Elmomc CANopen DSP 402 Implementation Guide Manuale Utente Pagina 1

Elmo Motion Control CANopen DSP 402 Implementation Guide December 2004

2: The DSP 402 Object Dictionary This section describes the objects related to the DSP 402 device specific functionality. For more information about

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 94 13: Profiled Velocity 6069h: Velocity sensor actual value 6060h: Velocity window 6

Controlword of the profiled velocity mode: Bit Function 0…3 Described in Device Control 4… Reserved 7 Described in Device Control 8 Halt 9…15 Desc

13.2 Objects Object 0x6069: Velocity sensor actual value This object describes the value read from a velocity encoder, in increments/second. If the

 Data description: Value Description 0000h Actual velocity value from position encoder 0001h Actual velocity value from velocity encoder 0002h…7FF

Object 0x606C: Velocity actual value This object is represented in velocity units and is coupled with the velocity used as input to the velocity contr

Object 0x606E: Velocity window time The corresponding bit 10 target reached is set in the statusword when the difference between the target velocity

Object 0x6070: Velocity threshold time The velocity threshold time is given in multiples of milliseconds. See the description in object 0x606F.  Ob

14: Profiled Torque Mode 6071h: Target torque 6072h: Max torque6073h: Max current6074h: Torque demand value6075h: Motor rated current6076h: Mot

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 102 The torque demand, torque actual value, current actual value may be available to

Statusword of the profiled velocity mode: Bit Function 0…9 Described in Device Control 10 Target reached 11…13 Reserve 14…15 Described in Device Con

Name Index Description Access Mappable? Position window time 0x6068 Defines the time in which the position within the position window indicates targ

Example: If a torque that is relative to current of 2 amps is needed, and object 0x6075 (Motor Rate Current) is 3200 mA, then [0x6071] = 2000 mA x 1

 Entry description: Access Read/write PDO mapping No Value range INTEGER16 Default value 0 Note: The value in 6073h (which is in mA) is entered

Object 0x6075: Motor Rate Current This value is taken from the motor nameplate and is entered in multiples of milliamp. Depending on the motor and dr

Object 0x6077: Torque Actual value The torque actual value corresponds to the instantaneous torque in the drive motor. The value is given in units of

Object 0x6087: Torque slope This parameter describes the rate of change of torque in units of per thousand of rated torque per second.  Object descr

Appendix A: Dimension Index Table Physical Dimension Unit Dimension Index None - 0x00 Way/length m 0x01 Area m 20xA0 Volume m 30xA1 s 0xA2 min 0x47

Appendix B: Notation Index Table Prefix Factor Symbol Notation Index unused - - 0x13…0x7F exa 1018 E 0x12 - 1017 - 0x11 - 1016 - 0x10 peta 1015 P 0x

Name Index Description Access Mappable? Homing offset 0x607C Defines offset from homing zero position to application zero position. R/W N Software

Name Index Description Access Mappable? Position encoder resolution 0x608F Defines relation between motor revolution and position increments. R/W N

Name Index Description Access Mappable? Motor type 0x6402 R/W N Motor catalog number 0x6403 32 characters. R/W N Motor manufacturer 0x6404 32 ch

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 9 3: Emergencies Emergency messages are detailed in the SimplIQ CANopen Implementatio

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 10 Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever

Transmit PDO 2 is mapped to the binary interpreter result object, transmitted each time the binary interpreter completes its processing. The event beh

5: Common Entries 5.1 Drive Error The drive functionality in case of an error is determined using the following objects: 6007h: defined according to

Object 0x603F: Error code This object captures the code of the last error that occurred in the drive. It corresponds to the value of the lower 16 bits

Important Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belongin

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 14 This object contains information for the user only and does not convey the value

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 15 Object 0x6404: Motor manufacturer This object gives the motor manufacturer’s name.

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 16 Object 0x6407: Motor service periods Value, in hours, of the nominal motor lifetim

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 17 Object 0x6502: Supported drive modes  Object description: Index 6502h Name Supp

Object 0x6505: http drive catalog address This object gives the Internet address of the drive manufacturer.  Object description: Index 6505h Name h

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 19  Data description: 31 22 21 16 15 4 3 2 1 0

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 20 6: Device Control 6.1 Objects 6040h: controlword 6041h: statusword The Device Co

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 21 States may be changed using the controlword and/or according to internal events. T

Drive States The following states of the device are possible:  * NOT READY TO SWITCH ON: Low-level power (24V) has been applied to the drive. The dr

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 23  * QUICK STOP ACTIVE: The drive parameters may be changed. The quick stop functi

Contents 1: Introduction ...

 State Transition 4: SWITCHED ON => OPERATION ENABLE Event: Enable Operation command received from host. Action: The drive function is enabled. 

After leaving FAULT state, the Fault Reset bit of the controlword must be cleared by the host. The drive does not monitor this bit in other states.

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 26 Illegal Transition After initiation of a drive by either power on or NMT node rese

 Data description: 15 11 10 9 8 7 6 4 3 2 1 0 Manufacturer specific Reserved Halt Fault reset Operation mode specific Enable operation Qu

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 28 Bits 4, 5, 6 and 8: These bits are operation-mode specific. Their description is f

 Entry description: Access Read only PDO mapping Yes Value range UNSIGNED16 Default value No  Data description: Bit Description 0 Ready to swi

Bit 4: Voltage Enabled: High voltage is applied to the drive when this bit is set to 1. Bit 5: Quick Stop: When reset, this bit indicates that the dr

Not all modes mentioned in the table are implemented in Elmo servo drives. Bits 14 and 15: These bits are reserved. They are not used and are set to

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 32  Data description: Value Description -32,768…-1 Manufacturer specific 0 Disable

 Data description: Value Description -32,768…-1 Manufacturer specific 0 Disable drive function 1 Slow down on slow-down ramp; disable drive functi

8: Factors ...38 8.1

Object 0x605D: Halt option code This parameter determines which action should be taken if bit 8 (halt) in the controlword is active.  Object descri

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 35 Object 0x605E: Fault reaction option code  Object description: Index 605Eh Name

7: Modes of Operation 6060h: Modes of operation 6061h: Modes of operation display 7.1 Functional Description The drive behavior depends on the activat

 Data description: Value Description -128…-2 Reserved -1 No mode 0 Reserved 1 Profile position mode 2 Velocity (not supported) 3 Profiled velocit

8: Factors 607Eh: Polarity 6089h: Position notation index 608Ah: Position dimension index 608Bh: Velocity notation index 608Ch: Velocity dimension

8.3 Objects Object 0x607E: Polarity Position demand value and position actual value are multiplied by 1 or -1, depending on the value of the polarity

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 40 Object 0x6089: Position notation index This index is used to scale position object

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 41  Entry description: Access Read/write PDO mapping No Value range UNSIGNED8 Def

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 42 Object 0x608C: Velocity dimension index This object defines the velocity dimension

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 43  Entry description: Access Read/write PDO mapping No Value range INTEGER8 Defa

11: Profiled Position...70 11.1 Genera

Object 0x608F: Position encoder resolution This object defines the ratio of encoder increments per motor revolution: resolutionencoderposition __ =

Object 0x6090: Velocity encoder resolution This object defines the ratio of encoder increments/second per motor revolutions/ second. resolutionencode

Object 0x6093: Position factor This object converts the desired position (in position units) into the internal format (in increments). The object ent

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 47 Notes:  The position factor is calculated according to this object regardless o

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 48 Sub-index 2 Description Divisor Entry category Optional Access Read/write PDO ma

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 49 Sub-index 1 Description Numerator Entry category Optional Access Read/write PDO m

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 50  Entry description: Sub-index 0 Description Number of entries Entry category M

Object 0x6097: Acceleration factor This object converts the acceleration (in acceleration units/second2) into the internal format (in increments/seco

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 52 Notes:  The acceleration factor is calculated according to this object regardle

9: Homing 607Ch: Home offset 6098h: Homing method 6099h: Homing speeds 609Ah: Homing acceleration 9.1 General Information This chapter describes

14: Profiled Torque Mode ...101 14.1 General Infor

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 54 Name Value Description 0 Homing mode inactive. 0→1 Start homing mode. 1 Homing

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 55 9.2 Objects Object 0x607C: Home offset This object is the difference between the

Object 0x6098: Homing method This object determines the method used during homing.  Object description: Index 6098h Name Homing method Object code

Object 0x6099: Homing speeds This entry in the object dictionary defines the speeds used during homing, in velocity units. The value is normalized to

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 58 The speed is submitted to the maximum speed limit given by the user during setup

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 59 Various homing positions are illustrated in the diagrams that follow (section 9.4

9.4 DSP 402 Homing Methods The following sub-sections describe the details of how each homing mode functions. The Elmo drives support each of these m

9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse Using methods 3 or 4, the initial direction of movement is dependent on the

9.4.5 Methods 7 to 14: Homing on the home switch anindex pulse These methods use a home switch that is active over only a portion of the travel; in e

9.4.6 Methods 15 and 16: Reserved These methods are reserved for future expansion of the homing mode. 9.4.7 Methods 17 to 30: Homing without an inde

1: Introduction This document describes the objects and operational modes of the Elmo DSP-based motion controller implementation of the CiA DSP 402 pr

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 64 10: Position Control Function 6062h: Position demand value in position units 6063h

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 65 10.2 Objects Object 0x6062: Position demand value The value of this object is ta

Object 0x6064: Position actual value This object represents the actual value of the position measurement device, in user-defined units. When dual loop

 Entry description: Access Read/write PDO mapping No Value range UNSIGNED32 Default value 0 Object 0x6066: Following error time out When a foll

Object 0x6067: Position window This object defines a symmetrical range of accepted positions relative to the target position. If the actual value of

 Entry description: Access Read/write PDO mapping No Value range UNSIGNED16 (note in object 6067h) Default value 20 Object 0x60FC: Position deman

11: Profiled Position 607Ah: Target position 607Bh: Position range limit 607Dh: Software position limit 607Fh: Maximum profile velocity 6081h: Profile

Name Value Description 0 Does not assume target position. New set-point 1 Assumes target position. 0 Finish actual positioning and then start next

11.2 Objects Object 0x607A: Target position The target position is the position to which the drive should move in position profile mode, using the c

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 73  Entry description: Sub-index 0 Description Number of entries Entry category M

The purpose of the drive units is to connect axle controllers or other motion control products to the CAN bus. They usually receive configuration info

Object 0x607D: Software position limit This object contains the sub-parameters min position limit and max position limit, which define the absolute p

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 75 Sub-index 2 Description Max position limit Entry category Mandatory Access Read/

Object 0x6081: Profile velocity This object is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid

Object 0x6083: Profile acceleration The profile acceleration is given in user-defined acceleration units. It is converted to position increments per

The value of the profile deceleration is reflected in the DC command, to which the range and restrictions are ultimately submitted (refer to the Sim

 Data description: Value Description -32,768…-1 Manufacturer specific 0 Linear ramp (trapezoidal profile) 1 Not supported 2 Not supported 3 Not sup

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 80 5. Unless it was interrupted by a change set immediately, the next trajectory is

12: Interpolated Position 60C0h: Interpolation sub mode select 60C1h: Interpolation data record 60C2h: Interpolation time period 60C3h: Interpolati

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 82  Interpolation inactive The state entered when the device is in OPERATION ENABL

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 83 Controlword of Interpolated Position mode: Name Value Description 0 Interpolated

1.3 Elmo Documentation This manual – included in the Elmo CANopen Implementation Guide – is part of the Elmo SimplIQ digital servo drive documentatio

12.2 Objects Object 0x60C0: Interpolation sub mode select This object reflects or changes the actual chosen interpolation mode, selected by the user.

Object 0x60C1: Interpolation data record This object is the data words, which are necessary for performing the interpolation algorithm. The interpreta

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 86 Object 0x60C2: Interpolation time period This object is used to define the relativ

Object 0x60C3: Interpolation sync definition Devices in the interpolation position mode often interact with other devices. Therefore it is necessary t

Object 0x60C4: Interpolation data configuration The interpolation data configuration enables the user to get information about the buffer size and set

Sub-index 1 Description Maximum buffer size Entry category Mandatory Access Read only PDO mapping No Value range UNSIGNED32 Default value 1 Sub

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 90 Sub-index 6 Description Buffer clear Entry category Mandatory Access Write only P

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 91 12.3 Functional Description In Interpolated Position mode, the drive executes a

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 92 12.3.1 Linear Interpolation Linear interpolation requires only the position specif

12.3.3 Motion Synchronization The IP mode enables the synchronized motion of multiple axes. The motions of several slave axes are synchronized if they