

n/a

Range

Unsigned 16

Object Code

VAR

Default

n/a

Data Type

Unsigned 16

Default

Mfg-Specific

50 MDrivePlus CANopen R020507

Section 9

Proﬁle Velocity Mode

Controlword (6040h) of Profile Velocity Mode

15 9 8 7 6 3 0

See 1.3 Halt See 1.3 Reserved See 1.3

MSB LSB

Bit Name Value Description

8 Halt

Statusword (6041h) of Profile Velocity Mode

9 14 13 12 11 10 9 0

See 1.4 Max Slippage Error Speed See 1.4 Target Reached See 1.4

MSB LSB

Bit Name Value Description

10 Target Reached

12 Speed

Max Slippage

Error

0 Execute the Motion

1 Stop axis

Table 8.1: Profile Velocity Mode Bits of Controlword

0 Halt=0: Target position not reached

Halt=1: Axis decelerating

1 Halt=0: Target position reached

Halt=1: Axis velocity is 0

0 Speed is not equal to 0

1 Speed is equal 0

0 Maximum slippage not reached

1 Maximum slippage reached

Table 8.2: Profile Velocity Mode Bits of Statusword

Object 606Ch — Velocity Actual Value

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

Object Description

Index

606C

Entry Description

Access

Name

Velocity Actual Value

PDO Mapping

n/a

Range

Integer 32

Object Code

VAR

Data Type

Integer 32

Default

n/a

51Part 2: DSP-402 Implementation

Object 60FFh — Target Velocity

The Target Velocity is the input to the trajectory generator and the value is given in microsteps/second.

Object Description

Index

60FF

Entry Description

Access

Object 60F8h — Maximum Slippage

This object shall indicate the conFigure d maximal slippage of an asynchronous motor. When the max slippage has been reached, the corresponding bit 13 max slippage error in the statusword shall be set to 1. The reaction of the drive device, when the max slippage error occurs, is manufacturer-specific. This value shall be given in umicrosteps.

Object Description

Index

60FF

Entry Description

Access

Name

Target Velocity

PDO Mapping

n/a

Name

Range

Integer 32

Maximum Slippage

PDO Mapping

n/a

Range

Integer 32

Object Code

VAR

Object Code

VAR

Data Type

Integer 32

Default

n/a

Data Type

Integer 32

Default

Mfg-Specific

52 MDrivePlus CANopen R020507

Section 10

LSBMSB

31 1623 15

4 3 2 1 0

Negative Limit Switch

Positive Limit Switch

Home Switch

Interlock (Not Supported)

Reserved

Inputs 12, 11, 10,

9, 4, 3, 2, 1

0b = Switched Off 1b = Switched On

Object 60FDh — Digital Inputs

This object provides for digital inputs.

Figure 10.1: Object 60FD Structure

Optional Application FE (General I/O)

Object Description

Index

60FD

Entry Description

Access

Name

Digital Inputs

PDO Mapping

n/a

Object Code

VAR

Range

Unsigned 32

Data Type

Unsigned 32

Default

n/a

53Part 2: DSP-402 Implementation

Object 60FEh — Digital Outputs

LSBMSB

31 1623 15

1 0

Brake (Not Supported)

Reserved

Outputs 12, 11, 10,

9, 4, 3, 2, 1

0b = Switch Off 1b = Switch On

This object provides for digital outputs.

Object Description

Figure 10.2: Object 60FE Structure

Index

60FE

Entry Description

Sub-Index Description Category Access PDO

00h

01h Physical Outputs Mandatory R/W Possible Unsigned 32 0000 0000

02h Bit mask Mandatory R/W Possible Unsigned 32 0000 0000

Name

Digital Outputs

Highest Supported Sub-

Index

Mandatory C No 02

Object Code

ARRAY

Mapping

Data Type

Unsigned 32

Value Range Default

Mfg-Specific

54 MDrivePlus CANopen R020507

WARRANTY

TWENTY-FOUR (24) MONTH LIMITED WARRANTY

Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty Service.”

NOTE: MDrivePlus Motion Control electronics are not removable from the motor in the eld. The entire unit must be returned to the factory for repair.

This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the

Product; installation, operation or use of the Product not made in strict accordance with the specications and written

instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary

wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modications to the Product; the misuse

or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the Product; or any other reason or event not caused by IMS.

IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.

This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change it in any manner whatsoever. No warranty applies to any party other than the original Customer.

IMS and its directors, ofcers, employees, subsidiaries and afliates shall not be liable for any damages arising from any

loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production

or prots, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,

whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory, or other losses or expenses incurred by the Customer or any third party.

OBTAINING WARRANTY SERVICE

Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer Service (860) 295-6102.

Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.

Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for Products returned to IMS from outside the United States.

intelligent motion systems, INC.

Excellence in Motion

www.imshome.com

370 N. Main St., P.O. Box 457 Marlborough, CT 06447 U.S.A. Phone: 860/295-6102 Fax: 860/295-6107 E-mail: info@imshome.com

TECHNICAL SUPPORT

Phone: 860/295-6102 (USA) Fax: 860/295-6107 E-mail: etech@imshome.com

Germany/UK

Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com

IMS Product Disclaimer and most recent product information at www.imshome.com.

U.S.A. SALES OFFICES Eastern Region

Phone: 862/208-9742 Fax: 973/661-1275 E-mail: jroake@imshome.com

Central Region

Phone: 260/402-6016 Fax: 419/858-0375 E-mail: dwaksman@imshome.com

Western Region

Phone: 602/578-7201 E-mail:

IMS MOTORS DIVISION

105 Copperwood Way, Suite H Oceanside, CA 92054 Phone: 760/966-3162 Fax: 760/966-3165 E-mail: motors@imshome.com

dweisenberger@imshome.com

IMS EUROPE GmbH Hahnstrasse 10, VS-Schwenningen Germany D-78054 Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: info@imseuropehome.com

European Sales Management

4 Quai Des Etroits 69005 Lyon, France Phone: +33/4 7256 5113 Fax: +33/4 7838 1537 E-mail: bmartinez@imshome.com

Germany Sales

Phone: +49/35205/4587-8 Fax: +49/35205/4587-9 E-mail: hruhland@imshome.com

Germany/UK Technical Support

Phone: +49/7720/94138-0 Fax: +49/7720/94138-2 E-mail: mweber@imshome.com

IMS UK Ltd.

25 Barnes Wallis Road Segensworth East Fareham, Hampshire PO15 5TT Phone: +44/0 1489-889825 Fax: +44/0 1489-889857 E-mail: mcheckley@imshome.com

IMS ASIA PACIFIC OFFICE

30 Rafﬂes Pl., 23-00 Caltex House Singapore 048622 Phone: +65/6233/6846 Fax: +65/6233/5044 E-mail: wllee@imshome.com

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Intelligent Motion Systems DSP-402 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual