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Part 2: DSP-402 Implementation

Power Disabled

Power Enabled

Fault

Start

Not Ready to Switch On

Fault Reaction Active

Fault

Switch On Disabled

Ready To Switch On

Switched On

Operation Enable

Quick Stop Active

10 12

Controlword 6040

Internal

Event

Statusword

6041

SUPPORT FOR FAULT

STATES UNDER

DEVELOPMENT

Figure 4.2: State Machine States/Transitions Block Diagram

Notes On State Transitions



Commands directing a change in state are processed completely and the new state achieved before additional state
change commands are processed.



Transitions 0 and 1 occur automatically at drive power-on or reset. All other state changes must be directed by the
host.



Drive function disabled indicates that no current is being supplied to the motor.



Drive function enabled indicates that current is available for the motor and profile position and profile velocity
reference values may be processed.

Содержание MDrive DSP-402

Страница 1: ...Excellence in Motion DSP 402 APPLICATION GUIDE TM TM CANopen TM FORCE DRIVE CANopen...

Страница 2: ...ems 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 In...

Страница 3: ...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...

Страница 4: ...resent 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...

Страница 5: ...iption 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 Desc...

Страница 6: ...lword 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 En...

Страница 7: ...ative 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 Inde...

Страница 8: ...vi This Page Intentionally Left Blank...

Страница 9: ...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...

Страница 10: ...MDrivePlus CANopen R020507 Page Intentionally Left Blank...

Страница 11: ...Figure 1 1 The Figure is for reference only please refer to the CAN 2 0B Specification MDrivePlus Architecture CAN Node Application Layer and Communications Profile DS 301 Drive Profile DSP 402 Devic...

Страница 12: ...ing 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 Profile Velocity Mode The Profile Velocity...

Страница 13: ...DrivePlus node on a CANopen network Entries within the Object Dictionary are addressed using 16 bit Indexes In the case of simple variables VAR the index refer ences the value of the variable directly...

Страница 14: ...he 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 byt...

Страница 15: ...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 d...

Страница 16: ...MDrivePlus CANopen R020507 Page Intentionally Left Blank...

Страница 17: ...ads from entries or writes to entries of the Object Dictionary The SDO transport protocol al lows transmitting objects of any size The first byte of the first segment contains the necessary flow contr...

Страница 18: ...o 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...

Страница 19: ...l 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 In...

Страница 20: ...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 Param...

Страница 21: ...1601h Receive PDO3 Mapping Record PDO Mapping Conditional if 1402h is implemented 1602h Entry Description Mapping Parameters Sub Index Description Category Access Value Range Default 00h Highest Supp...

Страница 22: ...R W 6041 0010h 02h 2nd Application Object Optional R W Mfg Specific 03h 3rd Application Object Optional R W Mfg Specific 04h 4th Application Object Optional R W Mfg Specific 05h 5th Application Object...

Страница 23: ...th 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 Producer PDO3 TPDO3 1802h Object Description I...

Страница 24: ...Object Mandatory R W 6041 0010h 02h 2nd Application Object Optional R W 6064 0010h 03h 3rd Application Object Optional R W Mfg Specific 04h 4th Application Object Optional R W Mfg Specific 05h 5th App...

Страница 25: ...8 Entry Description Sub Index Description Category Access PDO Mapping Value Range Default 01h ConFigure I O as Output Mandatory R W No 0x00 0xFF 0x00 1 Output 0 Input 02h ConFigure I O as Sourcing Ma...

Страница 26: ...0x00 0xFF 0x00 1 Selects I O as the Positive Limit 03h ConFigure I O as Negative Limit Mandatory R W No 0x00 0xFF 0x00 1 Selects I O as the Negative Limit Object 2004h Input Filter Mask Config The In...

Страница 27: ...Optional R W No 00h FFh 20h 07h Input Filter Mask Optional R W No 00h FFh 40h Object 2006h Input Filter Time ms Object Description Index 2006h Name Input Filter Time Object Code VAR Data Type Unsigne...

Страница 28: ...ftware Limits as Hardware Limits Object Description Index 2020h Name Software Limits as Hardware Object Code VAR Data Type Unsigned 8 Entry Description Sub Index Description Category Access PDO Mappin...

Страница 29: ...served Reserved 1 Reserved Reserved Reserved Reserved Encoder Enabled Trip Out Reserved Reserved Default 0 0 0 0 0 0 0 0 Example 0 0 0 0 1 1 0 0 Object 2032h Clock Options Object Description Index 203...

Страница 30: ...s R W S PDO Mapping No Range 1 100 Default 25 Run Current By Device 2204h MDrivePlus All MForce MicroDrive Amps RMS MForce PowerDrive Amps RMS 10 MDrive Range 0 To 100 Actual Current Not required as M...

Страница 31: ...rrent Object 2211h Position Present Point Target Object Description Index 2211h Name Position Present Point Target Object Code VAR Data Type Integer 32 Entry Description Access R PDO Mapping No Range...

Страница 32: ...following object is set at the factory and is not user configurable It can be read by the user in the event that the con tained data is needed for technical or application support Object Description I...

Страница 33: ...ady To Switch On High Voltage may be applied to the drive The drive parameters may be changed The drive function is disabled Switched On High Voltage has been applied to the drive The Power Amplifier...

Страница 34: ...d Event Disable Voltage command received from host Action The power section is switched off immediately and the motor is free to rotate if unbraked 10 Switched On Switch On Disabled Event Disable Volt...

Страница 35: ...Machine States Transitions Block Diagram Notes On State Transitions Commands directing a change in state are processed completely and the new state achieved before additional state change commands are...

Страница 36: ...Enable Operation Bit 3 Quick Stop Bit 2 Enable Voltage Bit 1 Switch On Bit 0 Shutdown 0 X 1 1 0 2 6 8 Switch On 0 0 1 1 1 3 Switch On 0 1 1 1 1 3 Disable Voltage 0 X X 0 X 7 9 10 12 Quick Stop 0 X 0...

Страница 37: ...n 0 1 X 0 0 0 1 Switched On 0 1 X 0 0 1 1 Operation Enabled 0 1 X 0 1 1 1 Quick Stop Active 0 0 X 0 1 1 1 Fault Reaction Active 0 X X 1 1 1 1 Fault 0 X X 0 0 0 0 X Irrelevant Bit State Bit 4 shown for...

Страница 38: ...age If the bit remote is reset then the drive is in local mode and will not execute the command message The drive may transmit messages containing valid actual values like a position_actual_value depe...

Страница 39: ...tion mode The IMS MDrivePlus CANopen supports the following Modes of Operation Profile Position Profile Velocity Homing Mode Object Description Index 6060h Name Mode of Operation Object Code VAR Data...

Страница 40: ...ration Display shows the current mode of operation The meaning of the returned value corresponds to that of the Modes of Operation option code index 6060h Object Description Index 6061h Name Mode of O...

Страница 41: ...0 Profile Position Velocity Profile Velocity Profile Torque Reserved Homing Interpolated Position Cyclic Sync Position Cyclic Sync Velocity Cyclic Sync Torque Reserved MFG Specific 1 1 1 0 0 0 0 0 0 0...

Страница 42: ...34 MDrivePlus CANopen R020507 Page Intentionally Left Blank...

Страница 43: ...ly For the IMS MDrivePlus CANopen the following values apply target_position microsteps profile_velocity microsteps sec end_velocity microsteps sec profile_acceleration microsteps sec2 profile_deceler...

Страница 44: ...apezoidal moves are used as this is the only motion_profile_type the MDrivePlus CANopen supports If the bit change_set_immediately is 0 shaded area in Figure 3 2 a single set point is expected by the...

Страница 45: ...xt target_position X2 V2 V1 T0 T1 T2 Velocity Time Second target_position given immediate response target_position reached Figure 6 4 Set of Setpoints Move on a Move 6040h Bit 5 1 Controlword 6040h of...

Страница 46: ...ion profile mode using the MDrivePlus CANopen parameters such as velocity acceleration deceleration motion profile type etc The target position is given in terms of 51 200 units per motor shaft revolu...

Страница 47: ...ntry Description Access rw PDO Mapping Possible Range Integer 32 Default n a Object 6083h Profile Acceleration Profile Acceleration is given in steps sec2 Object Description Index 6083h Name Profile A...

Страница 48: ...elect the type of motion profile used to perform a move The MDrivePlus CANopen is fixed at Value 0 Linear Ramp Trapezoidal Profile Object Description Index 6086h Name Motion Profile Type Object Code V...

Страница 49: ...tion in the use of these speeds as the response to the signals may be Dependent upon the hardware used Output Data Description There is no output data except for those bits in the statusword which re...

Страница 50: ...en the zero position for the application and the machine home position found during homing During homing the machine home position is found and once the homing is completed the zero position is offset...

Страница 51: ...pping Possible Range Integer 8 Default 0 Data Description Value Description 128 1 Manufacturer Specific 0 No Homing Operation Required 1 35 Homing Methods 1 through 35 See Functional Description 36 12...

Страница 52: ...is sited so that the direction of movement must reverse during homing the point at which the reversal takes place is anywhere after a change of state of the home switch Methods 5 and 6 Homing on the...

Страница 53: ...methods 11 to 14 the initial direction of movement is to the left except if the home switch is active at the start of the motion In this case the initial direction of motion is Dependent on the edge b...

Страница 54: ...Methods 17 to 30 Homing without an Index Pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only Dependent on the relevant home o...

Страница 55: ...e current position is taken to be the home position Homing Speeds 6099h Object Description Index 6099h Name Homing Speeds Object Code VAR Data Type Unsigned 32 Entry Description Sub Index Description...

Страница 56: ...48 MDrivePlus CANopen R020507 Page Intentionally Left Blank...

Страница 57: ...ition Demand Value Object Code VAR Data Type Integer 32 Entry Description Access r PDO Mapping n a Range Integer 32 Default n a Object 6063h Position Actual Value Internal This object shall provide th...

Страница 58: ...DO Mapping n a Range Unsigned 32 Default n a Object 6066h Following Error Timeout This object shall indicate the conFigure d time for a following error condition after that the bit 13 of the statuswor...

Страница 59: ...alt 0 Target position not reached Halt 1 Axis decelerating 1 Halt 0 Target position reached Halt 1 Axis velocity is 0 12 Speed 0 Speed is not equal to 0 1 Speed is equal 0 13 Max Slippage Error 0 Maxi...

Страница 60: ...60F8h Maximum Slippage This object shall indicate the conFigure d maximal slippage of an asynchronous motor When the max slippage has been reached the corresponding bit 13 max slippage error in the st...

Страница 61: ...iption Index 60FDh Name Digital Inputs Object Code VAR Data Type Unsigned 32 Entry Description Access ro PDO Mapping n a Range Unsigned 32 Default n a LSB MSB 31 16 23 15 4 3 2 1 0 Negative Limit Swit...

Страница 62: ...tion Sub Index Description Category Access PDO Mapping Value Range Default 00h Highest Supported Sub Index Mandatory C No 02h Mfg Specific 01h Physical Outputs Mandatory R W Possible Unsigned 32 0000...

Страница 63: ...HE PRODUCT This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty This Limited Warranty is the sole warranty offered by IMS with r...

Страница 64: ...France Phone 33 4 7256 5113 Fax 33 4 7838 1537 E mail bmartinez imshome com Germany Sales Phone 49 35205 4587 8 Fax 49 35205 4587 9 E mail hruhland imshome com Germany UK Technical Support Phone 49 7...

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