ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 146)

Chapter 10: Axis DS402 Command
Reference
CiA DSP 402 is the device profile for drives and motion control. The profile defines
the functional behavior of controllers for servo drives, frequency inverters and stepper
motors.
The specification includes a state machine description of the drive. A single state
represents a special internal or external behavior. The state of the drive also
determines which commands are accepted. For example, it is only possible to start a
point-to-point move if the drive is in the “Operation Enabled” state. States may be
changed using the control-word and/or according to internal events. The current state
can be read using the status-word.
10.1 Modes of Operation
The operation mode defines the behavior of the drive. The following modes are
defined in this profile:
• Profile position mode defines the positioning of the drive.
Speed, position and acceleration can be limited and profiled.
Moves using a Trajectory Generator are also possible.
• Interpolated position mode describes the time interpolation
of single axis and the spatial interpolation of coordinated
axles. This section covers synchronization mechanisms and
interpolation data buffers.
• Profiled velocity mode is used to control the velocity of the
drive and disregards the position. It supplies limited
functions and trajectory generation.
• Profiled torque mode allows transmission of the target
torque value, which is processed via the trajectory generator.
The torque control parameters, power stage parameters and
motor parameters are defined as motion object commands.
• Homing mode. This chapter describes the various methods to
find a home position (also: reference point, datum, zero
point).
The operation mode command can be used for defining the mode for the Axis, Vector
and Group motion object OperationMode. Possible command values include:
Maestro Software Manual
MAN-MASSW (Ver. Q)
10-1