User`s manual

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual
C27750-001 PAGE 7-5
7.6 Overview
DS402 particularly focuses on the demand generation aspects of motion control. The standard does not define
parameters for motor or drive configuration, nor does it define parameters for control loop configuration. These
manufacturer specific parameters are contained in manufacturer specific records or parameter sets, with a parameter
number assigned by DS402. The diagram below shows the DS402 modes that are implemented for the DS2100
drive.
Figure 7.1 Functional DS402 Architecture.
D
irect Position Mode
(
Manu. S
p
eci
f
ic
)
I
nter
p
olated Position Mode
(
without TGen
)
D
irect Velocit
y
Mode
(
Manu. S
p
eci
f
ic
)
P
ro
f
ile Position Mode
H
omin
g
Mod
e
Homing
Function
Homing
Function
Homing
Function
Profile
Generator
Homing
Function
Position
Control Loop
Homing
Function
Position
Function
Homing
Function
Profile
Generator
Homing
Function
Interpolation
Function
D
irect Tor
q
ue Mode
(
Manu. S
p
eci
f
ic
)
Homing
Function
Torque
Function
Homing
Function
Velocity
Function
P
ro
f
ile Velocit
y
Mode
(
with TGen
)
Homing
Function
Velocity
Function
Homing
Function
Profile
Generator
Homing
Function
Velocity
Control Loop
Homing
Function
Torque
Control Loop
Homing
Function
Velocity
Control Loop
Homing
Function
Torque
Control Loop
Homing
Function
Torque
Control Loop
Feedbac
k
Feedbac
k
Feedbac
k
Feedbac
k
Feedbac
k
Feedbac
k
Homing
Function
Position
Function