Intelligent Motion Systems MDrive DSP-402, Application Manual

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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