Intelligent Motion Systems MDrive DSP-402 Application Manual
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Intelligent Motion Systems MDrive DSP-402 Application Manual

Intelligent motion systems, inc. motion control application guide
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Excellence in Motion
TM
DSP-402
APPLICATION GUIDE
TM
CANopen
TM
FORCE
DRIVE
CANopen

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Summary of Contents for Intelligent Motion Systems MDrive DSP-402

  • Page 1 Excellence in Motion DSP-402 APPLICATION GUIDE CANopen FORCE DRIVE CANopen...
  • Page 2 Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein;...

  • Page 3: Table Of Contents

    Section 1: Introduction to the MDrivePlus CANopen DSP-402 Implementation ...3 Introduction ...3 CAN Message Format ...3 MDrivePlus Architecture ...3 Device Control ...4 Modes of Operation ...4 Homing Mode ...4 Profile Position Mode ...4 Profile Velocity Mode ...4 Trajectory Generator ...5 Objects and the Object Dictionary ...5 Object Formatting ...6 Object Description ...6...
  • Page 4 Section 4: Device Control ...25 Section 5: Modes of Operation ...31 Object 2006h: Input Filter Time (ms) ...19 Object Description ...19 Entry Description ...19 Object 2010h: Analog Input ...20 Object Description ...20 Entry Description ...20 Object 2020h: Software Limits as Hardware Limits...20 Object Description ...20 Entry Description ...20 Object 2022h: Actual Position Software Limit ...20...
  • Page 5 Entry Description ...32 Data Description ...32 Object 6502h — Supported Drive Modes ...32 Object Description ...32 Entry Description ...32 Data Description ...32 Section 6: Profile Position Mode ...35 General Information ...35 Input Data Description ...35 Output Data Description ...35 Functional Description ...36 Controlword (6040h) of Profile Position Mode ...37 Object 6081h —...
  • Page 6 Entry Description ...50 Object 6066h — Following Error Timeout ...50 Object Description ...50 Entry Description ...50 Object 6068h — Position Window Time ...50 Object Description ...50 Entry Description ...50 Section 9: Profile Velocity Mode ...51 Controlword (6040h) of Profile Velocity Mode ...51 Statusword (6041h) of Profile Velocity Mode ...51 Object 606Ch —...
  • Page 7 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 ...5 Figure 2.1: PDO Producer – Consumer Relationship ...9 Figure 2.2: SDO Client – Server Relationship ...9 Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2 ...10 Figure 3.1: Input Filter Mask ...18 Figure 4.1: Device Control ...25...
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  • Page 9 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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  • Page 11: Section 1: Introduction To The Mdriveplus Canopen Dsp-402 Implementation

    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.

  • Page 12: Device Control

    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).

  • Page 13: Trajectory Generator

    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.

  • Page 14: Object Formatting

    Object Formatting This manual will display the Object and Entry data using the model detailed below. Object Description Index Name XXXX Index Name Index The Index is the hexadecimal number that represents the index number of the object in the CANopen Object Dictionary.

  • Page 15: Sub-Indexes

    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 ...
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  • Page 17: Section 2: Accessing The Mdriveplus Canopen

    Section 2 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.

  • Page 18: Pdo Mapping

    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 RPDO Index 1600 1600...

  • Page 19: Pdo Objects

    PDO Objects Consumer PDO1 (RPDO1) 1400h (Object Description) Index Name 1400 Receive PDO1 Parameter Consumer PDO1 (RPDO1) 1400h (Entry Description) Sub-Index Description Highest Supported Sub-Index COB-ID used by PDO Transmission Type Inhibit Time Event Timer 1600h (Object Description – Mapping Parameters) Index Name 1600...

  • Page 20: Consumer Pdo2 (Rpdo2) 1401H (Object Description)

    Consumer PDO2 (RPDO2) 1401h (Object Description) Index Name 1401 Receive PDO2 Parameter Consumer PDO2 (RPDO2) 1401h (Entry Description) Sub-Index Description Highest Supported Sub-Index COB-ID used by PDO Transmission Type Inhibit Time Event Timer 1601h (Object Description – Mapping Parameters) Index Name 1601 Receive PDO2 Mapping...

  • Page 21: Consumer Pdo3 (Rpdo3) 1402H (Object Description)

    Consumer PDO3 (RPDO3) 1402h (Object Description) Index Name 1402 Receive PDO3 Parameter Consumer PDO3 (RPDO3) 1402h (Entry Description) Sub-Index Description Highest Supported Sub-Index COB-ID used by PDO Transmission Type Inhibit Time Event Timer 1602h (Object Description – Mapping Parameters) Index Name 1601 Receive PDO3 Mapping...

  • Page 22: Producer Pdo1 (Tpdo1) 1800H (Entry Description)

    Producer PDO1 (TPDO1) 1800h (Entry Description) Sub-Index Description Highest Supported Sub-Index COB-ID used by PDO Transmission Type Inhibit Time Event Timer 1A00h (Object Description – Mapping Parameters) Index Name 1A00 Transmit PDO1 Mapping 1A00h (Entry Description – Mapping Parameters) Sub-Index Description Highest Supported Sub-Index 1st Application Object...

  • Page 23: 1A01H (Object Description - Mapping Parameters)

    1A01h (Object Description – Mapping Parameters) Index Name 1A01 Transmit PDO2 Mapping 1A01h (Entry Description – Mapping Parameters) Sub-Index Description Highest Supported Sub-Index 1st Application Object 2nd Application Object 3rd Application Object 4th Application Object 5th Application Object 6th Application Object 7th Application Object 8th Application Object Producer PDO3 (TPDO3) 1802h (Object Description)

  • Page 24: 1A02H (Entry Description - Mapping Parameters)

    1A02h (Entry Description – Mapping Parameters) Sub-Index Description Highest Supported Sub-Index 1st Application Object 2nd Application Object 3rd Application Object 4th Application Object 5th Application Object 6th Application Object 7th Application Object 8th Application Object Category Access Value Range Mandatory Mandatory Optional Optional...

  • Page 25: Section 3: Manufacturer Specific Objects

    Section 3 Introduction The objects detailed in this section are IMS manufacturer specific configuration objects to conFigure : • I/O Type • Run/Hold Current • Factory Configuration Accessibility Codes R — Read W — Write S — Storable to Nonvolatile Memory (NVM) K —...

  • Page 26: Object 2002H: I/O Discretes (Config)

    Object 2002h: I/O Discretes (Config) Object Description Index Name 2002 Config Input Switches Entry Description Sub-Index Description ConFigure I/O as Home ConFigure I/O as Positive Limit ConFigure I/O as Negative Limit Object 2004h: Input Filter Mask (Config) The Input Filter Mask Object conFigure s the device to filter the selected inputs. The operation of the Object is shown in Figure 3.1 below.

  • Page 27: Object Description

    Object Description Index Name 2004 Input Filter Mask Entry Description Sub-Index Description Input Filter Mask Input Filter Mask Input Filter Mask Input Filter Mask Input Filter Mask Input Filter Mask Input Filter Mask Object 2006h: Input Filter Time (ms) Object Description Index Name 2006...

  • Page 28: Object 2010H: Analog Input

    Object 2010h: Analog Input Object Description Index Name 2010 Analog Input Entry Description Sub-Index Description Analog Reading Analog Input Configuration Input Filtering Object 2020h: Software Limits as Hardware Limits Object Description Index Name 2020 Software Limits as Hardware Entry Description Sub-Index Description Limit Reached Flag...

  • Page 29: Object 2031H: Unit Options (Encoder Enable, Capture In/Trip Out)

    Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out) Object Description Index Name 2031 Unit Options Entry Description Access PDO Mapping R/W/S Note: Encoder functions only apply to the MDrive products. The MForce products do not have closed loop capability. 0x80 0x40 Position...

  • Page 30: Entry Description

    Entry Description Sub-Index Description Enable Capture Position Enable Capture Input Flag Capture Input Filter Capture In Position Object 2204h: Run Current Percent Object Description Index Name 2204 Run Current % Entry Description Access PDO Mapping R/W/S 2204 MDrivePlus (All) MDrive Range 0 To Actual Current Not required as Motor is appropriately sized...

  • Page 31: Object 2211H: Position Present Point Target

    2205 MDrivePlus (All) MDrive Range 0 To Actual Current Not required as Motor is appropriately sized Shaded Area Reserved for Future Use *HC=67 for maximum 2.0 Amp Hold Current Object 2211h: Position Present Point Target Object Description Index Name 2211 Position Present Point Target Entry Description...

  • Page 32: Entry Description

    Entry Description Access PDO Mapping 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 Name...

  • Page 33: Section 4: Device Control

    Section 4 Device Control The device control function block controls all the func- tions of the MDrivePlus CANopen and is divided into to sections: 1. Control of the State Machine 2. Operation Mode Control and Status words Controlword (Object Index 6040h) controls the state and operation modes of the MDrivePlus CANopen.

  • Page 34: Table 4.2: State Machine Transitions

    Transition From State Number Start Not Ready To Switch On Switch On Disabled Ready to Switch On Switched On Operation Enable Switched On Ready to Switch On Operation Enable Operation Enable Switched On Operation Enable Quick Stop Active All States Fault Reaction Active Fault...

  • Page 35: Status Word

    Controlword 6040 Power Disabled Start Not Ready to Switch On Switch On Disabled Ready To Switch On Switched On Operation Enable Power Enabled Statusword 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.

  • Page 36: Object 6040H - Controlword

    Object 6040 — Controlword Ths controlword is a mandatory, unsigned 16 bit number containing bits for controlling the state and operating modes for the MDrivePlus pen. Object Description Index 6040 Entry Description Access Data Description Manufacturer Specific O=Optional M= Mandatory Device Control Command Bit Patterns (Bits 0-3 and 7) Command Fault Reset...

  • Page 37: Object 6041H - Statusword

    Object 6041 — Statusword The Statusword is a read-only object that indicates the current state of the drive, no bits are latched. Statusword consists of bits for:  The current state of the drive.  The operating state of the mode. ...
  • Page 38 Bit 4: Voltage Enabled The Disable Voltage 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 request. Bits 0, 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable to regenerate.

  • Page 39: Section 5: Modes Of Operation

    Section 5 Object 6060 — Modes of Operation The performance of the MDrivePlus CANopen depends on the activated Modes of Operation. It is not possible to operates the modes in parallel. The user must select a mode to operate in. An example of exclusive functions are Profile Velocity and Profile Position modes.

  • Page 40: Object 6061H - Modes Of Operation Display

    Mode of Operation (6060 8...127 Gray Text modes unsupported by MDrivePlus CANopen Object 6061 — Modes of Operation Display The Modes of Operation 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 Name...
  • Page 41 16 15 Reserved Cyclic Sync Torque MFG Specific Cyclic Sync Velocity Cyclic Sync Position 1 = Mode Supported 0 = Mode Not Supported Part 2: DSP-402 Implementation Interpolated Position Homing Reserved Profile Torque Profile Velocity Velocity Profile Position Figure 5.3: Supported Drive Modes...
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  • Page 43: Section 6: Profile Position Mode

    Section 6 General Information A target_position is applied to the Trajectory Generator. It is generating a position_demand_value for the position control loop described in the Position Control Function Section. These two function blocks are optionally controlled by individual parameter sets. Position Velocity Multiplier...

  • Page 44: Functional Description

    Functional Description There are two different 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 results in a move where the velocity of the drive normally is not reduced to zero after achieving a set-point. Single set-point: After reaching the target_position the drive unit signals this status to a host computer and then receives a new set- point.

  • Page 45: Controlword (6040H) Of Profile Position Mode

    Velocity target_position X 1 Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0 With change_set_immediately set to “1” a new set-point immediately after reaching the last one. The relative timing of the other signals is unchanged. This behavior causes the drive to already process the next set-point X Then drive moves immediately to the already calculated next target_position X Velocity...

  • Page 46: Object 6081H - Profile Velocity

    Statusword (6041 ) of Profile Position Mode See 1.4 Following Error Name Value Target Reached Set-Point Acknowledge Following Error Object 607A — Target Position The Target Position is the position that the drive should move to in position profile mode using the MDrivePlus CANopen parameters such as velocity, acceleration, deceleration, motion profile type etc.

  • Page 47: Object 6082H - End Velocity

    Object 6082 — End Velocity The end velocity defines the velocity which the drive must have on reaching the target position. Normally, the drive stops at the target position, i.e. the end_velocity = 0. The end velocity is given in the Object Description Index Name...

  • Page 48: Object 6086H - Motion Profile Type

    Object 6086 — Motion Profile Type The Motion Profile Type is used to select 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 Name 6086 Motion Profile Type Entry Description...

  • Page 49: Section 7: Homing Mode

    Section 7 General Information This chapter describes the method by which a drive seeks the home position (also called, the datum, reference 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, most of the methods also use the index (zero) pulse train from an incremental encoder.

  • Page 50: Statusword (6041H) Of Homing Mode

    Statusword (6041 ) of Homing Mode See 1.4 Homing Error Name Value Target Reached Homing Attained Following Error Homing Offset (607Ch) This object shall indicate the conFigure d difference between the zero position for the application and the machine home position (found during homing).

  • Page 51: 6098 H Homing Method

    Homing Method (6098h) The homing method object determines the method that will be used during homing. Object Description Index Name 6098 Homing Method Entry Description Access PDO Mapping Possible Data Description Value Description -128 — -1 Manufacturer Specific No Homing Operation Required 1 —...

  • Page 52: Figure 7.4: Homing On The Positive Limit And Index Pulse

    Method 2: Homing on the Positive Limit Switch and Index Pulse Using this method the initial direction of movement is rightward if the positive limit switch is inactive (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.

  • Page 53: Figure 7.7: Homing On The Home Switch And Index Pulse - Positive Initial Move

    Index Pulse Home Switch Figure 7.6: Homing on the Negative Home Switch and Index Pulse Methods 7 to 14: Homing on the Home Switch and Index Pulse These methods use a home switch which is active over only portion of the travel, in effect the switch has a ‘momentary’...

  • Page 54: Figure 7.8: Homing On The Home Switch And Index Pulse - Negative Initial Move

    Figure 7.8: Homing on the Home Switch and Index Pulse - Negative Initial Move 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 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 or limit switch transitions.

  • Page 55: Homing Speeds (6099H)

    Methods 33 and 34: Homing on an Index Pulse Using methods 33 or 34 the direction of homing is negative or positive respectively. The home position is at the index pulse found in the selected direction. Index Pulse Method 35: Homing on the Current Position In method 35 the current position is taken to be the home position.
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  • Page 57: Section 8: Position Control Function

    Section 8 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 Trajectory Generator and with the output of the position detec- tion unit (position_actual_value) like a resolver or encoder as input parameters.

  • Page 58: Object 6065H - Following Error Window

    Object 6065 — Following Error Window This object shall indicate the conFigure d range of tolerated position values symmetrically to the position demand value. If the position actual value is out of the following error window, a following error occurs. A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed- loop coefficients.

  • Page 59: Section 9: Profile Velocity Mode

    Section 9 Controlword (6040 ) of Profile Velocity Mode See 1.3 Halt See 1.3 Name Value Halt Statusword (6041 ) of Profile Velocity Mode See 1.4 Max Slippage Error Name Value Target Reached Speed Max Slippage Error Object 606C — Velocity Actual Value This object shall provide the actual velocity value derived either from the velocity sensor or the position sensor.

  • Page 60: Object 60Ffh - Target Velocity

    Object 60FF — Target Velocity The Target Velocity is the input to the trajectory generator and the value is given in microsteps/second. Object Description Index Name 60FF Target Velocity Entry Description Access PDO Mapping Object 60F8 — 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 statusword shall be set to 1.

  • Page 61: Section 10: Optional Application Fe (General I/O)

    Section 10 Object 60FD — Digital Inputs This object provides for digital inputs. Inputs 12, 11, 10, 9, 4, 3, 2, 1 = Switched Off = Switched On Object Description Index Name 60FD Digital Inputs Entry Description Access PDO Mapping Part 2: DSP-402 Implementation Optional Application FE (General I/O) Reserved...

  • Page 62: Object 60Feh - Digital Outputs

    Object 60FE — Digital Outputs This object provides for digital outputs. Outputs 12, 11, 10, 9, 4, 3, 2, 1 = Switch Off = Switch On Object Description Index Name 60FE Digital Outputs Entry Description Sub-Index Description Highest Supported Sub- Index Physical Outputs Bit mask...

  • Page 63: Obtaining Warranty Service

    TWENTY-FOUR (24) MONTH LIMITED WARRANTY Intelligent Motion Systems, Inc. (“IMS”), warrants only to the purchaser of the Product from IMS (the “Customer”) that the product purchased from IMS (the “Product”) will be free from defects in materials and workmanship under the normal use and service for which the Product was designed for a period of 24 months from the date of purchase of the Product by the Customer.
  • Page 64 105 Copperwood Way, Suite H Oceanside, CA 92054 Phone: 760/966-3162 Fax: 760/966-3165 E-mail: motors@imshome.com © 2006 Intelligent Motion Systems, Inc. All Rights Reserved. IMS Product Disclaimer and most recent product information at www.imshome.com. intelligent motion systems, INC. IMS EUROPE GmbH Hahnstrasse 10, VS-Schwenningen...

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