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TM
Excellence in Motion
DSP-402
APPLICATION GUIDE
TM
CANopen
TM
FORCE
DRIVE
CANopen
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MDrivePlus CANopen Change Log Date Revision Changes 10/06/2006 R100606 Initial Release 12/20/2006 R122006 Added newly supported objects to DSP-402 Implementation 02/05/2007 R020507 Added new object support, broke out DSP 402 to separate document. The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies. Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products h
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Contents Section 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation ..................................3 Introduction ..................................................................................................................................3 CAN Message Format ...................................................................................................................3 MDrivePlus Architecture .............................................................................
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Object 2006h: Input Filter Time (ms) .........................................................................................19 Object Description .................................................................................................................19 Entry Description ...................................................................................................................19 Object 2010h: Analog Input .........................................................................
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Entry Description ...................................................................................................................32 Data Description ....................................................................................................................32 Object 6502h — Supported Drive Modes ...................................................................................32 Object Description ......................................................................................
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Entry Description ...................................................................................................................50 Object 6066h — Following Error Timeout .................................................................................50 Object Description .................................................................................................................50 Entry Description ........................................................................................
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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 ...................................
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TM Excellence in Motion DSP-402 Application guide 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 Function Section 9: Profile Velocity Section 10: Optional Application FE
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Section 1 Introduction to the MDrivePlus CANopen DSP-402 Implementation Introduction This document describes the Operational Modes and Objects utilized by the MDrivePlus CANopen. The MDrivePlus uses the CiA DSP402 protocol as described the the CiA document CANopen Device Profile for Drives and Motion Control V2.0B. CAN Message Format The MDrivePlus is compliant with CAN 2.0B Active Specification. The Data Packets follow the message format shown in Figure 1.1. The Figure is for reference onl
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Device Control The starting and stopping of the drive and several mode specific commands are executed by 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 position (also: reference point, datum, zero point). Profile Position Mode The positioning of the drive is defined in this mode. Speed, position and acceleration can be limited and pr
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Trajectory Generator The chosen operation mode and the corresponding parameters (objects) define the input of the Trajectory Generator. The Trajectory Generator supplies the control loop(s) with the demand values. They are generally mode specific. Each Mode may use its own Trajectory Generator. A general description of its functionality is given in Section X, which is related to the Profile Position Mode. Objects and the Object Dictionary In a CANopen network, a device is controlled by writing
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Object Formatting This manual will display the Object and Entry data using the model detailed below. Object Description Index Name Object Code Data Type XXXX Index Name VAR I/U h Index The Index is the hexadecimal number that represents the index number of the object in the CANopen Object Dictionary. With the exception of IMS Manufacturer specific objects these are defined in CiA Device Profile for Drives and Controls DSP402. The applicable objects are defined in this document as well. Index
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PDO Mapping Describes whether (Yes) or not (No) the Index may be mapped to a PDO (Process Data Object). If yes it may be mapped to a PDO, if No the Object must be accessed using SDO (Service Data Objects). Category M .......................................................................................Mandatory O ..........................................................................................Optional Range The range of the Index will be expressed as a ± Integer or Unsigned. Default T
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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 real-time data to and from the drive. The transfer is fast, because it is performed with no protocol overhead what means to transport eight application data bytes in one CAN-frame. The PDOs correspond to entries in the Object dictionary. PDO Attributes 1. Two Ty
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PDO Mapping The MDrivePlus CANopen 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 mapped to Control Word (6040 ) and Target Position (607A ). h h h RPDO Index Sub-Index Mapped To Index Bytes 1600 00 h h 1600 01 6040 2 h h h 1600 02 607A 4 h h h PDO Mapping Procedure (Consumer PDO) PDO Mapping Example 1: Profile Position Mode – Mapping Cont
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PDO Objects Consumer PDO1 (RPDO1) 1400h (Object Description) Index Name Object Code Data Type Category 1400 Receive PDO1 Parameter Record PDO Communications Parameters Mandatory h Consumer PDO1 (RPDO1) 1400h (Entry Description) Sub-Index Description Category Access Value Range Default 00h Highest Supported Sub-Index Mandatory R/W Mfg. Specific 0000 0200 + h 01h COB-ID used by PDO Mandatory R/W NODE ID 02h Transmission Type Mandatory R/W 255 d 03h Inhibit Time Optional R/W 04h Reserved 05h E
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Consumer PDO2 (RPDO2) 1401h (Object Description) Index Name Object Code Data Type Category 1401 Receive PDO2 Parameter Record PDO Communications Parameters Optional h Consumer PDO2 (RPDO2) 1401h (Entry Description) Sub-Index Description Category Access Value Range Default 00h Highest Supported Sub-Index Mandatory R/W 02 h 0000 0300 or h 01h COB-ID used by PDO Mandatory R/W 8000 0000 + h NODE ID 02h Transmission Type Mandatory R/W 255 d 03h Inhibit Time Optional R/W 04h Reserved 05h Event
