Intelligent-motion-systems MDrive DSP-402 Uživatelský manuál

Excellence in MotionDSP-402 APPLICATION GUIDETMTMCANopenTMFORCEDRIVECANopen

2 MDrivePlus CANopen R020507Page Intentionally Left Blank

3Part 2: DSP-402 ImplementationSection 1Introduction to the MDrivePlus CANopen DSP-402 ImplementationIntroductionThis document describes the Operatio

4 MDrivePlus CANopen R020507Device ControlThe starting and stopping of the drive and several mode specific commands are executed by the state machine.

5Part 2: DSP-402 ImplementationTrajectory GeneratorThe chosen operation mode and the corresponding parameters (objects) define the input of the Trajec

6 MDrivePlus CANopen R020507Object FormattingThis manual will display the Object and Entry data using the model detailed below.Object DescriptionIndex

7Part 2: DSP-402 ImplementationPDO MappingDescribes whether (Yes) or not (No) the Index may be mapped to a PDO (Process Data Object). If yes it may be

8 MDrivePlus CANopen R020507Page Intentionally Left Blank

9Part 2: DSP-402 ImplementationSection 2Accessing The MDrivePlus CANopenIntroductionThe access from the CAN network to the drive is done through data

10 MDrivePlus CANopen R020507PDO MappingThe MDrivePlus CANopen allows you to map objects to PDOs to reduce the transfer application data more efficien

11Part 2: DSP-402 ImplementationPDO ObjectsConsumer PDO1 (RPDO1) 1400h (Object Description) Index Name Object Code Data Type Category1400hReceive PDO

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.Intelli

12 MDrivePlus CANopen R020507Consumer PDO2 (RPDO2) 1401h (Object Description) Index Name Object Code Data Type Category1401hReceive PDO2 Parameter Rec

13Part 2: DSP-402 ImplementationConsumer PDO3 (RPDO3) 1402h (Object Description) Index Name Object Code Data Type Category1402hReceive PDO3 Parameter

14 MDrivePlus CANopen R020507Producer PDO1 (TPDO1) 1800h (Entry Description) Sub-Index Description Category Access Value Range Default00h Highest Supp

15Part 2: DSP-402 Implementation1A01h (Object Description – Mapping Parameters)Index Name Object Code Data Type Category1A01hTransmit PDO2 Mapping Rec

16 MDrivePlus CANopen R0205071A02h (Entry Description – Mapping Parameters)Sub-Index Description Category Access Value Range Default00h Highest Suppor

17Part 2: DSP-402 ImplementationSection 3Manufacturer Specific ObjectsIntroductionThe objects detailed in this section are IMS manufacturer specific co

18 MDrivePlus CANopen R020507Object 2002h: I/O Discretes (Config)Object DescriptionIndex2002hNameConfig Input SwitchesObject CodeVARData TypeUnsigned

19Part 2: DSP-402 ImplementationObject DescriptionIndex2004hNameInput Filter MaskObject CodeVARData TypeUnsigned 8Entry DescriptionSub-Index Descripti

20 MDrivePlus CANopen R020507Object 2010h: Analog InputObject DescriptionIndex2010hNameAnalog InputObject CodeVARData TypeSee Entry Desc.Entry Descrip

21Part 2: DSP-402 ImplementationObject 2031h: Unit Options (Encoder Enable, Capture In/Trip Out)Object DescriptionIndex2031hNameUnit OptionsObject Cod

iContentsSection 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation ...3Introduction ...

22 MDrivePlus CANopen R020507Entry DescriptionSub-Index Description Category Access PDO MappingValue Range Default Data Type01hEnable Capture Position

23Part 2: DSP-402 ImplementationHold Current % By Device2205hMDrivePlus (All) MForce MicroDrive(Amps RMS)MForce PowerDrive (Amps RMS)10 MDrive Range 0

24 MDrivePlus CANopen R020507Entry DescriptionAccessR/KPDO MappingNoRangeN/ADefaultFactoryObject 5002h: ASCII Serial NumberThe following object is set

25Part 2: DSP-402 ImplementationSection 4Device ControlDevice ControlThe device control function block controls all the func-tions of the MDrivePlus C

26 MDrivePlus CANopen R020507State Machine TransitionsTransition NumberFrom State To State Event/Action0StartNot Ready To Switch OnEvent: Reset.Action

27Part 2: DSP-402 ImplementationPower DisabledPower EnabledFaultStartNot Ready to Switch OnFault Reaction ActiveFaultSwitch On DisabledReady To Switch

28 MDrivePlus CANopen R020507Object 6040h — ControlwordThs controlword is a mandatory, unsigned 16 bit number containing bits for controlling the stat

29Part 2: DSP-402 ImplementationObject 6041h — StatuswordThe Statusword is a read-only object that indicates the current state of the drive, no bits a

30 MDrivePlus CANopen R020507Bit 4: Voltage EnabledThe Disable Voltage request is active when the voltage_disabled bit is cleared to 0.Bit 5: Quick St

31Part 2: DSP-402 ImplementationSection 5Modes of OperationObject 6060h — Modes of OperationThe performance of the MDrivePlus CANopen depends on the a

iiObject 2006h: Input Filter Time (ms) ...19Object Description .

32 MDrivePlus CANopen R020507Mode of Operation (6060h)Manuf. Specific ModesReservedReservedInterpolated Position ModeReservedProfile Position ModeProf

33Part 2: DSP-402 ImplementationLSBMSB31 16 15 10 9 8 7 6 5 4 3 2 1 0Profile PositionVelocityProfile Vel

34 MDrivePlus CANopen R020507Page Intentionally Left Blank

35Part 2: DSP-402 ImplementationSection 6Profile Position ModeGeneral InformationA target_position is applied to the Trajectory Generator. It is genera

36 MDrivePlus CANopen R020507Functional DescriptionThere are two different ways to apply target_positions to a drive, are supported by this device pro

37Part 2: DSP-402 ImplementationV2V1T0T1T2T3VelocityTimetarget_position X1target_position X2Figure 6.3: Single Set-Point Mode (Move After a Move) 6040

38 MDrivePlus CANopen R020507Statusword (6041h) of Profile Position Mode9 14 13 12 11 10 9 0See 1.4 Following Error Set-Point Acknowledge See 1.4 Targ

39Part 2: DSP-402 ImplementationObject 6082h — End VelocityThe end velocity defines the velocity which the drive must have on reaching the target posi

40 MDrivePlus CANopen R020507Object 6086h — Motion Profile TypeThe Motion Profile Type is used to select the type of motion profile used to perform a

41Part 2: DSP-402 ImplementationSection 7Homing ModeGeneral InformationThis chapter describes the method by which a drive seeks the home position (als

iiiEntry Description ...32Data Descrip

42 MDrivePlus CANopen R020507Statusword (6041h) of Homing Mode9 14 13 12 11 10 9 0See 1.4 Homing Error Homing Attained See 1.4 Target Reached See 1.4M

43Part 2: DSP-402 ImplementationAxis Direction1Index PulseNegative Limit SwitchFigure 7.3: Homing on the Negative Limit and Index PulseHoming Method (

44 MDrivePlus CANopen R020507Method 2: Homing on the Positive Limit Switch and Index PulseUsing this method the initial direction of movement is right

45Part 2: DSP-402 Implementation66Index PulseHome Switch55Figure 7.6: Homing on the Negative Home Switch and Index PulseMethods 7 to 14: Homing on the

46 MDrivePlus CANopen R020507Home SwitchNegative Limit SwitchIndex Pulse141413121111111212131314Figure 7.8: Homing on the Home Switch and Index Pulse

47Part 2: DSP-402 ImplementationMethods 33 and 34: Homing on an Index PulseUsing methods 33 or 34 the direction of homing is negative or positive resp

48 MDrivePlus CANopen R020507Page Intentionally Left Blank

49Part 2: DSP-402 ImplementationSection 8Position Control FunctionGeneral InformationIn this chapter, all parameters are described which are necessary

50 MDrivePlus CANopen R020507Object 6065h — Following Error WindowThis object shall indicate the conFigure d range of tolerated position values symmet

51Part 2: DSP-402 ImplementationSection 9Profile Velocity ModeControlword (6040h) of Profile Velocity Mode15 9 8 7 6 3 0See 1.3 Ha

ivEntry Description ...50Object 6066h

52 MDrivePlus CANopen R020507Object 60FFh — Target VelocityThe Target Velocity is the input to the trajectory generator and the value is given in micr

53Part 2: DSP-402 ImplementationSection 10Optional Application FE (General I/O)Object 60FDh — Digital InputsThis object provides for digital inputs.Ob

54 MDrivePlus CANopen R020507Object 60FEh — Digital OutputsThis object provides for digital outputs.Object DescriptionIndex60FEhNameDigital OutputsObj

WARRANTYTWENTY-FOUR (24) MONTH LIMITED WARRANTYIntelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “

© 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV020507IMS Product Disclaimer and most recent product information at www.i

vList of FiguresFigure 1.1: Message Format ...

viThis Page Intentionally Left Blank

Excellence in MotionDSP-402 Application guideTMSection 1: Introduction to the MDrivePlus CANopen DSP-402 ImplementationSection 2: Manufactu