Manuels d'utilisation pour Elmo DSP 402

Table des matières

• Revision History

  2
• Introduction

  7
  • Operating Principles

    7
  • Abbreviations and Terms

    8
  • Elmo Documentation

    9
• The DSP 402 Object Dictionary

  10
• Emergencies

  15
• Predefinition

  15
  • Object 0x1000: Device type

    15
    • Object 0x1001: Error register

      15
• Common Entries

  18
  • Drive Error

    18
    • Object 0x6007: Abort connection option code

      18
      • Object 0x603F: Error code

        19
  • Motor Data

    19
    • Object 0x6402: Motor type

      19
      • Object 0x6403: Motor catalog number

        20
      • Object 0x6404: Motor manufacturer

        21
      • Object 0x6406: Motor calibration data

        21
      • Object 0x6407: Motor service periods

        22
  • Drive Data

    22
    • Object 0x6502: Supported drive modes

      23
      • Object 0x6504: Drive manufacturer

        23
      • Object 0x6505: http drive catalog address

        24
      • Object 0x60FD: Digital inputs

        24
• Device Control

  26
  • Objects

    26
    • Object 0x6040: Controlword

      32
      • Object 0x6041: Statusword

        34
  • Halt, Stop and Fault Objects

    37
    • Object 0x605A: Quick stop option code

      37
      • Object 0x605B: Shutdown option code

        38
      • Object 0x605C: Disable operation option code

        39
      • Object 0x605D: Halt option code

        40
      • Object 0x605E: Fault reaction option code

        41
• Modes of Operation

  42
  • Functional Description

    42
  • Objects

    42
    • Object 0x6060: Modes of operation

      42
      • Object 0x6061: Modes of operation display

        43
• Factors

  44
  • Relationship between Physical and Internal Units

    44
  • Functions and Limits

    44
  • Objects

    45
    • Object 0x607E: Polarity

      45
      • Object 0x6089: Position notation index

        46
      • Object 0x608A: Position dimension index

        46
      • Object 0x608B: Velocity notation index

        47
      • Object 0x608C: Velocity dimension index

        48
      • Object 0x608D: Acceleration notation index

        48
      • Object 0x608E: Acceleration dimension index

        49
      • Object 0x608F: Position encoder resolution

        50
      • Object 0x6090: Velocity encoder resolution

        51
      • Object 0x6093: Position factor

        52
      • Object 0x6094: Velocity encoder factor

        53
      • Object 0x6095: Velocity factor 1

        54
      • Object 0x6096: Velocity factor 2

        55
      • Object 0x6097: Acceleration factor

        57
• Homing

  59
  • General Information

    59
  • Objects

    61
    • Object 0x607C: Home offset

      61
      • Object 0x6098: Homing method

        62
      • Object 0x6099: Homing speeds

        63
      • Object 0x609A: Homing acceleration

        64
  • Functional Description

    64
  • DSP 402 Homing Methods

    66
    • Method 1: Homing on the negative limit switch and index puls

      66
    • Method 2: Homing on the positive limit switch and index puls

      66
    • Methods 3 and 4: Homing on the positive home switch and inde

      67
    • Methods 5 and 6: Homing on the negative home switch and inde

      67
    • Methods 7 to 14: Homing on the home switch and index pulse

      68
    • Methods 15 and 16: Reserved

      69
    • Methods 17 to 30: Homing without an index pulse

      69
    • Methods 31 and 32: Reserved

      69
    • Methods 33 and 34: Homing on the index pulse

      69
    • Method 35: Homing on the current position

      69
• Position Control Function

  70
  • General Information

    70
  • Objects

    71
    • Object 0x6062: Position demand value

      71
      • Object 0x6063: Position actual value

        71
      • Object 0x6064: Position actual value

        72
      • Object 0x6065: Following error window

        72
      • Object 0x6066: Following error time out

        73
      • Object 0x6067: Position window

        74
      • Object 0x6068: Position window time

        74
      • Object 0x60FC: Position demand value - increments

        75
• Profiled Position

  76
  • General Information

    76
  • Objects

    78
    • Object 0x607A: Target position

      78
      • Object 0x607B: Position range limit

        78
      • Object 0x607D: Software position limit

        80
      • Object 0x607F: Max profile velocity

        81
      • Object 0x6081: Profile velocity

        82
      • Object 0x6082: End velocity (not yet implemented)

        82
      • Object 0x6083: Profile acceleration

        83
      • Object 0x6084: Profile deceleration

        83
      • Object 0x6085: Quick stop deceleration

        84
      • Object 0x6086: Motion profile type

        84
  • Functional Description

    85
• Interpolated Position

  87
  • General Information

    87
  • Objects

    90
    • Object 0x60C0: Interpolation sub mode select

      90
      • Object 0x60C1: Interpolation data record

        91
      • Object 0x60C2: Interpolation time period

        92
      • Object 0x60C3: Interpolation sync definition

        93
      • Object 0x60C4: Interpolation data configuration

        94
  • Functional Description

    97
    • Linear Interpolation

      98
    • Spline Interpolation

      98
    • Motion Synchronization

      99
• Profiled Velocity

  100
  • General Information

    100
  • Objects

    102
    • Object 0x6069: Velocity sensor actual value

      102
      • Object 0x606A: Sensor selection code

        102
      • Object 0x606B: Velocity demand value

        103
      • Object 0x606C: Velocity actual value

        104
      • Object 0x606D: Velocity window

        104
      • Object 0x606E: Velocity window time

        105
      • Object 0x606F: Velocity threshold

        105
      • Object 0x6070: Velocity threshold time

        106
      • Object 0x60FF: Target velocity

        106
• Profiled Torque Mode

  107
  • General Information

    107
    • Internal states

      108
      • Controlword of profile torque mode

        108
  • Objects dictionary entries

    109
    • Objects defined in other chapters

      109
    • Objects description

      109
      • Object 0x6071: Target torque

        109
      • Object 0x6072: Max torque

        110
      • Object 0x6073: Max Current

        110
      • Object 0x6074: Torque Demand value

        111
      • Object 0x6075: Motor Rate Current

        112
      • Object 0x6076: Motor Rate Torque

        112
      • Object 0x6077: Torque Actual value

        113
      • Object 0x6078: Current Actual value

        113
      • Object 0x6087: Torque slope

        114
      • Object 0x6088: Torque profile type

        114