Intelligent Motion Systems MDrive DSP-402 User Manual

Force, Dsp-402 application guide, Excellence in motion

Excellence in Motion

DSP-402

APPLICATION GUIDE

CANopen

FORCE

DRIVE

CANopen

Table of contents

Document Outline

Introduction to the MDrivePlus CANopen DSP-402 Implementation
- Introduction
- CAN Message Format
- MDrivePlus Architecture
- Device Control
- Modes of Operation
  - Homing Mode
  - Profile Position Mode
  - Profile Velocity Mode
  - Trajectory Generator
- Objects and the Object Dictionary
- Object Formatting
  - Object Description
  - Entry Description
  - Sub-Indexes
Accessing The MDrivePlus CANopen
- Introduction
- Process Data Object (PDO)
  - PDO Attributes
- Service Data Object (SDO)
  - SDO Attributes
- PDO Mapping
- PDO Mapping Procedure (Consumer PDO)
- PDO Objects
  - Consumer PDO1 (RPDO1) 1400h (Object Description)
  - Consumer PDO1 (RPDO1) 1400h (Entry Description)
  - 1600h (Object Description – Mapping Parameters)
  - 1600h (Entry Description – Mapping Parameters)
  - Consumer PDO2 (RPDO2) 1401h (Object Description)
  - Consumer PDO2 (RPDO2) 1401h (Entry Description)
  - 1601h (Object Description – Mapping Parameters)
  - 1601h (Entry Description – Mapping Parameters)
  - Consumer PDO3 (RPDO3) 1402h (Object Description)
  - Consumer PDO3 (RPDO3) 1402h (Entry Description)
  - 1602h (Object Description – Mapping Parameters)
  - 1602h (Entry Description – Mapping Parameters)
  - Producer PDO1 (TPDO1) 1800h (Object Description)
  - Producer PDO1 (TPDO1) 1800h (Entry Description)
  - 1A00h (Object Description – Mapping Parameters)
  - 1A00h (Entry Description – Mapping Parameters)
  - Producer PDO2 (TPDO2) 1801h (Object Description)
  - Producer PDO2 (TPDO2) 1801h (Entry Description)
  - 1A01h (Object Description – Mapping Parameters)
  - 1A01h (Entry Description – Mapping Parameters)
  - Producer PDO3 (TPDO3) 1802h (Object Description)
  - Producer PDO3 (TPDO3) 1802h (Entry Description)
  - 1A02h (Object Description – Mapping Parameters)
  - 1A02h (Entry Description – Mapping Parameters)
Manufacturer Specific Objects
- Introduction
- Accessibility Codes
- Object 2000h: I/O Discretes (Config)
  - Object Description
  - Entry Description
- Object 2002h: I/O Discretes (Config)
  - Object Description
  - Entry Description
- Object 2004h: Input Filter Mask (Config)
  - Object Description
  - Entry Description
- Object 2006h: Input Filter Time (ms)
  - Object Description
  - Entry Description
- Object 2010h: Analog Input
  - Object Description
  - Entry Description
- Object 2020h: Software Limits as Hardware Limits
  - Object Description
  - Entry Description
- Object 2022h: Actual Position Software Limit
  - Object Description
  - Entry Description
- Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out)
  - Object Description
  - Entry Description
- Object 2032h: Clock Options
  - Object Description
  - Entry Description
- Object 2033h: Capture Input
  - Object Description
  - Entry Description
- Object 2204h: Run Current Percent
  - Object Description
  - Entry Description
- Object 2205h: Hold Current Percent
  - Object Description
  - Entry Description
- Object 2211h: Position Present Point Target
  - Object Description
  - Entry Description
- Object 2212h: Position Final Point Target
  - Object Description
  - Entry Description
- Object 5001h: Configuration
  - Entry Description
- Object 5002h: ASCII Serial Number
  - Entry Description
- Object 5003h: ASCII Part Number
  - Entry Description
- Object 5004h: Motor Parameters
  - Entry Description
Device Control
- Device Control
  - Control and Status words
- State Machine
  - Notes On State Transitions
- Object 6040h — Controlword
  - Object Description
  - Entry Description
  - Data Description
  - Device Control Command Bit Patterns (Bits 0-3 and 7)
  - Device Operation Mode Bit Patterns (Bits 4-6 and 8)
- Object 6041h — Statusword
  - Object Description
  - Entry Description
  - Data Description
Modes of Operation
- Object 6060h — Modes of Operation
  - Object Description
  - Entry Description
  - Data Description
- Object 6061h — Modes of Operation Display
  - Object Description
  - Entry Description
  - Data Description
- Object 6502h — Supported Drive Modes
  - Object Description
  - Entry Description
  - Data Description
Profile Position Mode
- General Information
- Input Data Description
- Output Data Description
- Functional Description
- Controlword (6040h) of Profile Position Mode
- Object 6081h — Profile Velocity
  - Object Description
  - Entry Description
- Statusword (6041h) of Profile Position Mode
- Object 607Ah — Target Position
  - Object Description
  - Entry Description
- Object 6082h — End Velocity
  - Object Description
  - Entry Description
- Object 6083h — Profile Acceleration
  - Object Description
  - Entry Description
- Object 6084h — Profile Deceleration
  - Object Description
  - Entry Description
- Object 6086h — Motion Profile Type
  - Object Description
  - Entry Description
Homing Mode
- General Information
  - Input Data Description
  - Output Data Description
  - Internal States
- Controlword (6040h) of Profile Position Mode
- Statusword (6041h) of Homing Mode
- Homing Offset (607Ch)
  - Object Description
  - Entry Description
- Homing Method (6098h)
  - Object Description
  - Entry Description
  - Data Description
  - Functional Description of Homing Methods
- Homing Speeds (6099h)
  - Object Description
  - Entry Description
Position Control Function
- General Information
- Object 6062h — Position Demand Value
  - Object Description
  - Entry Description
- Object 6063h — Position Actual Value Internal
  - Object Description
  - Entry Description
- Object 6064h — Position Actual Value
  - Entry Description
- Object 6065h — Following Error Window
  - Object Description
  - Entry Description
- Object 6066h — Following Error Timeout
  - Object Description
  - Entry Description
- Object 6068h — Position Window Time
  - Object Description
  - Entry Description
Profile Velocity Mode
- Controlword (6040h) of Profile Velocity Mode
- Statusword (6041h) of Profile Velocity Mode
- Object 606Ch — Velocity Actual Value
  - Object Description
  - Entry Description
- Object 60FFh — Target Velocity
  - Entry Description
- Object 60F8h — Maximum Slippage
  - Entry Description
Optional Application FE (General I/O)
- Object 60FDh — Digital Inputs
  - Entry Description
- Object 60FEh — Digital Outputs
  - Entry Description