Elmo DSP 402 - Manual

Elmo DSP 402

Elmo DSP 402 – Manual, read for free online in PDF format. We hope this helps you resolve any issues you may have. If you have further questions, please contact us through the contact form.

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Table of Contents:

  • Page 2 – Important Notice; Revision History; SimplIQ
  • Page 3 – Contents
  • Page 7 – The; Principles; Device Profile for Drives and Motion Control
  • Page 8 – object dictionary; Abbreviations and Terms; rfg
  • Page 9 – Documentation; CANopen Implementation Guide; Servo Drive; Programming; Composer User Manual; Software Manual; Command Reference Manual; CANopen Implementation Guide,
  • Page 10 – : The DSP 402 Object Dictionary; Name Index
  • Page 12 – demand position
  • Page 14 – Motor type
  • Page 16 – statusword
  • Page 18 – Error
  • Page 19 – Error code; Motor Data
  • Page 20 – Motor catalog number
  • Page 21 – Motor manufacturer
  • Page 22 – Motor service periods; Data
  • Page 23 – Supported drive mode; reserved ip hm; Drive manufacturer
  • Page 24 – Digital inputs
  • Page 25 – Reserved Interlock Home; The interlock is always 0.
  • Page 26 – always in external mode,; Remote Mode
  • Page 27 – States may be changed using the; State Machine in System Context; Figure; State Machine Block Diagram; State Machine
  • Page 28 – Drive States; The following states of the device are possible:
  • Page 29 – quick stop option code; State Transitions of the Drive Supervisor; Reset
  • Page 30 – State; State Transitio
  • Page 31 – State T; able Operation command received from host.; motor disab
  • Page 33 – Bits of the; Device Control Command Triggers
  • Page 34 – Statusword
  • Page 36 – The Remote bit is always set by the Elmo servo drive.; is 5 or 6, this bit is set when the quick stop operation is
  • Page 37 – and Fault Objects; Quick stop option code
  • Page 38 – Value Description
  • Page 40 – Halt option code
  • Page 41 – Fault reaction option code
  • Page 42 – : Modes of Operation; Description; Modes of operation
  • Page 43 – modes of operation; Modes of operation display
  • Page 44 – Relationship between Physical and Internal Units; Appendix A; Functions and Limits; Factors cannot be set while the drive is in OPERATION ENABLE state.
  • Page 45 – Polarity; Position demand value
  • Page 46 – Position notation index; Position dimension index
  • Page 47 – Velocity notation index
  • Page 48 – Velocity dimension index; Acceleration notation index
  • Page 49 – Acceleration dimension index
  • Page 50 – Position encoder resolution
  • Page 51 – Velocity encoder resolution; sec
  • Page 52 – Position factor
  • Page 53 – position encoder resolution; Velocity encoder factor
  • Page 54 – velocity encoder resolution; Velocity factor 1
  • Page 55 – velocity factor 1; Velocity factor 2
  • Page 56 – velocity factor 2
  • Page 57 – Acceleration factor
  • Page 59 – Information; Input Data; Controlword; Bit Function
  • Page 61 – Home offset; home offset
  • Page 63 – Homing speeds; velocity code factor
  • Page 64 – Homing acceleration; homing method
  • Page 65 – section; In the; drive, the user may select the configuration
  • Page 66 – DSP 402 Homing Methods; Homing on the negative limit switch and index pulse; index pulse; Homing on the positive limit switch and index pulse
  • Page 67 – Homing on the positive home switch and index pulse; switch and index pulse; Homing on the negative home switch and index pulse
  • Page 68 – t, except if the home; Homing on the home switch and index pulse — positive initial move; Homing on the home switch and index pulse — negative initial move
  • Page 69 – x pulse; Homing on the positive home switch
  • Page 70 – 0: Position Control Function; General Information
  • Page 71 – Objects
  • Page 73 – Following error time out; following error
  • Page 76 – 1: Profiled Position; General Information; ontrolword; of the profiled position mode:
  • Page 78 – Target position
  • Page 79 – position range limit
  • Page 80 – Software position limit
  • Page 81 – software position limit; Max profile velocity; max profile velocity
  • Page 82 – Profile velocity; End velocity
  • Page 83 – Profile acceleration; Profile deceleration
  • Page 84 – Quick stop deceleration
  • Page 85 – Functional Description
  • Page 86 – Unless it was interrupted by a
  • Page 87 – 2: Interpolated Position; General Information; Internal states
  • Page 88 – Interpolation inactive; Entering Interpolated Position mode
  • Page 90 – Interpolation sub mode select; after
  • Page 91 – Interpolation data record
  • Page 92 – Interpolation time period; Appendix B
  • Page 96 – Buffer strategies
  • Page 97 – Functional Description; Time; Interpolated Motion
  • Page 98 – CANopen; Linear IP; Interpolation; CANopen Implementation; Spline IP
  • Page 99 – Synchronization; In order to start several axes synchronously, map the
  • Page 100 – 3: Profiled Velocity; General Information
  • Page 102 – Velocity sensor actual value; velocity
  • Page 106 – Velocity threshold time; velocity threshold time; Target velocity; target
  • Page 107 – 4: Profiled Torque Mode; 074h: Torque demand value; General Information; Should the host control system switch the
  • Page 108 – states; of profile torque mode
  • Page 109 – of the profiled velocity mode:; Target torque; Objects dictionary entries; Objects defined in other chapters
  • Page 110 – Example
  • Page 111 – Object 0x6074: Torque Demand value
  • Page 114 – Object 0x6088: Torque profile type
  • Page 115 – Appendix A: Dimension Index Table; Physical Dimension
  • Page 116 – Appendix B: Notation Index Table; Prefix Factor
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Elmo Motion Control

CANopen DSP 402

Implementation Guide

December 2004

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Summary

Page 2 - Important Notice; Revision History; SimplIQ

Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of SimplIQ servo drives in implementing CANopen netw...

Page 3 - Contents

Contents 1: Introduction ............................................................................................................................ 1 1.1 Operating Principles ......................................................................................................... 1 1.2 Abbreviatio...

Page 7 - The; Principles; Device Profile for Drives and Motion Control

1: Introduction This document describes the objects and operational modes of the Elmo DSP-based motion controller implementation of the CiA DSP 402 protocol. The Elmo Harmonica digital servo drive (part of the SimplIQ family of digital servo drives ) is used as the main example in this document. Gen...

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