Intelligent Motion Systems Network Card DSP 402 User Manual
TM  
Excellence in Motion  
DSP-402  
APPLICATION GUIDE  
TM  
CANopen  
FORCETM  
DRIVE  
CANopen  
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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  
Entry Description.....................................................................................................................6  
Sub-Indexes..............................................................................................................................7  
Section 2: Accessing The MDrivePlus CANopen....................................................................................9  
Introduction..................................................................................................................................9  
Process Data Object (PDO) ..........................................................................................................9  
PDO Attributes........................................................................................................................9  
Service Data Object (SDO)...........................................................................................................9  
SDO Attributes........................................................................................................................9  
PDO Mapping............................................................................................................................10  
PDO Mapping Procedure (Consumer PDO)..............................................................................10  
PDO Objects ..............................................................................................................................11  
Consumer PDO1 (RPDO1) 1400h (Object Description) .....................................................11  
Consumer PDO1 (RPDO1) 1400h (Entry Description) .......................................................11  
1600h (Object Description – Mapping Parameters) ...............................................................11  
1600h (Entry Description – Mapping Parameters).................................................................11  
Consumer PDO2 (RPDO2) 1401h (Object Description) .....................................................12  
Consumer PDO2 (RPDO2) 1401h (Entry Description) .......................................................12  
1601h (Object Description – Mapping Parameters) ...............................................................12  
1601h (Entry Description – Mapping Parameters).................................................................12  
Consumer PDO3 (RPDO3) 1402h (Object Description) .....................................................13  
Consumer PDO3 (RPDO3) 1402h (Entry Description) .......................................................13  
1602h (Object Description – Mapping Parameters) ...............................................................13  
1602h (Entry Description – Mapping Parameters).................................................................13  
Producer PDO1 (TPDO1) 1800h (Object Description) .......................................................13  
Producer PDO1 (TPDO1) 1800h (Entry Description) .........................................................14  
1A00h (Object Description – Mapping Parameters)...............................................................14  
1A00h (Entry Description – Mapping Parameters).................................................................14  
Producer PDO2 (TPDO2) 1801h (Object Description) .......................................................14  
Producer PDO2 (TPDO2) 1801h (Entry Description) .........................................................14  
1A01h (Object Description – Mapping Parameters)...............................................................15  
1A01h (Entry Description – Mapping Parameters).................................................................15  
Producer PDO3 (TPDO3) 1802h (Object Description) .......................................................15  
Producer PDO3 (TPDO3) 1802h (Entry Description) .........................................................15  
1A02h (Object Description – Mapping Parameters)...............................................................15  
1A02h (Entry Description – Mapping Parameters).................................................................16  
Section 3: Manufacturer Specific Objects............................................................................................17  
Introduction................................................................................................................................17  
Accessibility Codes..............................................................................................................17  
Object 2000h: I/O Discretes (Config).........................................................................................17  
Object Description.................................................................................................................17  
Entry Description...................................................................................................................17  
Object 2002h: I/O Discretes (Config).........................................................................................18  
Object Description.................................................................................................................18  
Entry Description...................................................................................................................18  
Object 2004h: Input Filter Mask (Config) ..................................................................................18  
Object Description.................................................................................................................19  
Entry Description...................................................................................................................19  
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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  
Object Description.................................................................................................................20  
Entry Description...................................................................................................................20  
Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out).........................................21  
Object Description.................................................................................................................21  
Entry Description...................................................................................................................21  
Object 2032h: Clock Options.....................................................................................................21  
Object Description.................................................................................................................21  
Entry Description...................................................................................................................21  
Object 2033h: Capture Input......................................................................................................21  
Object Description.................................................................................................................21  
Entry Description...................................................................................................................22  
Object 2204h: Run Current Percent............................................................................................22  
Object Description.................................................................................................................22  
Entry Description...................................................................................................................22  
Object 2205h: Hold Current Percent..........................................................................................22  
Object Description.................................................................................................................22  
Entry Description...................................................................................................................22  
Object 2211h: Position Present Point Target ...............................................................................23  
Object Description.................................................................................................................23  
Entry Description...................................................................................................................23  
Object 2212h: Position Final Point Target...................................................................................23  
Object Description.................................................................................................................23  
Entry Description...................................................................................................................23  
Object 5001h: Configuration......................................................................................................23  
Entry Description...................................................................................................................24  
Object 5002h: ASCII Serial Number ..........................................................................................24  
Entry Description...................................................................................................................24  
Object 5003h: ASCII Part Number.............................................................................................24  
Entry Description...................................................................................................................24  
Object 5004h: Motor Parameters ................................................................................................24  
Entry Description...................................................................................................................24  
Section 4: Device Control....................................................................................................................25  
Device Control............................................................................................................................25  
Control and Status words .......................................................................................................25  
State Machine .............................................................................................................................25  
Notes On State Transitions........................................................................................................27  
Object 6040h — Controlword....................................................................................................28  
Object Description.................................................................................................................28  
Entry Description...................................................................................................................28  
Data Description....................................................................................................................28  
Device Control Command Bit Patterns (Bits 0-3 and 7).........................................................28  
Device Operation Mode Bit Patterns (Bits 4-6 and 8) ............................................................28  
Object 6041h — Statusword.......................................................................................................29  
Object Description.................................................................................................................29  
Entry Description...................................................................................................................29  
Data Description....................................................................................................................29  
Section 5: Modes of Operation............................................................................................................31  
Object 6060h — Modes of Operation ........................................................................................31  
Object Description......................................................................................................................31  
Entry Description...................................................................................................................31  
Data Description....................................................................................................................31  
Object 6061h — Modes of Operation Display............................................................................32  
Object Description.................................................................................................................32  
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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 — Profile Velocity ................................................................................................38  
Object Description.................................................................................................................38  
Entry Description...................................................................................................................38  
Statusword (6041h) of Profile Position Mode..............................................................................38  
Object 607Ah — Target Position ................................................................................................38  
Object Description.................................................................................................................38  
Entry Description...................................................................................................................38  
Object 6082h — End Velocity....................................................................................................39  
Object Description.................................................................................................................39  
Entry Description...................................................................................................................39  
Object 6083h — Profile Acceleration..........................................................................................39  
Object Description.................................................................................................................39  
Entry Description...................................................................................................................39  
Object 6084h — Profile Deceleration.........................................................................................39  
Object Description.................................................................................................................39  
Entry Description...................................................................................................................39  
Object 6086h — Motion Profile Type.........................................................................................40  
Object Description.................................................................................................................40  
Entry Description...................................................................................................................40  
Section 7: Homing Mode.....................................................................................................................41  
General Information ...................................................................................................................41  
Input Data Description ..........................................................................................................41  
Output Data Description .......................................................................................................41  
Internal States.........................................................................................................................41  
Controlword (6040h) of Profile Position Mode...........................................................................41  
Statusword (6041h) of Homing Mode ........................................................................................42  
Homing Offset (607Ch) .............................................................................................................42  
Object Description.................................................................................................................42  
Entry Description...................................................................................................................42  
Homing Method (6098h) ...........................................................................................................43  
Object Description.................................................................................................................43  
Entry Description...................................................................................................................43  
Data Description....................................................................................................................43  
Functional Description of Homing Methods..........................................................................43  
Homing Speeds (6099h) .............................................................................................................47  
Object Description.................................................................................................................47  
Entry Description...................................................................................................................47  
Section 8: Position Control Function ..................................................................................................49  
General Information ...................................................................................................................49  
Object 6062h — Position Demand Value ...................................................................................49  
Object Description.................................................................................................................49  
Entry Description...................................................................................................................49  
Object 6063h — Position Actual Value Internal..........................................................................49  
Object Description.................................................................................................................49  
Entry Description...................................................................................................................49  
Object 6064h — Position Actual Value.......................................................................................49  
Entry Description...................................................................................................................49  
Object 6065h — Following Error Window.................................................................................50  
Object Description.................................................................................................................50  
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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 — Velocity Actual Value ......................................................................................51  
Object Description.................................................................................................................51  
Entry Description...................................................................................................................51  
Object 60FFh — Target Velocity.................................................................................................52  
Entry Description...................................................................................................................52  
Object 60F8h — Maximum Slippage .........................................................................................52  
Entry Description...................................................................................................................52  
Section 10: Optional Application FE (General I/O)............................................................................53  
Object 60FDh — Digital Inputs.................................................................................................53  
Entry Description...................................................................................................................53  
Object 60FEh — Digital Outputs...............................................................................................54  
Entry Description...................................................................................................................54  
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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...................................................................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  
Figure 4.2: State Machine States/Transitions Block Diagram.......................................................27  
Figure 4.3: Statusword Bits..........................................................................................................29  
Figure 6.1: Trajectory Generator Block Diagram .........................................................................35  
Figure 6.2: Set-Point Transmission from Host Computer............................................................36  
Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0......................................37  
Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1 ....................................................37  
Figure 7.1: The Homing Function ..............................................................................................41  
Figure 7.2: Home Offset .............................................................................................................42  
Figure 7.3: Homing on the Negative Limit and Index Pulse........................................................43  
Figure 7.4: Homing on the Positive Limit and Index Pulse..........................................................44  
Figure 7.5: Homing on the Positive Home Switch and Index Pulse .............................................44  
Figure 7.7: Homing on the Home Switch and Index Pulse - Positive Initial Move.......................45  
Figure 7.6: Homing on the Negative Home Switch and Index Pulse ...........................................45  
Figure 7.8: Homing on the Home Switch and Index Pulse - Negative Initial Move .....................46  
Figure 7.9: Homing without an Index Pulse................................................................................46  
Figure 7.10: Homing on the Index Pulse.....................................................................................47  
Figure 10.1: Object 60FD Structure............................................................................................53  
Figure 10.2: Object 60FE Structure ............................................................................................54  
List of Tables  
Table 1.1: Object Dictionary.........................................................................................................5  
Table 4.1: State Machine States ...................................................................................................25  
Table 4.2: State Machine Transitions ...........................................................................................26  
Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant) 28  
Table 4.4: MDrivePlus CANopen Operation Modes...................................................................28  
Table 4.5: Device State Bits for Statusword..................................................................................29  
Table 6.1: Profile Position Mode Bits of Controlword .................................................................37  
Table 8.1: Profile Velocity Mode Bits of Controlword .................................................................51  
Table 8.2: Profile Velocity Mode Bits of Statusword ....................................................................51  
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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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MDrivePlus CANopen R020507  
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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 only, please refer to the CAN 2.0B Specification.  
Arbitration  
(Command and Address)  
Start  
Data  
Control  
CRC ACK End Space  
Up to 8 Bytes  
of Data  
Marks End  
Data Length  
of Message Frame  
Address and Message Modifier  
(PDO, SDO etc.)  
Receiver Pulls  
Bit Low  
Marks Start  
of Message Frame  
Cyclic Redundancy  
Checksum  
Figure 1.1: Message Format  
MDrivePlus Architecture  
CAN Network  
CAN Node  
MDrivePlus  
Application Layer and Communications Profile DS 301  
Drive Profile DSP 402  
Device Control State Machine  
(Section XX)  
Modes of Operation  
Profile  
Position  
Mode  
Homing  
Mode  
(Section X)  
Profile  
Velocity  
Mode  
(Section X)  
(Section X)  
Motor  
Figure 1.2: MDrivePlus Architecture  
Part 2: DSP-402 Implementation  
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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 profiled moves using  
a Trajectory Generator are possible as well.  
Homing Mode (Section X)  
Trajectory  
Homing Function  
Generator  
Position Control  
Profile Position Mode (Section X)  
Loop  
Trajectory  
Position Function  
Generator  
Profile Velocity Mode (Section X)  
Trajectory  
Generator  
Velocity Control  
Loop  
Velocity Function  
Figure 1.3: Functional Architecture  
Profile Velocity Mode  
The Profile Velocity Mode is used to control the velocity of the drive with no special regard of the position. It supplies limit  
functions and trajectory generation.  
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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 to device parameters and reading the status of the device. This is  
accomplished using a pre-defined dictionary of instructions that can be written and status information that can be read. These  
pieces of information are called Objects.  
The full set of objects are called the Object Dictionary. The Object Dictionary is the interface between the CANopen master,  
or controller and the MDrivePlus node on a CANopen network.  
CAN  
Contoller  
Additional System Nodes  
MDrivePlus Node  
Object Dictionary  
Output (LED, Relay)  
Input (Switch, Sensor)  
Analog Input  
Drive  
Logic  
I/O  
Motor  
Figure 1.4: MDrivePlus CANopen Object Dictionary  
Entries within the Object Dictionary are addressed using 16-bit Indexes. In the case of simple variables (VAR) the index refer-  
ences the value of the variable directly. In the case of records and arrays the index addresses the entire data structure.  
To allow individual elements of the data structures a sub-index is defined. The fields accessed by the sub-index may be of dif-  
fering data types.  
Index (hex)  
0000  
Object  
Not Used  
0001 – 004F  
0020 – 003F  
0040 – 005F  
0060 – 007F  
0080 – 009F  
00A0 – 0FFF  
1000 – 1FFF  
2000 – 5FFF  
6000 – 9FFF  
A000 – BFFF  
C000 – FFFF  
Static Data Types  
Complex Data Types  
Manufacturer Specific Data  
Device Profile Specific Static Data Types  
Device Profile Specific Complex Data Types  
Reserved for Future Use  
Communications Profile Area  
Manufacturer Specific Profile  
Standardized Device Profile  
Standardized Interface Profile  
Reserved for Future Use  
Table 1.1: Object Dictionary  
Part 2: DSP-402 Implementation  
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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 Name  
The Index Name is the general name and description of the object. With the exception of IMS Manufacturer spe-  
cific objects these are defined in CiA Device Profile for Drives and Controls DSP402.  
Object Code  
VAR - Variable  
Data Type  
Physically, the types consist of one or more bytes. One byte consists of 8 bits (Bit 0 to 7). Bit 0 is the LSB (Least  
Significant Bit). A byte can also be depicted hexadecimally (0x00 ... 0xff).  
If a data type consists of n byte, the following applies:  
Data byte 1 (Byte in address x) = highest value byte  
Data byte n (Byte in address x+n-1) = lowest value byte  
The data coding and the value ranges for the respective data types apply, unless otherwise explicitly stated in the  
data description of an MDrivePlus communication object.  
Integer (I)  
± Integer 8  
Range  
–128 ... +127  
Length  
1 Byte  
± Integer 16  
± Integer 32  
– 32,768 ... +32,767  
2 Bytes  
4 Bytes  
– 2,147,483,647 ... +2,147,483,647  
Coding  
2’s Complement  
Unsigned (U)  
Range  
0 ... 255  
Length  
1 Byte  
Unsigned 8  
Unsigned 16  
Unsigned 32  
0 ... 65,535  
2 Bytes  
4 Bytes  
0 ... 4,294,967,295  
Coding  
Binary  
Entry Description  
Access  
PDO Mapping  
Category  
Range  
Default  
R/W/S/K Yes/No  
M/O  
I/U  
I/U  
Access  
R.......................................................................................Read Access  
W.....................................................................................Write Access  
S ........................................ Storable to Non Volatile Memory (NVM)  
K.......................................................... Key Required for Write Access  
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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  
The range of the Index will be expressed as a Integer or Unsigned.  
Sub-Indexes  
An object may have a number of Sub-Indexes which further define the operation of the object, such as I/O Configuration  
Parameters.  
Sub-Indexes are formatted thus:  
Sub-Index X  
Description  
Entry Category  
Access  
Sub-Index Functional Description  
Mandatory/Optional  
R/W/S/K  
PDO Mapping  
Value Range  
Default Value  
Yes/No  
1 Byte Hex  
1 Byte Hex  
Part 2: DSP-402 Implementation  
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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 Types: RPDO (Receive) and TPDO (Transmit)  
2. Up to 8 Bytes of application data per message frame. No additional protocol overhead is required.  
3. Transfer is not confirmed  
4. PDOs Require setup, SDOs map each byte of the PDO to one or more Object Entries.  
5. PDOs operate using the Producer (TPDO)/Consumer (RPDO) relationship Push-Pull model.  
6. Best for transferring data such as Device Status, Set-points etc.  
Producer  
Consumer  
TPDO  
Data  
RPDO  
RPDO  
RPDO  
Figure 2.1: PDO Producer – Consumer Relationship  
Service Data Object (SDO)  
A Service Data Object (SDO) reads from entries or writes to entries of the Object Dictionary. The SDO transport protocol al-  
lows transmitting objects of any size. The first byte of the first segment contains the necessary flow control information includ-  
ing a toggle bit to overcome the well-known problem of doubly received CAN frames. The next three byte of the first segment  
contain index and sub-index of the Object Dictionary entry to be read or written. The last four byte of the first segment are  
available for user data. The second and the following segments (using the very same CAN identifier) contain the control byte  
and up to seven byte of user data. The receiver confirms each segment or a block of segments, so that a peer-to-peer communi-  
cation (client/server) takes place.  
SDO Attributes  
1. Can access any Object in the Object Dictionary regardless of size.  
2. Transfer is confirmed  
3. Direct access to the Object Dictionary  
4. Client/Server relationship.  
5. Best for setting up configuration parameters.  
Client  
ID Request  
ID Request  
Server  
Figure 2.2: SDO Client – Server Relationship  
Part 2: DSP-402 Implementation  
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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  
h
00  
h
1600  
h
01  
h
6040  
h
2
4
1600  
h
02  
h
607A  
h
PDO Mapping Procedure (Consumer PDO)  
PDO Mapping Example 1: Profile Position Mode – Mapping ControlWord and Target Position to RPDO1  
Step  
Action  
Place MDrive in PreOperational State  
Turn Off RPDO1  
Index  
Sub-Index  
Bytes  
—
Value  
1
2
3
4
1400  
01  
00  
—
8000 01C0  
h
h
Set 1600 Sub-Index 00 to 0  
h
1600  
6040  
—
0
h
h
h
Map ControlWord 6040 to 1600.01 , Establish New  
h
h
00  
2
4
005F  
h
Set Point  
5
Desired Axis  
Position in Hex  
Map target_position 607A to 1600.02  
h
607A  
1600  
h
h
6
7
Set 1600 .00 to 2 Max Sub-Indexes  
h
00  
00  
00  
—
—
1
2
h
h
h
h
Turn On RPDO1  
1400  
6060  
0000 01C0  
h
8
Place MDrive in Profile Position Mode  
Place MDrive in Operational State  
Send PDO to MDrive  
1
h
9
10  
Note: Before re-sending the PDO to the MDrive, the old set-point must be cleared by sending 6040.00 004F in a  
h
h
second PDO or in an SDO.  
Default Mapping Example - Consumer PDO 2  
Index  
1601h  
SubIndex  
0
1
2
= 2 (# of SubIndex Entries  
= 2 Byte ControlWord (6040h)  
= 4 Byte Commanded SetPoint (607A)  
BYTES 0 - 1  
ControlWord  
BYTES 2 - 5  
BYTE 6 - 7  
Unused  
Set-Point (Position) Data  
RPDO 2  
003F  
h
00  
00  
00  
00  
MDrive CANopen  
Node  
0
1
1
1
1
1
ControlWord = 03F  
Move to Absolute SetPoint  
h
F = Operation  
Enabled  
ControlWord = 05F  
Move to Relative SetPoint  
h
Transition Bit  
MUST be reset to zero  
between set-points  
ControlWord = 00F  
h
Reset New Set-Point Bit  
to Prepare for Next Move  
Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2  
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PDO Objects  
Consumer PDO1 (RPDO1) 1400h (Object Description)  
Index  
Name  
Object Code  
Data Type  
Category  
1400  
h
Receive PDO1 Parameter  
Record  
PDO Communications Parameters  
Mandatory  
Consumer PDO1 (RPDO1) 1400h (Entry Description)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
R/W  
Mfg. Specific  
0000 0200 +  
h
NODE ID  
01h  
COB-ID used by PDO  
Mandatory  
R/W  
02h  
03h  
04h  
05h  
Transmission Type  
Inhibit Time  
Mandatory  
Optional  
R/W  
R/W  
255  
d
Reserved  
Event Timer  
Optional  
R/W  
0
d
1600h (Object Description – Mapping Parameters)  
Index  
Name  
Object Code  
Data Type  
PDO Mapping  
Category  
1600  
h
Receive PDO1 Mapping  
Record  
Mandatory  
1600h (Entry Description – Mapping Parameters)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
01  
h
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
1st Application Object  
2nd Application Object  
3rd Application Object  
4th Application Object  
5th Application Object  
6th Application Object  
7th Application Object  
8th Application Object  
Mandatory  
Mandatory  
Mandatory  
Mandatory  
Mandatory  
Mandatory  
Mandatory  
Mandatory  
6040 0010  
h
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
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Consumer PDO2 (RPDO2) 1401h (Object Description)  
Index  
Name  
Object Code  
Data Type  
Category  
1401  
h
Receive PDO2 Parameter  
Record  
PDO Communications Parameters  
Optional  
Consumer PDO2 (RPDO2) 1401h (Entry Description)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
02  
Highest Supported Sub-Index  
Mandatory  
R/W  
h
0000 0300 or  
h
01h  
COB-ID used by PDO  
Mandatory  
R/W  
8000 0000 +  
h
NODE ID  
02h  
03h  
04h  
05h  
Transmission Type  
Inhibit Time  
Mandatory  
Optional  
R/W  
R/W  
255  
d
Reserved  
Event Timer  
Optional  
R/W  
0
d
1601h (Object Description – Mapping Parameters)  
Index  
Name  
Object Code  
Data Type  
Category  
1601  
h
Receive PDO2 Mapping  
Record  
PDO Mapping  
Conditional, if 1401 is  
h
implemented  
1601h (Entry Description – Mapping Parameters)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
01  
Highest Supported Sub-Index  
Mandatory  
Mandatory  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
h
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
1st Application Object  
2nd Application Object  
3rd Application Object  
4th Application Object  
5th Application Object  
6th Application Object  
7th Application Object  
8th Application Object  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
6040 0010  
6060 0008  
h
h
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
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Consumer PDO3 (RPDO3) 1402h (Object Description)  
Index  
Name  
Object Code  
Data Type  
Category  
1402  
h
Receive PDO3 Parameter  
Record  
PDO Communications Parameters  
Optional  
Consumer PDO3 (RPDO3) 1402h (Entry Description)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
02  
Highest Supported Sub-Index  
Mandatory  
R/W  
h
0000 0400 or  
h
01h  
COB-ID used by PDO  
Mandatory  
R/W  
8000 0000 +  
h
NODE ID  
02h  
03h  
04h  
05h  
Transmission Type  
Inhibit Time  
Mandatory  
Optional  
R/W  
R/W  
255  
d
Reserved  
Event Timer  
Optional  
R/W  
0
d
1602h (Object Description – Mapping Parameters)  
Index  
Name  
Object Code  
Data Type  
Category  
1601  
h
Receive PDO3 Mapping  
Record  
PDO Mapping  
Conditional, if 1402 is  
h
implemented  
1602h (Entry Description – Mapping Parameters)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
Mandatory  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
01  
h
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
1st Application Object  
2nd Application Object  
3rd Application Object  
4th Application Object  
5th Application Object  
6th Application Object  
7th Application Object  
8th Application Object  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
6040 0010  
h
607A 0020  
h
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Producer PDO1 (TPDO1) 1800h (Object Description)  
Index  
Name  
Object Code  
Data Type  
PDO Communications Parameters  
Category  
1800  
h
Transmit PDO1 Parameter  
Record  
Optional  
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Producer PDO1 (TPDO1) 1800h (Entry Description)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
R
02  
h
4000 0180 +  
h
NODE ID  
01h  
COB-ID used by PDO  
Mandatory  
R/W  
02h  
03h  
04h  
05h  
Transmission Type  
Inhibit Time  
Mandatory  
Optional  
R/W  
R/W  
255  
d
Reserved  
Event Timer  
Optional  
R/W  
0
d
1A00h (Object Description – Mapping Parameters)  
Index  
Name  
Object Code  
Data Type  
Category  
Mandatory  
1A00  
h
Transmit PDO1 Mapping  
Record  
PDO Mapping  
1A00h (Entry Description – Mapping Parameters)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
Mandatory  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
01  
h
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
1st Application Object  
2nd Application Object  
3rd Application Object  
4th Application Object  
5th Application Object  
6th Application Object  
7th Application Object  
8th Application Object  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
6041 0010  
h
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Producer PDO2 (TPDO2) 1801h (Object Description)  
Index  
Name  
Object Code  
Data Type  
PDO Communications Parameters  
Category  
1801  
h
Transmit PDO2 Parameter  
Record  
Optional  
Producer PDO2 (TPDO2) 1801h (Entry Description)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
R
—
4000 0280 or  
h
01h  
COB-ID used by PDO  
Mandatory  
R/W  
C000 0280 +  
h
NODE ID  
02h  
03h  
04h  
05h  
Transmission Type  
Inhibit Time  
Mandatory  
Optional  
R/W  
R/W  
255  
d
0
d
Reserved  
Event Timer  
Optional  
R/W  
0
d
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1A01h (Object Description – Mapping Parameters)  
Index  
Name  
Object Code  
Data Type  
Category  
1A01  
h
Transmit PDO2 Mapping  
Record  
PDO Mapping  
Conditional if 1801 is  
h
implemented  
1A01h (Entry Description – Mapping Parameters)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
Mandatory  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
02  
h
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
1st Application Object  
2nd Application Object  
3rd Application Object  
4th Application Object  
5th Application Object  
6th Application Object  
7th Application Object  
8th Application Object  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
6041 0010  
6061 0008  
h
h
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Producer PDO3 (TPDO3) 1802h (Object Description)  
Index  
Name  
Object Code  
Data Type  
PDO Communications Parameters  
Category  
1802  
h
Transmit PDO3 Parameter  
Record  
Optional  
Producer PDO3 (TPDO3) 1802h (Entry Description)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
R
—
4000 0380 or  
h
01h  
COB-ID used by PDO  
Mandatory  
R/W  
C000 0380 +  
h
NODE ID  
02h  
03h  
04h  
05h  
Transmission Type  
Inhibit Time  
Mandatory  
Optional  
R/W  
R/W  
255  
d
0
d
Reserved  
Event Timer  
Optional  
R/W  
0
d
1A02h (Object Description – Mapping Parameters)  
Index  
Name  
Object Code  
Data Type  
Category  
1A02  
h
Transmit PDO3 Mapping  
Record  
PDO Mapping  
Conditional if 1802 is  
h
implemented  
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1A02h (Entry Description – Mapping Parameters)  
Sub-Index  
00h  
Description  
Category  
Access  
Value Range  
Default  
Highest Supported Sub-Index  
Mandatory  
R/W  
02  
h
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
1st Application Object  
2nd Application Object  
3rd Application Object  
4th Application Object  
5th Application Object  
6th Application Object  
7th Application Object  
8th Application Object  
Mandatory  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
6041 0010  
6064 0010  
h
h
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
Mfg. Specific  
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Section 3  
Manufacturer Specific Objects  
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 — Key Required  
Object 2000h: I/O Discretes (Config)  
Object Description  
Index  
Name  
Object Code Data Type  
2000  
I/O Discretes  
VAR  
Unsigned 8  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
0x00 (1 = Output,  
0 = Input)  
01h  
02h  
ConFigure I/O as Output  
Mandatory  
R/W  
R/W  
No  
No  
0x00 — 0xFF  
0x00 (1 =  
0x00 — 0xFF Sourcing Only, 0 =  
Sinking Only)  
ConFigure I/O as Sourcing Mandatory  
0x00 (1 = Both  
Source and Sink,  
0 = See Sub-  
03h  
04h  
ConFigure I/O as Both  
Mandatory  
Mandatory  
R/W  
R/W  
No  
No  
0x00 — 0xFF  
Index 2)  
0x00 (1 = Invert  
Polarity of Digital  
Inputs, 0 = See  
ConFigure I/O as Polarity  
In  
0x00 — 0xFF  
Index 60FDh  
Sub-Index 1 Bits  
<23...16>)  
0x00 (1 = Invert  
Polarity of Digital  
0x00 — 0xFF I/O, 0 = See Index  
60FEh Sub-Index  
ConFigure I/O as Polarity  
Out  
05h  
Mandatory  
R/W  
No  
1 Bits <23...16>)  
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Object 2002h: I/O Discretes (Config)  
Object Description  
Index  
Name  
Object Code  
Data Type  
2002  
Config Input Switches VAR  
Unsigned 8  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
0x00 (1 = Selects  
0x00 — 0xFF I/O# as the Home  
Switch)  
01h  
02h  
03h  
ConFigure I/O as Home  
Mandatory  
Mandatory  
Mandatory  
R/W  
R/W  
R/W  
No  
0x00 (1 = Selects  
ConFigure I/O as Positive  
Limit  
No  
No  
0x00 — 0xFF  
0x00 — 0xFF  
I/O# as the  
Positive Limit)  
0x00 (1 = Selects  
I/O# as the  
ConFigure I/O as Negative  
Limit  
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.  
Input Filter Mask  
2004.01  
h
7
6
5
4
3
2
1
0
MSB  
LSB  
0
0
0
0
0
0
1
1
IN12 IN11 IN10  
IN9  
IN4  
IN3  
IN2  
IN1  
Filter Inputs 1 & 2  
Input Filter Time  
2006.01  
h
6
7
5
4
3
2
1
0
0
1
1
0
0
1
0
0
MSB  
LSB  
Filter Time 100 mSec.  
60FD Digital Inputs  
h
Figure 3.1: Input Filter Mask  
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Object Description  
Index  
Name  
Object Code  
Data Type  
2004  
Input Filter Mask  
VAR  
Unsigned 8  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
01h  
02h  
Input Filter Mask  
Input Filter Mask  
Optional  
Optional  
R/W  
R/W  
No  
No  
00 FF  
h –  
01  
h
h
00 FF  
h –  
02  
h
h
03h  
04h  
05h  
06h  
07h  
Input Filter Mask  
Input Filter Mask  
Input Filter Mask  
Input Filter Mask  
Input Filter Mask  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
R/W  
R/W  
R/W  
R/W  
No  
No  
No  
No  
No  
00 FF  
h –  
04  
h
h
h
h
h
h
00 FF  
h –  
08  
h
00 FF  
h –  
10  
h
00 FF  
h –  
20  
h
00 FF  
h –  
40  
h
Object 2006h: Input Filter Time (ms)  
Object Description  
Index  
Name  
Object Code  
Data Type  
2006  
Input Filter Time  
VAR  
Unsigned 8  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
01h  
02h  
03h  
04h  
05h  
06h  
07h  
08h  
Input Filter Time  
Input Filter Time  
Input Filter Time  
Input Filter Time  
Input Filter Time  
Input Filter Time  
Input Filter Time  
Input Filter Time  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
Optional  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
R/W  
No  
No  
No  
No  
No  
No  
No  
No  
0 – 250 ms  
0 – 250 ms  
0 – 250 ms  
0 – 250 ms  
0 – 250 ms  
0 – 250 ms  
0 – 250 ms  
0 – 250 ms  
0
0
0
0
0
0
0
0
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Object 2010h: Analog Input  
Object Description  
Index  
Name  
Object Code  
Data Type  
2010  
Analog Input  
VAR  
See Entry Desc.  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Data Type  
Mapping  
01h  
02h  
Analog Reading  
Mandatory  
Mandatory  
R/W  
R/W  
Yes  
No  
0 - 1023  
0
0
Unsigned 16  
Unsigned 8  
0=5V Scale  
8=10V Scale  
2=20mA Scale  
Analog Input  
Configuration  
0=No  
Filtering  
03h  
Input Filtering  
Mandatory  
R/W  
No  
0 — 31  
Unsigned 8  
Object 2020h: Software Limits as Hardware Limits  
Object Description  
Index  
Name  
Object Code  
Data Type  
2020  
VAR  
Unsigned 8  
h
Software Limits as  
Hardware  
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
01h  
02h  
Limit Reached Flag  
Optional  
Optional  
R/W  
R/W  
No  
No  
00 FF  
h –  
0
0
h
Limit Reached Mask  
00 FF  
h –  
h
Object 2022h: Actual Position Software Limit  
Object Description  
Index  
Name  
Object Code  
Data Type  
2022  
VAR  
Signed 32  
h
Actual Position  
Software Limit  
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
01h  
02h  
Actual Negative Limit  
Optional  
Optional  
R/W  
R/W  
No  
No  
Full 32 Bit  
Full 32 Bit  
80000000  
h
Actual Positive Limit  
7FFFFFFF  
h
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Object 2031h: Unit Options (Encoder Enable, Capture In/Trip Out)  
Object Description  
Index  
Name  
Object Code Data Type  
2031  
Unit Options  
VAR  
Unsigned 8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/W/S  
No  
0/1  
0
Note: Encoder functions only apply to the MDrive products. The MForce products do not have closed loop capability.  
Bit  
0x80  
0x40  
0x20  
0x10  
0x08  
0x04  
0x02  
0x01  
Position  
0
Reserved Reserved Reserved Reserved  
Reserved Reserved Reserved Reserved  
Encoder  
Disabled  
Capture In  
Trip Out  
Reserved  
Reserved  
Reserved  
Reserved  
1
Encoder  
Enabled  
Default  
0
0
0
0
0
0
0
0
0
1
0
1
0
0
0
0
Example  
Object 2032h: Clock Options  
Object Description  
Index  
Name  
Object Code Data Type  
2032  
Clock Options  
VAR  
Unsigned 8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/W/S  
No  
See Table  
0
Bit  
Position  
0x80  
n/a  
0x40  
n/a  
0x20  
0x10  
n/a  
0x08  
0x04  
0x02  
n/a  
0x01  
n/a  
0
1
n/a  
n/a  
n/a  
Invert  
Direction  
Invert  
Step  
Reserved  
Square  
Out  
Step Up/Dn  
Reserved  
Quadrature  
Step/  
Direction  
Default  
0
0
0
0
0
0
0
0
0
1
0
0
0
1
0
Example  
Object 2033h: Capture Input  
Object Description  
Index  
Name  
Object Code  
Data Type  
2033  
Capture Input  
VAR  
See Entry Desc.  
h
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Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Data Type  
Mapping  
Enable Capture  
Position  
01h  
02h  
03h  
04h  
R/W  
R/W  
R/W  
R/W  
Yes  
No  
No  
No  
0/1  
0/1  
Enable Capture  
Input Flag  
Capture Input  
Filter  
Capture In  
Position  
Object 2204h: Run Current Percent  
Object Description  
Index  
Name  
Object Code Data Type  
2204  
Run Current %  
VAR  
Unsigned 8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/W/S  
No  
1 - 100  
25  
Run Current % By Device  
2204  
MDrivePlus (All)  
MForce MicroDrive  
MForce PowerDrive  
(Amps RMS)  
h
(Amps RMS)  
10  
20  
30  
40  
50  
60  
70  
80  
90  
100  
MDrive Range 0 To  
100%  
0.3  
0.6  
0.9  
1.2  
1.5  
1.8*  
2.1  
2.4  
2.7  
3.0  
0.5  
1.0  
1.5  
2.0  
2.5  
3.0  
3.5  
4.0  
4.5  
5.0  
Actual Current Not  
required as Motor is  
appropriately sized  
to the device.  
Shaded Area Reserved for Future Use  
*HC=67 for maximum 2.0 Amp Hold Current  
Object 2205h: Hold Current Percent  
Object Description  
Index  
Name  
Object Code Data Type  
2205  
Hold Current %  
VAR  
Unsigned 8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/W/S  
No  
0 - 100  
5
22  
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Hold Current % By Device  
2205  
MDrivePlus (All)  
MForce MicroDrive  
MForce PowerDrive  
(Amps RMS)  
h
(Amps RMS)  
10  
20  
30  
40  
50  
60  
70  
80  
90  
100  
MDrive Range 0 To  
100%  
0.3  
0.6  
0.9  
1.2  
1.5  
1.8*  
2.1  
2.4  
2.7  
3.0  
0.5  
1.0  
1.5  
2.0  
2.5  
3.0  
3.5  
4.0  
4.5  
5.0  
Actual Current Not  
required as Motor is  
appropriately sized  
to the device.  
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  
Object Code Data Type  
2211  
VAR  
Integer 32  
h
Position Present  
Point Target  
Entry Description  
Access  
PDO Mapping  
Range  
± 231  
Default  
R
No  
0
Object 2212h: Position Final Point Target  
Object Description  
Index  
Name  
Object Code Data Type  
2212  
Position Final Point VAR  
Target  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
± 231  
R/W/S  
No  
0
Object 5001h: Configuration  
The following object is set at the factory, and is not user configurable.  
Object Description  
Index  
Name  
Object Code Data Type  
5001  
Options Setting  
Unsigned 32  
h
Part 2: DSP-402 Implementation  
23  
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Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/K  
No  
N/A  
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  
Name  
Object Code Data Type  
5002  
ASCII Ser. No.  
Unsigned 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/K  
No  
N/A  
Factory  
Object 5003h: ASCII Part 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  
Object Code Data Type  
5003  
ASCII Part No.  
Unsigned 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/K  
No  
N/A  
Factory  
Object 5004h: Motor Parameters  
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  
Object Code Data Type  
5004  
Motor Parameters  
Unsigned 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
R/K  
No  
N/A  
Factory  
24  
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Section 4  
Device Control  
Device Control  
Controlword 6040h  
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  
Modes of Operation  
6060h  
Profile Position  
State Machine  
Profile Velocity  
Control and Status words  
Statusword  
6041h  
Controlword (Object Index 6040h) controls the state  
and operation modes of the MDrivePlus CANopen.  
Statusword (Object Index 6041h) returns the status of the  
MDrivePlus CANopen.  
Figure 4.1: Device Control  
State Machine  
The State Machine describes the status and control sequence of the MDrivePlus CANopen and specifies the Initialization sta-  
tus, the Pre-Operational status, the Operational status, and the Stopped status. See Figure 1.2 for a diagrammatic representa-  
tion of State machine states and state transitions.  
State Machine States  
State  
Status Description  
Not Ready to Switch On  
Low Level Power Applied.  
The drive is being initialized or is running a self test.  
A brake, if present, is applied in this state.  
The drive function is disabled.  
Switch On Disabled  
Drive Initialization is complete.  
The drive parameters have been set up.  
Drive parameters may be changed.  
High Voltage may not be applied to the drive.  
The drive function is disabled.  
Ready To Switch On  
Switched On  
High Voltage may be applied to the drive.  
The drive parameters may be changed.  
The drive function is disabled.  
High Voltage has been applied to the drive.  
The Power Amplifier is ready.  
The drive parameters may be changed.  
The drive function is disabled.  
Operation Enable  
Quick Stop Active  
No faults have been detected.  
The drive function is enabled and power is applied to the motor.  
The drive parameters may be changed.  
(This corresponds to normal operation of the drive.)  
The drive parameters may be changed.  
The Quick Stop function is being executed.  
The drive function is enabled and power is applied to the motor.  
NOTE: If the ‘Quick-Stop-Option-Code’ is switched to 5 (Stay in Quick-Stop), the  
MDrivePlus cannot exit the Quick-Stop-State, but you can transmit to ‘Operation  
Enable’ with the command ‘Enable Operation’.  
Fault Reaction Active  
The drive parameters may be changed.  
A non-fatal fault has occurred in the drive.  
The Quick Stop function is being executed.  
The drive function is enabled and power is applied to the motor.  
SUPPORT UNDER  
DEVELOPMENT  
Fault  
The drive parameters may be changed.  
A fault has occurred in the drive.  
The drive function is disabled.  
SUPPORT UNDER  
DEVELOPMENT  
Table 4.1: State Machine States  
Part 2: DSP-402 Implementation  
25  
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State Machine Transitions  
Transition  
Number  
From State  
To State  
Event/Action  
Event:  
Action:  
Reset.  
Not Ready To Switch  
On  
Start  
0
1
The drive self-tests and/or self-initializes.  
The drive has self-tested and/or initialized  
successfully.  
Event:  
Action:  
Not Ready To  
Switch On  
Switch On Disabled  
Activate communication and process data  
monitoring  
Event:  
Action:  
Event:  
‘Shutdown’ command received from host.  
None.  
Switch On Disabled Ready to Switch On  
Ready to Switch On Switched On  
2
3
4
5
‘Switch On’ command received from host.  
The power section is switched on if it is not  
already switched on.  
Action:  
Event:  
Action:  
‘Enable Operation’ command received from host.  
The drive function is enabled.  
Switched On  
Operation Enable  
Switched On  
‘Disable Operation’ command received from  
host.  
Event:  
Operation Enable  
Switched On  
Action:  
Event:  
Action:  
Event:  
Action:  
Event:  
The drive operation will be disabled.  
‘Shutdown’ command received from host.  
The power section is switched off.  
‘Quick stop’ command received from host.  
None  
Ready to Switch On  
6
7
Ready to Switch On Switch On Disabled  
‘Shutdown’ command received from host.  
Operation Enable  
Operation Enable  
Ready to Switch On  
Switch On Disabled  
8
9
The power section is switched off immediately,  
and the motor is free to rotate if unbraked  
Action:  
Event:  
Action:  
‘Disable Voltage’ command received from host.  
The power section is switched off immediately,  
and the motor is free to rotate if unbraked  
‘Disable Voltage’ or ‘Quick Stop’ command  
received from host.  
Event:  
Action:  
Switched On  
Switch On Disabled  
Quick Stop Active  
Switch On Disabled  
10  
11  
12  
The power section is switched off immediately,  
and the motor is free to rotate if unbraked  
Event:  
Action:  
‘Quick Stop’ command received from host.  
The Quick Stop function is executed.  
Operation Enable  
Quick Stop Active  
All States  
‘Quick Stop’ is completed or ‘Disable Voltage’  
command received from host. This transition  
is possible, if the Quick-Stop-Option-Code is  
different 5 (Stay in Quick-Stop)  
Event:  
Action:  
Event:  
Action:  
Event:  
The power section is switched off.  
A fault has occured in the drive.  
Execute appropriate fault reaction.  
Fault reaction is completed.  
Fault Reaction  
Active  
13  
14  
Fault Reaction  
Active  
Fault  
The drive function is disabled, the power section  
may be switched off.  
Action:  
Event:  
‘Fault Reset’ command is recieved from the host.  
A reset of the fault condition is carried out if no  
fault exists currently on the drive. After leaving  
the ‘Fault’ state the Bit ‘Fault Reset’ of the  
controlword has to be cleared by  
the host.  
Fault  
Switch On Disabled  
15  
16  
Action:  
‘Enable Operation’ command received from  
host. This transition is possible if the Quick-Stop-  
Option-Code is 5,6,7 or 8.  
Event:  
Action:  
Quick Stop Active  
Operation Enable  
The drive function is enabled  
Table 4.2: State Machine Transitions  
26  
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Controlword 6040h  
Power Disabled  
Fault  
13  
Fault Reaction Active  
Start  
14  
0
Not Ready to Switch On  
Fault  
1
15  
Switch On Disabled  
SUPPORT FOR FAULT  
STATES UNDER  
2
7
Internal  
Event  
DEVELOPMENT  
Ready To Switch On  
9 8  
3
4
6
5
10 12  
Switched On  
11  
16  
Operation Enable  
Quick Stop Active  
Power Enabled  
Statusword  
6041h  
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.  
Transitions 0 and 1 occur automatically at drive power-on or reset. All other state changes must be directed by the  
host.  
Drive function disabled indicates that no current is being supplied to the motor.  
Drive function enabled indicates that current is available for the motor and profile position and profile velocity  
reference values may be processed.  
Part 2: DSP-402 Implementation  
27  
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Object 6040 — Controlword  
h
Ths controlword is a mandatory, unsigned 16 bit number containing bits for controlling the state and operating modes for the MDrivePlus CANo-  
pen.  
Object Description  
Index  
Name  
Object Code  
Data Type  
6040  
Controlword  
VAR  
Unsigned16  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r/w  
n/a  
Unsigned16  
n/a  
Data Description  
MSB  
15  
LSB  
7
11  
10  
9
8
6
4
3
2
1
0
Manufacturer  
Specific  
Reserved  
Halt  
Fault  
Reset  
Operation  
Mode Specific  
Enable  
Operation  
Quick  
Stop  
Enable  
Voltage  
Switch  
On  
O
O
O
M
O
M
M
M
M
O=Optional M= Mandatory  
Device Control Command Bit Patterns (Bits 0-3 and 7)  
Bit of Controlword (6040h)  
State  
Transitions  
Enable  
Operation  
(Bit 3)  
Enable  
Voltage  
(Bit 1)  
Command  
Fault Reset  
(Bit 7)  
Quick Stop  
(Bit 2)  
Switch On  
(Bit 0)  
Shutdown  
0
0
0
0
0
0
0
X
0
1
X
X
0
1
X
1
1
1
X
0
1
1
X
1
1
1
0
1
1
1
X
0
1
1
X
X
1
1
X
2, 6, 8  
Switch On  
3
Switch On  
3
7, 9, 10, 12  
7,10, 11  
5
Disable Voltage  
Quick Stop  
Disable Operation  
Enable Operation  
Fault Reset  
4, 16  
15  
*The MDrivePlus CANopen executes the functionality of Switched On  
** The MDrivePlus CANopen will do nothing  
Table 4.3: MDrivePlus CANopen Device Control Commands (Bits Marked X are not relevant)  
Device Operation Mode Bit Patterns (Bits 4-6 and 8)  
Controlword 6040h Bits 4-6, 8  
Operation Mode  
Bit 8  
Halt  
Halt  
Halt  
Bit 6  
Bit 5  
Change Set Immediately  
Reserved  
Bit 4  
Profile Position  
Profile Velocity  
Homing*  
Absolute/Relative  
Reserved  
New Setpoint  
Reserved  
Reserved  
Homing Operation Start  
Reserved  
*Homing Mode is currently under development for the MDrivePlus CANopen  
Table 4.4: MDrivePlus CANopen Operation Modes  
28  
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Object 6041 — Statusword  
h
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.  
Manufacturer Specific options.  
Object Description  
Index  
Name  
Object Code  
Data Type  
6041  
Statusword  
VAR  
Unsigned16  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
ro  
n/a  
Unsigned16  
n/a  
Data Description  
Statusword (6041 ) Bits  
h
MSB  
LSB  
15  
O
14  
O
13  
O
12  
O
11  
M
10  
M
9
M
8
O
7
O
6
M
5
M
4
M
3
M
2
M
1
M
0
M
Figure 4.3: Statusword Bits  
Bits 0-3 and 5-6  
The following bits indicate the status of the MDrivePlus CANopen.  
Bit of Statusword (6041h)  
Status  
5
0
1
0
0
0
0
0
0
6
X
X
1
4*  
X
X
X
X
X
X
X
X
3
0
0
0
0
0
0
1
0
2
0
0
0
0
1
1
1
0
1
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
1
0
Not Ready to Switch On  
Switch On Disabled  
Ready to Switch On  
Switched On  
1
Operation Enabled  
Quick Stop Active  
Fault Reaction Active  
Fault  
1
0
X
X
X=Irrelevant Bit State, *Bit 4 shown for illustration purpose only.  
Table 4.5: Device State Bits for Statusword  
Part 2: DSP-402 Implementation  
29  
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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. The setting of the other bits indicates the status of the drive  
(e.g. the drive is performing a quick stop as result of a reaction to a non-fatal fault. The fault bit is set as well as bits 0, 1  
and 2).  
Bit 7: Warning  
A drive warning is present if bit 7 is set. The cause means no error but a state that has to be mentioned, e.g. temperature  
limit, job refused. The status of the drive does not change. The cause of this warning may be found by reading the fault  
code parameter. The bit is set and reset by the device.  
Bit 8: Manufacturer Specific  
This bit may be used by a drive manufacturer to implement any manufacturer specific functionality.  
Bit 9: Remote  
If bit 9 is set, then parameters may be modified via the CAN-network, and the drive executes the content of a command  
message. If the bit remote is reset, then the drive is in local mode and will not execute the command message. The drive  
may transmit messages containing valid actual values like a position_actual_value, depending on the actual drive  
configuration. The drive will accept accesses via service data objects (SDOs) in local mode.  
Bit 10: Target Reached  
If bit 10 is set by the drive, then a setpoint has been reached (torque, speed or position depending on the modes_of_op-  
eration). The change of a target value by software alters this bit. If quickstop_option_code is 5, 6, 7 or 8, this bit must be  
set, when the quick stop operation is finished and the drive is halted. If Halt occured and the drive has halted then this  
bit is set too.  
Bit 11: Internal Limit Active  
This bit set by the drive indicates, that an internal limitation is active (e.g. position_range_limit).  
Bits 12-13: Operation Mode Specific  
Statusword 6041h  
Operation Mode  
Bit 12  
Bit 13  
Profile Position  
Set Point  
Following Error  
Acknowledge  
Profile Velocity  
Homing*  
Speed  
Max Slippage Error  
Homing Error  
Homing Attained  
*Homing Mode is currently under development for the MDrivePlus CANopen  
Table 4.6: MDrivePlus CANopen Operation Mode Status  
Bit 14-15: Manufacturer Specific  
These bits may be used by a drive manufacturer to implement any manufacturer specific functionality.  
30  
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Section 5  
Modes of Operation  
Object 6060 — Modes of Operation  
h
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.  
The MDrivePlus allows the user to switch dynamically from operation mode to operation mode.  
Mode of Operation  
(6060 )  
h
Profile Velocity Mode  
Profile Position Mode  
Operation  
Mode  
Function  
Homing Mode  
Mode of Operation Display  
(6061 )  
h
Figure 5.1: Mode of Operation  
The IMS MDrivePlus CANopen supports the following Modes of Operation:  
Profile Position  
Profile Velocity  
Homing Mode  
Object Description  
Index  
Name  
Object Code  
Data Type  
6060  
Mode of Operation VAR  
±Integer8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
n/a  
±Integer8  
n/a  
Data Description  
The actual mode is reflected in the modes_of_operation_display (index 6061h), and not in the modes of operation  
(index 6060h). It may be changed by writing to modes of operation.  
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Mode of Operation (6060 )  
h
8...127  
7
6
5
4
3
2
1
0
-1...-128  
Gray Text modes unsupported by MDrivePlus CANopen  
Figure 5.2: Modes of Operation  
Object 6061 — Modes of Operation Display  
h
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  
Object Code Data Type  
6061  
Mode of Operation Display VAR  
±Integer8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
±Integer8  
n/a  
Data Description  
Same as Object 6060h Modes of Operation.  
Object 6502 — Supported Drive Modes  
h
This object shall provide information on the supported drive modes.  
Object Description  
Index  
Name  
Object Code Data Type  
6061  
Mode of Operation Display VAR  
±Integer8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
±Integer8  
n/a  
Data Description  
Same as Object 6060h Modes of Operation.  
32  
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31  
16 15  
10  
9
8
7
6
5
4
3
2
1
0
0
0
0
0
1
0
0
1
0
1
MSB  
LSB  
Reserved  
Cyclic Sync Torque  
Cyclic Sync Velocity  
MFG Specific  
Cyclic Sync Position  
Interpolated Position  
Homing  
Reserved  
1 = Mode Supported  
0 = Mode Not Supported  
Profile Torque  
Profile Velocity  
Velocity  
Profile Position  
Figure 5.3: Supported Drive Modes  
Part 2: DSP-402 Implementation  
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34  
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Section 6  
Profile Position Mode  
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.  
Trajectory Generator  
Position  
Velocity  
target_position (607Ah)  
position_demand_value (60FCh)  
profile_velocity (6081h)  
end_velocity (6082h)  
Multiplier  
polarity (607Eh)  
profile_acceleration (6083h)  
profile_deceleration (6084h)  
Acceleration  
Figure 6.1: Trajectory Generator Block Diagram  
At the input to the Trajectory Generator, parameters may have optional limits applied before being normalized to internal  
units. Normalized parameters are denoted with an asterisk. The simplest form of a Trajectory Generator is just to pass through  
a target_position and to transform it to a position_demand_value* with internal units (increments) only.  
Note that the  
MDrivePlus CANopen  
is fixed at 256  
microsteps/full motor  
step or 51,200  
microsteps per motor  
revolution.  
For the IMS MDrivePlus CANopen the following values apply:  
•
•
•
•
•
•
target_position — microsteps  
profile_velocity — microsteps/sec  
end_velocity — microsteps/sec  
profile_acceleration — microsteps/sec  
2
2
profile_deceleration — microsteps/sec  
position_demand_value — microsteps  
Input Data Description  
Operating Mode  
Description  
Profile Position  
target_position, profile_velocity, end_velocity, profile_  
acceleration, profile_deceleration  
Output Data Description  
Operating Mode  
Description  
Profile Position  
position_demand_value  
Part 2: DSP-402 Implementation  
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Functional Description  
There are two different ways to apply target_positions to a drive, are supported by this device profile.  
1. 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.  
2. 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. After reaching a target_position the velocity normally is reduced to zero before starting a move to the next  
set-point.  
The two modes are controlled by the timing of the bits new_set-point and change_set_immediately in the controlword and  
set-point_acknowledge in the statusword.  
These bits allow to set up a request-response mechanism in order to prepare a set of set-points while another set still is pro-  
cessed in the drive unit. This minimizes reaction times within a control program on a host computer.  
data  
2
4
Bit 4: new_set-point  
ControlWord  
(6040h)  
6
0 = Single Set-Point 1 = Set of Set-points  
Bit 5: change_set_immediately  
1
3
5
StatusWord  
(6041h)  
Bit 12: set-point_acknowledge  
1
Single Set-Point is Expected by MDrivePlus  
2
3
4
5
Host Signals “Data is Valid” new_set-point = 1  
MDrivePlus responds by setting Bit 12, set-point_acknowledge = 1  
Once Data is Validated, Host may release new_set-point  
MDrivePlus responds by setting Bit 12, set-point_acknowledge = 0  
MDrivePlus is ready to accept new data  
6
Indicates state Change of change_set_immediately to 1  
Figure 6.2: Set-Point Transmission from Host Computer  
Figure 6.2, Figure 6.3 and Figure 6.4 illustrate the difference between the “set of set-points” mode and the “single set-point”  
mode. The initial status of the bit change_set_immediately in the controlword determines which mode is used. Trapezoidal  
moves are used as this is the only motion_profile_type the MDrivePlus CANopen supports.  
If the bit change_set_immediately is “0” (shaded area in Figure 3.2) a single set-point is expected by the drive . After data  
is applied to the drive, a host signals that the data is valid by changing the bit new_setpoint to “1” in the controlword . The  
drive responds with set-point_acknowledge set to “1” in the statusword after it recognized and buffered the new valid data.  
Now the host may release new_setpoint  
and afterwards the drive signals with set-point_acknowledge equal “0” its ability  
to accept new data again . In Figure 3.3 this mechanism results in a velocity of zero after ramping down in order to reach  
a target_position X .at T . After signalling to the host, that the set-point is reached like described above, the next target_posi-  
1
1
tion X is processed at T and reached at T .  
2
2
3
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Velocity  
target_position X  
2
V
2
target_position X  
1
V
1
T
T
T
T
3
0
1
2
Time  
Figure 6.3: Single Set-Point Mode (Move After a Move) 6040h Bit 5=0  
With change_set_immediately set to “1” , symbolized by the clear area in Figure 6.2, the host advises the drive to apply  
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 and to keep its velocity when it reaches the target_position X at T .  
2
1
1
Then drive moves immediately to the already calculated next target_position X .  
2
Velocity  
target_position reached  
Second target_position  
given - immediate response  
V
2
V
1
T
T
T
2
0
1
Time  
Figure 6.4: Set of Setpoints (Move on a Move) 6040h Bit 5=1  
Controlword (6040 ) of Profile Position Mode  
h
15  
9
8
7
6
5
4
3
0
See 1.3  
Halt  
See 1.3  
abs/rel  
Change Set Immediately  
New Set-Point See 1.3  
LSB  
MSB  
Bit  
Name  
Value Description  
0
1
0
1
0
1
0
1
Does not assume target position  
Assume target position  
4
New Set Point  
Finish the actual positioning and then start the next positioning  
Interrupt the actual positioning and start the next positioning  
Target position is an absolute value  
Change Set  
Immediately  
5
6
8
abs/rel  
Halt  
Target position is a relative value  
Execute positioning  
Stop motion with profile deceleration  
Table 6.1: Profile Position Mode Bits of Controlword  
Part 2: DSP-402 Implementation  
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Statusword (6041 ) of Profile Position Mode  
h
9
14  
See 1.4  
13  
12  
11  
10  
9
0
Following Error  
Set-Point Acknowledge  
See 1.4  
Target Reached  
See 1.4  
LSB  
MSB  
Bit  
Name  
Value Description  
0
Halt=0: Target position not reached  
Halt=1: Axis decelerating  
10  
Target Reached  
1
Halt=0: Target position reached  
Halt=1: Axis velocity is 0  
0
1
0
1
Trajectory generator has not assumed the positioning values yet  
Trajectory generator has assumed the positioning values  
No following error  
Set-Point  
Acknowledge  
12  
13  
Following Error  
Following error  
Table 6.2: Profile Position Mode Bits of Statusword  
Object 607A — Target Position  
h
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. The target position is given in terms of 51,200  
units per motor shaft revolution. The target position will be interpreted as absolute or relative depending on the absolute  
relative flag (bit 6) in the controlword.  
Object Description  
Index  
Name  
Object Code Data Type  
607A  
Target Position  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 32  
n/a  
Object 6081 — Profile Velocity  
h
The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for  
both directions of motion. The profile velocity is given in steps per second..  
Object Description  
Index  
Name  
Object Code Data Type  
6081  
Profile Velocity  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 32  
n/a  
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Object 6082 — End Velocity  
h
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 same units as profile velocity.  
Object Description  
Index  
Name  
Object Code Data Type  
6082  
End Velocity  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 32  
n/a  
Object 6083 — Profile Acceleration  
h
2
Profile Acceleration is given in steps/sec  
Object Description  
Index  
Name  
Object Code Data Type  
6083  
Profile Acceleration VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 32  
n/a  
Object 6084 — Profile Deceleration  
h
2
Profile Deceleration is given in steps/sec  
Object Description  
Index  
Name  
Object Code Data Type  
6084  
Profile Deceleration VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 32  
n/a  
Part 2: DSP-402 Implementation  
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Object 6086 — Motion Profile Type  
h
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  
Object Code Data Type  
6086  
Motion Profile Type VAR  
Integer 16  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 16  
0
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Section 7  
Homing Mode  
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.  
control_word  
status_word  
homing_method  
Homing  
position_demand_value  
homing_speed  
Figure 7.1: The Homing Function  
Input Data Description  
The user can specify the speeds and the method of homing. There are two homing_speeds; in a typical cycle the faster speed  
is used to find the home switch and the slower speed is used to find the index pulse. The manufacturer is allowed some discre-  
tion in the use of these speeds as the response to the signals may be Dependent upon the hardware used.  
Output Data Description  
There is no output data except for those bits in the statusword which return the status or result of the homing process and the  
demand to the position control loops.  
Internal States  
There is only one internal state called homing which is reflected in the bits of the statusword.  
Controlword (6040 ) of Profile Position Mode  
h
15  
9
8
7
6
5
4
3
0
See 1.3  
Halt  
See 1.3  
Reserved  
Homing Operation Start  
See 1.3  
LSB  
MSB  
Bit  
Name  
Value  
Description  
0
1
0
1
Homing Mode Inactive  
Start Homing Mode  
Homing Mode Active  
Interrupt Homing Mode  
Execute the instruction of bit 4  
Stop motion  
0
1
1
0
Homing Operation  
Start  
4
8
Halt  
Table 7.1: Homing Mode Bits of Controlword  
Part 2: DSP-402 Implementation  
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Statusword (6041 ) of Homing Mode  
h
9
14  
See 1.4  
13  
12  
11  
10  
9
0
Homing Error  
Homing Attained  
See 1.4  
Target Reached  
See 1.4  
LSB  
MSB  
Bit  
Name  
Value Description  
0
Halt=0: Home position not reached  
Halt=1: Axis decelerating  
10  
Target Reached  
1
Halt=0: Home position reached  
Halt=1: Axis velocity is 0  
0
1
0
1
Homing Mode not yet complete  
12  
13  
Homing Attained  
Following Error  
Homing Mode carried out successfully  
No homing error  
Homing error  
Table 7.2: Homing Mode Bits of Statusword  
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). During homing the machine  
home position is found and once the homing is completed  
the zero position is offset from the home position by adding  
the home offset to the home position. All subsequent absolute  
moves shall be taken relative to this new zero position. This is  
illustrated in Figure 7.2. If this object is not implemented then  
the home offset shall be regarded as zero. The value of this  
0
HOME  
OFFSET (Steps)  
Figure 7.2: Home Offset  
object shall be given in micro steps. Negative values shall indicate the opposite direction.  
Object Description  
Index  
Name  
Object Code Data Type  
607C  
Homing Offset  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
Integer 32  
0
d
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Homing Method (6098h)  
The homing method object determines the method that will be used during homing.  
Object Description  
Index  
Name  
Object Code Data Type  
6098  
Homing Method  
VAR  
± Integer 8  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
Possible  
± Integer 8  
0
Data Description  
Value  
-128 — -1  
0
Description  
Manufacturer Specific  
No Homing Operation Required  
1 — 35  
36 — 128  
Homing Methods 1 through 35 (See Functional Description)  
Reserved  
Functional Description of Homing Methods  
Method 1: Homing on the Negative Limit Switch and Index Pulse  
Using this method the initial direction of movement is leftward if the negative limit switch is inactive (here  
shown as low). The home position is at the first index pulse to the right of the position where the negative limit  
switch becomes inactive.  
1
Axis Direction  
Index Pulse  
Negative Limit Switch  
Figure 7.3: Homing on the Negative Limit and Index Pulse  
Part 2: DSP-402 Implementation  
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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.  
Axis Direction  
2
Index Pulse  
Positive Limit Switch  
Figure 7.4: Homing on the Positive Limit and Index Pulse  
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 state of the home switch. The home  
position is at the index pulse to either to the left or the right of the point where the home switch changes state. If  
the initial position is sited so that the direction of movement must reverse during homing, the point at which the  
reversal takes place is anywhere after a change of state of the home switch.  
3
3
4
4
Index Pulse  
Home Switch  
Figure 7.5: Homing on the Positive Home Switch and Index Pulse  
Methods 5 and 6: Homing on the Negative Home Switch and Index Pulse  
Using methods 5 or 6 the initial direction of movement is dependent on the state of the home switch. The home  
position is at the index pulse to either to the left or the right of the point where the home switch changes state. If  
the initial position is sited so that the direction of movement must reverse during homing, the point at which the  
reversal takes place is anywhere after a change of state of the home switch.  
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5
5
6
6
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’ action as the axle`s position sweeps past the switch.  
Using methods 7 to 10 the initial direction of movement is to the right, and using methods 11 to 14 the initial  
direction of movement is to the left except if the home switch is active at the start of the motion. In this case the  
initial direction of motion is Dependent on the edge being sought. The home position is at the index pulse on  
either side of the rising or falling edges of the home switch, as shown in the following two diagrams. If the initial  
direction of movement leads away from the home switch, the drive must reverse on encountering the relevant  
limit switch.  
10  
10  
8
9
7
7
9
9
8
8
7
10  
Index Pulse  
Home Switch  
Positive Limit Switch  
Figure 7.7: Homing on the Home Switch and Index Pulse - Positive Initial Move  
Part 2: DSP-402 Implementation  
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12  
14  
14  
13  
11  
11  
12  
12  
13  
13  
11  
14  
Index Pulse  
Home Switch  
Negative Limit Switch  
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. For example methods 19 and 20 are similar  
to methods 3 and 4 as shown in the following diagram.  
19  
19  
20  
20  
Home Switch  
Figure 7.9: Homing without an Index Pulse  
Methods 31 and 32: Reserved  
These methods are reserved for future expansion of the homing mode.  
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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.  
33  
34  
Index Pulse  
Figure 7.10: Homing on the Index Pulse  
Method 35: Homing on the Current Position  
In method 35 the current position is taken to be the home position.  
Homing Speeds (6099h)  
Object Description  
Index  
Name  
Object Code Data Type  
6099  
Homing Speeds  
VAR  
Unsigned 32  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
01h  
Number of Entries  
Mandatory  
Mandatory  
RO  
No  
2
2
Speed during search for  
switch  
02h  
03h  
R/W  
Possible  
Unsigned 32  
0
0
Speed during search for  
zero  
Mandatory  
R/W  
Possible  
Unsigned 32  
Part 2: DSP-402 Implementation  
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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 Trajectory Generator and with the output of the position detec-  
tion unit (position_actual_value) like a resolver or encoder as input parameters.  
Object 6062 — Position Demand Value  
h
This object shall provide the demanded position value. The value shall be given in motor steps.  
Object Description  
Index  
Name  
Object Code Data Type  
6062  
Position Demand Value VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
Integer 32  
n/a  
Object 6063 — Position Actual Value Internal  
h
This object shall provide the actual value of the position measurement device, which shall be one of the two input values of  
the closed-loop position control  
Object Description  
Index  
Name  
Object Code Data Type  
6063  
Position Actual Value* VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
Integer 32  
n/a  
Object 6064 — Position Actual Value  
h
This object represents the actual value of the position measurement device microsteps.  
Object Description  
Index  
Name  
Object Code Data Type  
6064  
Position Actual Value VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
Integer 32  
n/a  
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Object 6065 — Following Error Window  
h
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. The value shall be given in user defined position units. If the value of the following error  
window is FFFF FFFFh, the following control shall be switched off.  
Object Description  
Index  
Name  
Object Code Data Type  
6065  
Following Error Window VAR  
Unsigned 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
Unsigned 32  
n/a  
Object 6066 — Following Error Timeout  
h
This object shall indicate the conFigure d time for a following error condition, after that the bit 13 of the  
statusword shall be set to 1. The reaction of the drive when a following error occurs is manufacturer-specific.  
The value shall be given in milliseconds.  
Object Description  
Index  
Name  
Object Code Data Type  
6066  
Following Error Timeout VAR  
Unsigned 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
Unsigned 32  
n/a  
Object 6068 — Position Window Time  
h
This object shall indicate the conFigure d time, during which the actual position within the position window  
is measured. The value shall be given in milliseconds.  
Object Description  
Index  
Name  
Object Code Data Type  
6068  
Position Window Time  
VAR  
Unsigned 16  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
r
n/a  
Unsigned 16  
Mfg-Specific  
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Section 9  
Profile Velocity Mode  
Controlword (6040 ) of Profile Velocity Mode  
h
15  
9
8
7
6
3
0
See 1.3  
Halt  
See 1.3  
Reserved  
See 1.3  
LSB  
MSB  
Bit  
Name  
Value Description  
0
1
Execute the Motion  
Stop axis  
Table 8.1: Profile Velocity Mode Bits of Controlword  
8
Halt  
Statusword (6041 ) of Profile Velocity Mode  
h
9
14  
13  
12  
11  
10  
9
0
See 1.4  
Max Slippage Error  
Speed  
See 1.4  
Target Reached  
See 1.4  
MSB  
LSB  
Bit  
Name  
Value Description  
0
Halt=0: Target position not reached  
Halt=1: Axis decelerating  
10  
Target Reached  
1
Halt=0: Target position reached  
Halt=1: Axis velocity is 0  
0
1
0
1
Speed is not equal to 0  
Speed is equal 0  
12  
13  
Speed  
Maximum slippage not reached  
Maximum slippage reached  
Max Slippage  
Error  
Table 8.2: Profile Velocity Mode Bits of Statusword  
Object 606C — Velocity Actual Value  
h
This object shall provide the actual velocity value derived either from the velocity sensor or the position sensor.  
The value shall be given in microsteps per second.  
Object Description  
Index  
Name  
Object Code Data Type  
606C  
Velocity Actual Value  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
ro  
n/a  
Integer 32  
n/a  
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Object 60FF — Target Velocity  
h
The Target Velocity is the input to the trajectory generator and the value is given in microsteps/second.  
Object Description  
Index  
Name  
Object Code Data Type  
60FF  
Target Velocity  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
n/a  
Integer 32  
n/a  
Object 60F8 — Maximum Slippage  
h
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. The reaction of the drive device,  
when the max slippage error occurs, is manufacturer-specific. This value shall be given in umicrosteps.  
Object Description  
Index  
Name  
Object Code Data Type  
60FF  
Maximum Slippage  
VAR  
Integer 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
rw  
n/a  
Integer 32  
Mfg-Specific  
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Section 10  
Optional Application FE (General I/O)  
Object 60FD — Digital Inputs  
h
This object provides for digital inputs.  
31 23  
16 15  
4 3  
2
1
0
MSB  
LSB  
Reserved  
Inputs 12, 11, 10,  
9, 4, 3, 2, 1  
Interlock (Not Supported)  
Home Switch  
0b = Switched Off  
1b = Switched On  
Positive Limit Switch  
Negative Limit Switch  
Figure 10.1: Object 60FD Structure  
Object Description  
Index  
Name  
Object Code Data Type  
60FD  
Digital Inputs  
VAR  
Unsigned 32  
h
Entry Description  
Access  
PDO Mapping  
Range  
Default  
ro  
n/a  
Unsigned 32  
n/a  
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Object 60FE — Digital Outputs  
h
This object provides for digital outputs.  
31 23  
16 15  
1
0
MSB  
LSB  
Reserved  
Outputs 12, 11, 10,  
9, 4, 3, 2, 1  
Brake (Not Supported)  
0b = Switch Off  
1b = Switch On  
Figure 10.2: Object 60FE Structure  
Object Description  
Index  
Name  
Object Code Data Type  
60FE  
Digital Outputs  
ARRAY Unsigned 32  
h
Entry Description  
Sub-Index  
Description  
Category  
Access  
PDO  
Value Range  
Default  
Mapping  
Highest Supported Sub-  
Index  
00h  
Mandatory  
C
No  
02  
h
Mfg-Specific  
01h  
02h  
Physical Outputs  
Bit mask  
Mandatory  
Mandatory  
R/W  
R/W  
Possible  
Possible  
Unsigned 32  
Unsigned 32  
0000 0000  
h
0000 0000  
h
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WARRANTY  
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. Customer’s exclusive remedy under this Limited Warranty shall be the repair or replacement, at Company’s  
sole option, of the Product, or any part of the Product, determined by IMS to be defective. In order to exercise its warranty  
rights, Customer must notify Company in accordance with the instructions described under the heading “Obtaining Warranty  
Service.”  
NOTE: MDrivePlus Motion Control electronics are not removable from the motor in the field.  
The entire unit must be returned to the factory for repair.  
This Limited Warranty does not extend to any Product damaged by reason of alteration, accident, abuse, neglect or  
misuse or improper or inadequate handling; improper or inadequate wiring utilized or installed in connection with the  
Product; installation, operation or use of the Product not made in strict accordance with the specifications and written  
instructions provided by IMS; use of the Product for any purpose other than those for which it was designed; ordinary  
wear and tear; disasters or Acts of God; unauthorized attachments, alterations or modifications to the Product; the misuse  
or failure of any item or equipment connected to the Product not supplied by IMS; improper maintenance or repair of the  
Product; or any other reason or event not caused by IMS.  
IMS HEREBY DISCLAIMS ALL OTHER WARRANTIES, WHETHER WRITTEN OR ORAL, EXPRESS OR IMPLIED BY  
LAW OR OTHERWISE, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY OR FITNESS  
FOR ANY PARTICULAR PURPOSE. CUSTOMER’S SOLE REMEDY FOR ANY DEFECTIVE PRODUCT WILL BE AS  
STATED ABOVE, AND IN NO EVENT WILL THE IMS BE LIABLE FOR INCIDENTAL, CONSEQUENTIAL, SPECIAL OR  
INDIRECT DAMAGES IN CONNECTION WITH THE PRODUCT.  
This Limited Warranty shall be void if the Customer fails to comply with all of the terms set forth in this Limited Warranty. This  
Limited Warranty is the sole warranty offered by IMS with respect to the Product. IMS does not assume any other liability in  
connection with the sale of the Product. No representative of IMS is authorized to extend this Limited Warranty or to change  
it in any manner whatsoever. No warranty applies to any party other than the original Customer.  
IMS and its directors, officers, employees, subsidiaries and affiliates shall not be liable for any damages arising from any  
loss of equipment, loss or distortion of data, loss of time, loss or destruction of software or other property, loss of production  
or profits, overhead costs, claims of third parties, labor or materials, penalties or liquidated damages or punitive damages,  
whatsoever, whether based upon breach of warranty, breach of contract, negligence, strict liability or any other legal theory,  
or other losses or expenses incurred by the Customer or any third party.  
OBTAINING WARRANTY SERVICE  
Warranty service may obtained by a distributor, if the Product was purchased from IMS by a distributor, or by the Customer  
directly from IMS, if the Product was purchased directly from IMS. Prior to returning the Product for service, a Returned  
Material Authorization (RMA) number must be obtained. Complete the form at http://www.imshome.com/rma.html after  
which an RMA Authorization Form with RMA number will then be faxed to you. Any questions, contact IMS Customer  
Service (860) 295-6102.  
Include a copy of the RMA Authorization Form, contact name and address, and any additional notes regarding the Product  
failure with shipment. Return Product in its original packaging, or packaged so it is protected against electrostatic discharge  
or physical damage in transit. The RMA number MUST appear on the box or packing slip. Send Product to: Intelligent Motion  
Systems, Inc., 370 N. Main Street, Marlborough, CT 06447.  
Customer shall prepay shipping changes for Products returned to IMS for warranty service and IMS shall pay for return of  
Products to Customer by ground transportation. However, Customer shall pay all shipping charges, duties and taxes for  
Products returned to IMS from outside the United States.  
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intelligent motion systems, INC.  
Excellence in Motion  
IMS UK Ltd.  
www.imshome.com  
370 N. Main St., P.O. Box 457  
Marlborough, CT 06447 U.S.A.  
Phone: 860/295-6102  
Fax: 860/295-6107  
E-mail: [email protected]  
U.S.A. SALES OFFICES  
Eastern Region  
Phone: 862/208-9742  
Fax: 973/661-1275  
E-mail: [email protected]  
Central Region  
Phone: 260/402-6016  
Fax: 419/858-0375  
E-mail: [email protected]  
Western Region  
Phone: 602/578-7201  
E-mail: [email protected]  
IMS EUROPE GmbH  
Hahnstrasse 10, VS-Schwenningen  
Germany D-78054  
Phone: +49/7720/94138-0  
Fax: +49/7720/94138-2  
E-mail: [email protected]  
European Sales Management  
4 Quai Des Etroits  
25 Barnes Wallis Road  
Segensworth East  
Fareham, Hampshire PO15 5TT  
Phone: +44/0 1489-889825  
Fax: +44/0 1489-889857  
E-mail: [email protected]  
TECHNICAL SUPPORT  
Phone: 860/295-6102 (USA)  
Fax: 860/295-6107  
E-mail: [email protected]  
Germany/UK  
Phone: +49/7720/94138-0  
Fax: +49/7720/94138-2  
E-mail: [email protected]  
69005 Lyon, France  
IMS ASIA PACIFIC OFFICE  
30 Raffles Pl., 23-00 Caltex House  
Singapore 048622  
Phone: +65/6233/6846  
Fax: +65/6233/5044  
E-mail: [email protected]  
Phone: +33/4 7256 5113  
Fax: +33/4 7838 1537  
E-mail: [email protected]  
Germany Sales  
IMS MOTORS DIVISION  
105 Copperwood Way, Suite H  
Oceanside, CA 92054  
Phone: 760/966-3162  
Fax: 760/966-3165  
E-mail: [email protected]  
Phone: +49/35205/4587-8  
Fax: +49/35205/4587-9  
E-mail: [email protected]  
Germany/UK Technical Support  
Phone: +49/7720/94138-0  
Fax: +49/7720/94138-2  
E-mail: [email protected]  
DISTRIBUTED BY:  
© 2006 Intelligent Motion Systems, Inc. All Rights Reserved.  
REV020507  
IMS Product Disclaimer and most recent product information at www.imshome.com.  
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