Intelligent Motion Systems MDrive DSP-402 User Manual

Page 4

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

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

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

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

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

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

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

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

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

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

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