Intelligent Motion Systems DSP-402 manuale d’uso

Excellence in Motion DSP-402 APPLICATION GUIDE TM TM C A N open TM FORCE DRIVE C A N open[...]

The information in this book has been carefully checked and is believed to be accurate; ho wever , no responsibility is assumed for inaccuracies. Intelligent M otion Systems, I nc., reserves the right to make changes without further notice to any products herein to impro ve reliability , function or design. Intelligent M otion Systems, I nc., does [...]

i Contents Section 1: Intr oduction to the MDrivePlus CAN open DSP-402 Implementation .................................. 3 Introduction ..................................................................................................................................3 CAN Message F ormat ..............................................................[...]

ii Object 2006h: Input F ilter T ime (ms) .........................................................................................19 Object Description .................................................................................................................19 Entry Description ...............................................................[...]

iii Entry Description ...................................................................................................................32 Data Description ....................................................................................................................32 Object 6502h — S upported Drive M odes .................................[...]

iv Entry Description ...................................................................................................................50 Object 6066h — F ollowing E rror Timeout .................................................................................50 Object Description .................................................................[...]

v List of Figures F igure 1.1: M essage F ormat ...........................................................................................................3 F igure 1.2: MD rivePlus Architectur e .............................................................................................3 F igure 1.3: F unctional Architectur e ....................[...]

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Excellence in Motion DSP-402 Application guide TM Section 1: Introduction to the MDrivePlus CANopen DSP-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 Mode Section 8: Position Control Funct[...]

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3 P art 2: DSP-402 Implementation Section 1 Introduction to the MDrivePlus CANopen DSP-402 Implementation Introduction This document describes the Operational M odes and Objects utilized by the MD rivePlus CAN open. The MD rivePlus uses the CiA DSP402 protocol as described the the CiA document CAN open Device P rofile for Drives and M otion Control[...]

4 MDrivePlus CAN open R020507 Device Control The starting and stopping of the drive and several mode specific commands are executed b y the state machine. Modes of Operation The operation mode defines the behavior of the drive. The following modes are defined in this profile: Homing Mode This chapter describes the various methods to find a home pos[...]

5 P art 2: DSP-402 Implementation T rajectory Generator The chosen operation mode and the corresponding parameters (objects) define the input of the T rajector y Generator . The T rajectory Generator supplies the control loop(s) with the demand values. They are generally mode specific. Each Mode may use its o wn T rajector y Generator . A general d[...]

6 MDrivePlus CAN open R020507 Object Formatting This manual will display the Object and Entry data using the model detailed below . Object Description Index XXXX h Name Index Name Object Code V AR Data T ype I/U Index The Index is the hexadecimal number that repr esents the index number of the object in the CAN open Object Dictionary . With the exc[...]

7 P art 2: DSP-402 Implementation PDO Mapping Describes whether (Y es) or not (No) the Index may be mapped to a PDO (P rocess Data Object). If yes it may be mapped to a PDO, if N o the Object must be accessed using SDO (Service Data Objects). Category M ....................................................................................... Mandator[...]

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9 P art 2: DSP-402 Implementation Section 2 Accessing The MDrivePlus CANopen Introduction The access from the CAN network to the drive is done through data objects. Process Data Object (PDO) PDOs are messages in an unconfirmed service. They are used for the transfer of r eal-time data to and from the drive. The transfer is fast, because it is perfo[...]

10 MDrivePlus CAN open R020507 PDO Mapping The MDrivePlus CAN open allows you to map objects to PDOs to reduce the transfer application data more efficiently . By using the PDO the user can map a PDO to multiple objects (8 Data Bytes max.) The example will show RPDO 1400 h mapped to Control W ord (6040 h ) and T arget P osition (607A h ). RPDO Inde[...]

11 P art 2: DSP-402 Implementation PDO Objects Consumer PDO1 (RPDO1) 1400h (Object Description) Index Name Object Code Data T ype Category 1400 h Receive PDO1 Parameter Record PDO Communications Parameters Mandatory Consumer PDO1 (RPDO1) 1400h (Entry Description) Sub-Index Description Category Access V alue Range Default 00h Highest Supported Sub-I[...]

12 MDrivePlus CAN open R020507 Consumer PDO2 (RPDO2) 1401h (Object Description) Index Name Object Code Data T ype Category 1401 h Receive PDO2 Parameter Record PDO Communications Parameters Optional Consumer PDO2 (RPDO2) 1401h (Entry Description) Sub-Index Description Category Access V alue Range Default 00h Highest Supported Sub-Index Mandatory R/[...]

13 P art 2: DSP-402 Implementation Consumer PDO3 (RPDO3) 1402h (Object Description) Index Name Object Code Data T ype Category 1402 h Receive PDO3 Parameter Record PDO Communications Parameters Optional Consumer PDO3 (RPDO3) 1402h (Entry Description) Sub-Index Description Category Access V alue Range Default 00h Highest Supported Sub-Index Mandator[...]

14 MDrivePlus CAN open R020507 Producer PDO1 (TPDO1) 1800h (Entry Description) Sub-Index Description Category Access V alue Range Default 00h Highest Supported Sub-Index Mandatory R 02 h 01h COB-ID used by PDO Mandatory R/W 4000 0180 h + NODE ID 02h T ransmission T ype Mandatory R/W 255 d 03h Inhibit T ime Optional R/W 04h Reserved 05h Event T imer[...]

15 P art 2: DSP-402 Implementation 1A01h (Object Description – Mapping Parameters) Index Name Object Code Data T ype Category 1A01 h T ransmit PDO2 Mapping Record PDO Mapping Conditional if 1801 h is implemented 1A01h (Entry Description – Mapping Parameters) Sub-Index Description Category Access V alue Range Default 00h Highest Supported Sub-In[...]

16 MDrivePlus CAN open R020507 1A02h (Entry Description – Mapping Parameters) Sub-Index Description Category Access V alue Range Default 00h Highest Supported Sub-Index Mandatory R/W 02 h 01h 1st Application Object Mandatory R/W 6041 0010 h 02h 2nd Application Object Optional R/W 6064 0010 h 03h 3rd Application Object Optional R/W Mfg. Specific 0[...]

17 P art 2: DSP-402 Implementation Section 3 Manufacturer Specific Objects Introduction The objects detailed in this section are IMS manufacturer specific configuration objects to conF igure : I/O T ype Run/H old Curr ent F actor y Configuration Accessibility Codes R — Read W — W rite S — Storable to N onvolatile Memory (NVM) K — Key Requi[...]

18 MDrivePlus CAN open R020507 Object 2002h: I/O Discretes (Config) Object Description Index 2002 h Name Config Input Switches Object Code V AR Data T ype Unsigned 8 Entry Description Sub-Index Description Category Access PDO Mapping V alue Range Default 01h ConFigure I/O as Home Mandatory R/W No 0x00 — 0xFF 0x00 (1 = Selects I/O# as the Home Swi[...]

19 P art 2: DSP-402 Implementation Object Description Index 2004 h Name Input Filter Mask Object Code V AR Data T ype Unsigned 8 Entry Description Sub-Index Description Category Access PDO Mapping V alue Range Default 01h Input Filter Mask Optional R/W No 00 h – FF h 01 h 02h Input Filter Mask Optional R/W No 00 h – FF h 02 h 03h Input Filter M[...]

20 MDrivePlus CAN open R020507 Object 2010h: Analog Input Object Description Index 2010 h Name Analog Input Object Code V AR Data T ype See Entry Desc. Entry Description Sub-Index Description Category Access PDO Mapping V alue Range Default Data T ype 01h Analog Reading Mandatory R/W Y es 0 - 1023 0 Unsigned 16 02h Analog Input Configuration Mandat[...]

21 P art 2: DSP-402 Implementation Object 2031h: Unit Options (Encoder Enable, Capture In/T rip Out) Object Description Index 2031 h Name Unit Options Object Code V AR Data T ype Unsigned 8 Entry Description Access R/W/S PDO Mapping No Range 0/1 Default 0 N ote: Encoder functions only apply to the MDrive pr oducts. The MForce products do not hav e [...]

22 MDrivePlus CAN open R020507 Entry Description Sub-Index Description Category Access PDO Mapping V alue Range Default Data T ype 01h Enable Capture Position R/W Y es 0/1 02h Enable Capture Input Flag R/W No 0/1 03h Capture Input Filter R/W No 04h Capture In Position R/W No Object 2204h: Run Current Percent Object Description Index 2204 h Name Run[...]

23 P art 2: DSP-402 Implementation Hold Current % By Device 2205 h MDrivePlus (All) MForce MicroDrive (Amps RMS) MForce PowerDrive (Amps RMS) 10 MDrive Range 0 T o 100% Actual Current Not required as Motor is appropriately sized to the device. 0.3 0.5 20 0.6 1.0 30 0.9 1.5 40 1.2 2.0 50 1.5 2.5 60 1.8* 3.0 70 2.1 3.5 80 2.4 4.0 90 2.7 4.5 100 3.0 5[...]

24 MDrivePlus CAN open R020507 Entry Description Access R/K PDO Mapping No Range N/A Default Factory Object 5002h: ASCII Serial Number The 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 Index 5[...]

25 P art 2: DSP-402 Implementation Section 4 Device Control Device Control The device control function block controls all the func- tions of the MDrivePlus CAN open and is divided into to sections: 1. Control of the S tate Machine 2. Operation M ode Control and Status words Controlword (Object I ndex 6040h) controls the state and operation modes of[...]

26 MDrivePlus CAN open R020507 State Machine T ransitions T ransition Number From State T o State Event/Action 0 Start Not Ready T o Switch On Event: Reset. Action: The drive self-tests and/or self-initializes. 1 Not Ready T o Switch On Switch On Disabled Event: The drive has self-tested and/or initialized successfully . Action: Activate communicat[...]

27 P art 2: DSP-402 Implementation Power Disabled Power Enabled F ault Start Not Ready to Switch O n F ault R eaction Active F ault Switch On Disabled Ready T o Switch On 0 1 2 7 4 5 6 Switched On Operation Enable Quick Stop Active 9 3 8 16 11 10 12 14 13 15 Controlword 6040 h Internal Event Statusword 6041 h SUPPORT FOR FAULT STATES UNDER DEVELOPM[...]

28 MDrivePlus CAN open R020507 Object 6040 h — Controlword Ths controlword is a mandatory , unsigned 16 bit number containing bits for controlling the state and operating modes for the MDrivePlus CAN o- pen . Object Description Index 6040 h Name Controlword Object Code V AR Data T ype Unsigned16 Entry Description Access r/w PDO Mapping n/a Range [...]

29 P art 2: DSP-402 Implementation Object 6041 h — Statusword The Statuswor d is a read-only object that indicates the curr ent state of the drive, no bits are latched. S tatuswor d consists of bits for:  The current state of the driv e.  The operating state of the mode.  Manufactur er S pecific options. Object Description Index[...]

30 MDrivePlus CAN open R020507 Bit 4: Voltage Enabled The Disable V oltage request is active when the voltage_disabled bit is cleared to 0. Bit 5: Quick Stop Active When reset, this bit indicates that the drive is reacting on a quick stop r equest. Bits 0, 1 and 2 of the statuswor d must be set to 1 to indicate that the drive is capable to regenera[...]

31 P art 2: DSP-402 Implementation Section 5 Modes of Operation Object 6060 h — Modes of Operation The performance of the MDrivePlus CAN open depends on the activated Modes of Operation. I t is not possible to operates the modes in parallel. The user must select a mode to operate in. An example of exclusive functions are P rofile V elocity and P [...]

32 MDrivePlus CAN open R020507 Mode of Operation (6060 h ) Manuf . Specific Mode s R eser ve d R eser ve d Interpolated P osition Mode R eser ve d Profile P osition Mode Profile V elocity Mode Homing Mode V elocity Mode Profile T orque Mode -1... -128 8...127 0 1 2 3 4 5 6 7 Gray T ext modes unsupported by MDrivePlus CANopen Figur e 5.2: Modes of O[...]

33 P art 2: DSP-402 Implementation LSB MSB 31 16 15 10 9 8 7 6 5 4 3 2 1 0 Profile Position V elocity Profile V elocity Profile T orque Reserved Homing Interpolated Position Cyclic Sync Position Cyclic Sync V elocity Cyclic Sync T orque Reserved MFG Specific 1 1 1 0 0 0 0 0 0 0 1 = M ode S upported 0 = M ode N ot Supported Figur e 5.3: Supported Dr[...]

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35 P art 2: DSP-402 Implementation Section 6 Profile Position Mode General Information A target_position is applied to the T rajectory Generator . It is generating a position_demand_value for the position control loop described in the P osition Control Function Section. These two function blocks are optionally controlled by individual parameter se[...]

36 MDrivePlus CAN open R020507 Functional Description There are two differ ent ways to apply target_positions to a drive, are supported by this device profile. Set of set-points: After reaching the target_position the drive unit immediately processes the next target_position which r esults in a move wher e the velocity of the drive normally is not [...]

37 P art 2: DSP-402 Implementation V 2 V 1 T 0 T 1 T 2 T 3 V elocity T ime target_position X 1 target_position X 2 Figur e 6.3: Single Set-P oint Mode (Mo ve After a Mo ve) 6040h Bit 5=0 With change_set_immediately set to “1”  , symbolized by the clear ar ea in F igure 6.2, the host advises the drive to apply a new set-point immediately afte[...]

38 MDrivePlus CAN open R020507 Statusword (6041 h ) of Profile Position Mode 9 14 13 12 1 1 10 9 0 See 1.4 Following Error Set-Point Acknowledge See 1.4 T arget Reached See 1.4 MSB LSB Bit Name V alue Description 10 T arget Reached 0 Halt=0: T arget position not reached Halt=1: Axis decelerating 1 Halt=0: T arget position reached Halt=1: Axis veloc[...]

39 P art 2: DSP-402 Implementation Object 6082 h — End V elocity The end velocity defines the velocity which the drive must have on r eaching the target position. N ormally , the drive stops at the target position, i.e. the end_velocity = 0. The end velocity is given in the same units as profile velocity . Object Description Index 6082 h Name End[...]

40 MDrivePlus CAN open R020507 Object 6086 h — Motion Profile T ype The Motion P rofile T ype is used to select the type of motion profile used to perform a move. The MDrivePlus CAN open is fixed at V alue 0: Linear Ramp (T rapezoidal Profile) Object Description Index 6086 h Name Motion Profile T ype Object Code V AR Data T ype Integer 16 Entry D[...]

41 P art 2: DSP-402 Implementation Section 7 Homing Mode General Information This chapter describes the method by which a drive seeks the home position (also called, the datum, refer ence point or zero point). There are various methods of achieving this using limit switches at the ends of travel or a home switch (zero point switch) in mid-travel, m[...]

42 MDrivePlus CAN open R020507 Statusword (6041 h ) of Homing Mode 9 14 13 12 1 1 10 9 0 See 1.4 Homing Error Homing Attained See 1.4 T arget Reached See 1.4 MSB LSB Bit Name V alue Description 10 T arget Reached 0 Halt=0: Home position not reached Halt=1: Axis decelerating 1 Halt=0: Home position reached Halt=1: Axis velocity is 0 12 Homing Attain[...]

43 P art 2: DSP-402 Implementation Axis Direction 1 Index Pulse Negative Limit Switch Figur e 7.3: Homing on the N egative L imit and Index P ulse Homing Method (6098h) The homing method object determines the method that will be used during homing. Object Description Index 6098 h Name Homing Method Object Code V AR Data T ype ± Integer 8 Entry Des[...]

44 MDrivePlus CAN open R020507 Method 2: Homing on the Positive Limit Switch and Index Pulse U sing this method the initial direction of mo vement is rightward if the positive limit switch is inactiv e (here shown as low). The position of home is at the first index pulse to the left of the position where the positive limit switch becomes inactive. [...]

45 P art 2: DSP-402 Implementation 6 6 Index Pulse Home Switch 5 5 Figur e 7.6: Homing on the N egative H ome S witch and Index P ulse Methods 7 to 14: Homing on the Home Switch and Index Pulse These methods use a home switch which is active ov er only portion of the travel, in effect the switch has a ‘ momentar y ’ action as the axle`s positio[...]

46 MDrivePlus CAN open R020507 Home Switch Negative Limit Switch Index Pulse 14 14 13 12 11 11 11 12 12 13 13 14 Figur e 7.8: Homing on the H ome Switch and I ndex Pulse - Negativ e Initial M ove Methods 15 and 16: Reserved These methods are reserved for future expansion of the homing mode. Methods 17 to 30: Homing without an Index Pulse These meth[...]

47 P art 2: DSP-402 Implementation Methods 33 and 34: Homing on an Index Pulse U sing methods 33 or 34 the direction of homing is negative or positive r espectively . The home position is at the index pulse found in the selected direction. Method 35: Homing on the Current Position In method 35 the current position is taken to be the home position. [...]

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49 P art 2: DSP-402 Implementation Section 8 Position Control Function General Information In this chapter , all parameters are described which are necessary for a closed loop position control. The control loop is fed with the position_demand_value as one of the outputs of the T rajector y Generator and with the output of the position detec- tion u[...]

50 MDrivePlus CAN open R020507 Object 6065 h — Following Error W indow This object shall indicate the conF igure d range of tolerated position values symmetrically to the position demand value. If the position actual value is out of the follo wing error window , a following error occurs. A following error may occur when a drive is blocked, unr ea[...]

51 P art 2: DSP-402 Implementation Section 9 Profile V elocity Mode Controlword (6040 h ) of Profile Velocity Mode 15 9 8 7 6 3 0 See 1.3 Halt See 1.3 Reserved See 1.3 MSB LSB Bit Name V alue Description 8 Halt 0 Execute the Motion 1 Stop axis T able 8.1: Profile V elocity Mode Bits of Controlwor d Statusword (6041 h ) of Profile Velocity Mode 9 1[...]

52 MDrivePlus CAN open R020507 Object 60FF h — T arget Velocity The T arget V elocity is the input to the trajector y generator and the value is given in microsteps/second. Object Description Index 60FF h Name T arget V elocity Object Code V AR Data T ype Integer 32 Entry Description Access rw PDO Mapping n/a Range Integer 32 Default n/a Object 6[...]

53 P art 2: DSP-402 Implementation Section 10 Optional Application FE (General I/O) Object 60FD h — Digital Inputs This object provides for digital inputs. Object Description Index 60FD h Name Digital Inputs Object Code V AR Data T ype 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 [...]

54 MDrivePlus CAN open R020507 Object 60FE h — Digital Outputs This object provides for digital outputs. Object Description Index 60FE h Name Digital Outputs Object Code ARRA Y Data T ype Unsigned 32 Entry Description Sub-Index Description Category Access PDO Mapping V alue Range Default 00h Highest Supported Sub- Index Mandatory C No 02 h Mfg-Sp[...]

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© 2006 Intelligent Motion Systems, Inc. All Rights Reserved. REV020507 IMS Product Disclaimer and most recent product information at www .imshome.com. intelligent motion systems, I NC . Excellence in Motion www .imshome.com IMS UK Ltd. 25 Barnes W allis Road Segenswor th East Fareham, Hampshire PO15 5TT Phone: +44/0 1489-889825 Fax: +44/0 1489-889[...]