Intelligent Motion Systems DSP-402 User Manual

Excellence in Motion TM

DSP-402 APPLICATION GUIDE

TM

CANopen

TM

DRIVE

CANopen

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	TMare 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

Copyright © 2007 Intelligent Motion Systems, Inc.

All Rights Reserved

Contents

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
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

ii

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

iv

	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

vi

Excellence in Motion TM

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

MDrivePlus CANopen R020507

SECTION 1

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.

Start

Arbitration

Control

Data

CRC

ACK

End

Space

(Command and Address)

Up to 8 Bytes

of Data

Marks End

Data Length

of Message Frame

Address and Message Modifier

Receiver Pulls

(PDO, SDO etc.)

Bit Low

Marks Start

Cyclic Redundancy

of Message Frame

Checksum

Figure 1.1: Message Format

MDrivePlus Architecture

CAN Network

CAN Node

MDrivePlus

Application Layer and Communications Profile DS 301

Drive Profile DSP 402

Device Control State Machine

(Section XX)

		Modes of Operation
	Profile		Homing		Profile
	Position		Mode		Velocity
	Mode		(Section X)		Mode
	(Section X)				(Section X)

Motor

Figure 1.2: MDrivePlus Architecture

Part 2: DSP-402 Implementation

Device Control

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.

Homing Mode (Section X)

	Homing Function				Trajectory
					Generator
									Position Control
Profile Position Mode (Section X)
									Loop
	Position Function				Trajectory
					Generator

Profile Velocity Mode (Section X)
	Velocity Function				Trajectory				Velocity Control
					Generator				Loop

Figure 1.3: Functional Architecture

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.

MDrivePlus CANopen R020507

Trajectory Generator

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.

CAN

Additional System Nodes

Contoller

MDrivePlus Node

Object Dictionary

Output (LED, Relay)

I/O

Drive

Motor

Input (Switch, Sensor)

Logic

Analog Input

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		Standardized Interface Profile
C000 – FFFF		Reserved for Future Use

Table 1.1: Object Dictionary

Part 2: DSP-402 Implementation

Object Formatting

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

Object Description

Index	Name	Object Code	Data Type
XXXXh	Index Name	VAR	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		PDO Mapping		Category		Range			Default
R/W/S/K		Yes/No		M/O		I/U			I/U
Access
		R.......................................................................................					Read Access
		W.....................................................................................					Write Access
		S.........................................		Storable to Non Volatile Memory (NVM)
		K..........................................................				Key Required for Write Access

MDrivePlus CANopen R020507

PDO Mapping

Describes whether (Yes) or not (No) the Index may be mapped to a PDO (Process Data Object). If yes it may be mapped to a PDO, if No the Object must be accessed using SDO (Service Data Objects).

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

Part 2: DSP-402 Implementation

Page Intentionally Left Blank

MDrivePlus CANopen R020507

SECTION 2

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

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

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

3.Transfer is not confirmed

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

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

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

Producer

Consumer

TPDO	Data	RPDO
		RPDO
		RPDO
	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

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

2.Transfer is confirmed

3.Direct access to the Object Dictionary

4.Client/Server relationship.

5.Best for setting up configuration parameters.

Client

ID Request

ID

Request

Server

Figure 2.2: SDO Client – Server Relationship

Part 2: DSP-402 Implementation

PDO Mapping

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
1600h	00h
1600h	01h	6040h	2
1600h	02h	607Ah	4

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
1	Place MDrive in PreOperational State			—
2	Turn Off RPDO1	1400h	01	—	8000 01C0h
3	Set 1600h Sub-Index 00 to 0	1600h	00	—	0h
4	Map ControlWord 6040h to 1600.01h, Establish New	6040h	00	2	005Fh
	Set Point
5	Map target_position 607Ah to 1600.02h	607Ah		4	Desired Axis
					Position in Hex
6	Set 1600h.00 to 2 Max Sub-Indexes	1600h	00	—	2h
7	Turn On RPDO1	1400h	00	—	0000 01C0h
8	Place MDrive in Profile Position Mode	6060h	00	1	1h
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.

Default Mapping Example - Consumer PDO 2

Index
	1601h	SubIndex
		0	= 2	(# of SubIndex Entries
		1	= 2	Byte ControlWord (6040h)
		2	= 4 Byte Commanded SetPoint (607A)

	BYTES 0	- 1		BYTES 2 - 5				BYTE 6 - 7
RPDO 2	ControlWord		Set-Point (Position) Data					Unused
	003Fh		00	00	00	00

0

1

1

1

1

1

abs

.

immed

Enabled

-point

/rel

F = Operation

set

set

change

new

MUST be reset to zero

Transition Bit

between set-points

ControlWord = 03Fh

Move to Absolute SetPoint

ControlWord = 05Fh Move to Relative SetPoint

ControlWord = 00Fh Reset New Set-Point Bit to Prepare for Next Move

Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2

MDrive CANopen

Node

10	MDrivePlus CANopen R020507

PDO Objects

Consumer PDO1 (RPDO1) 1400h (Object Description)

Index	Name	Object Code	Data Type	Category
1400h	Receive 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		0000 0200h +
					NODE ID
02h	Transmission Type	Mandatory	R/W		255d
03h	Inhibit Time	Optional	R/W
04h		Reserved
05h	Event Timer	Optional	R/W		0d

1600h (Object Description – Mapping Parameters)

Index	Name	Object Code	Data Type	Category
1600h	Receive 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		01h
01h	1st Application Object	Mandatory	R/W		6040 0010h
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

Part 2: DSP-402 Implementation

11

Consumer PDO2 (RPDO2) 1401h (Object Description)

Index	Name	Object Code	Data Type	Category
1401h	Receive 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		02h
01h					0000 0300h or
	COB-ID used by PDO	Mandatory	R/W		8000 0000h +
					NODE ID
02h	Transmission Type	Mandatory	R/W		255d
03h	Inhibit Time	Optional	R/W
04h		Reserved
05h	Event Timer	Optional	R/W		0d

1601h (Object Description – Mapping Parameters)

Index	Name	Object Code	Data Type	Category
1601h	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		01h
01h	1st Application Object	Mandatory	R/W		6040 0010h
02h	2nd Application Object	Optional	R/W		6060 0008h
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