DS402 Implementation on Roboteq Motor Controllers V1.0, February 24, 2018 visit www.roboteq.com to download the latest revision of this manual NOTE: DS402 is available since firmware v1.9 beta. Please contact techsupport@roboteq.com for more details. Copyright © Roboteq Inc. 2018. All Rights Reserved.
CONTENTS Revision History .................................................................................................................... 5 Abbreviations ........................................................................................................................ 6 1. Introduction ....................................................................................................................... 7 1.1 What is DS402 ..........................................................................
.21 0x6502 - Supported Drive Modes ............................................................................. 22 3.22 0x67FE - Version Number ........................................................................................ 23 References.......................................................................................................................... 24 FIGURES FIGURE 1 - FSA CONFIGURATION ............................................................................................
TABLE 35 - PROFILE DECELERATION........................................................................................ 22 TABLE 36 - PROFILE DECELERATION........................................................................................ 22 TABLE 37 - TARGET VELOCITY ................................................................................................ 22 TABLE 38 - SUPPORTED DRIVE MODES ....................................................................................
REVISION HISTORY Date February, 24 2018 Version 1.0 Changes Initial Release Copyright © Roboteq Inc. 2018. All Rights Reserved.
ABBREVIATIONS C CiA FSA PDS PP PV RO RW SDO TQ VL Copyright © Roboteq Inc. 2018. All Rights Reserved.
1. INTRODUCTION This documentation will describe the implementation of CiA DS402 standard on Roboteq motor controllers. 1.1 W HAT IS DS402 DS402 is an open standard, that is designed specifically for motion control. There are a number of CANOpen SDOs with which one can control the motor by commanding the motor controller. The standard describes all the required SDOs, as long as the actions the motor controller should take upon receiving these SDOs.
2. IMPLEMENTATION The implementation has been directed under standard version 4.1.0. 2.1 INDEX RANGE & CHANNEL SELECTION All the SDOs described in DS402 standard range from index 0x600 - 0x67FF. However these are only for controlling one motor channel. For multi channel controllers the controller should be able to accept index ranges for the other channels as well. These index ranges are shifted ranges of the abovementioned one as shown below: 0x6000 - 0x67FF, for channel 1.
2.3 SUPPORTED SDOS Table 2 shows the SDOs described in DS402 standard and supported by Roboteq Motor Controllers.
FIGURE 1 - FSA CONFIGURATION Figure 2 describes The states and the transitions of the finite state machine, while Table 3 describes the actions and the events of the transitions. FIGURE 2 - POWER DRIVE SYSTEM FINITE STATE AUTOMATION Copyright © Roboteq Inc. 2018. All Rights Reserved.
TABLE 3 - TRANSITION EVENTS AND ACTIONS Transition 1 2 3 Event(s) Automatic Transition after power on or reset application (if ^FSA 1), or when ^FSA is set from 0 to 1.
3. SDO DESCRIPTION 3.1 0X 6040 - CONTROL W ORD TABLE 4 - CONTROL WORD Sub-Index 00 Optional N Value Range Discrete Type U16 Access RW Default PDO R Operation specific RoboCommand CW Description The received command in order to control the PDS FSA. Table 4 gives a short description of the object, Table 5 the mapping of the respective variable and Table 6 the usage of the bits that are independent to operation mode.
3.1.1 PROFILE POSITION MODE TABLE 8 - CONTROL WORD MAPPING IN PROFILE POSITION MODE 15 10 see Table 4 9 Change on set-point 8 Halt 7 see Table 4 6 Abs/rel 5 Change Set Immediately MSB 4 3 0 New Set see Table 4 Point LSB In Profile Position Mode the operation specific bits are mapped in Table 8. With bits 4, 5 and 9, user can define when the command for next Position (0x607A - POS) will be processed. Bit 6 defines whether the command is absolute or relative to the current position.
3.2 0X 6041 - STATUS W ORD Table 12 gives a short description of the object, Table 13 the mapping of the respective variable and Table 14 the usage of the bits that are independent to operation mode. TABLE 12 - STATUS WORD Sub-Index 00 Optional N Value Range Discrete Type U16 Access RO Default PDO T - RoboCommand SW Description The status of the PDS FSA.
TABLE 15 - DEFINITION OF BIT 10 Bit Value 0 10 1 Definition Halt (bit 8 in controlword) = 0: Speed or Position Target not reached Halt (bit 8 in controlword) = 1: Axis decelerates Halt (bit 8 in controlword) = 0: Speed or Position Target reached Halt (bit 8 in controlword) = 1: Velocity of axis is 0 3.2.
3.3 0X 6042 - VL TARGET VELOCITY Table 20 gives a short description of the object. TABLE 20 - TARGET VELOCITY Sub-Index 00 Optional N Type S16 Value Range Access RW Default PDO R 0 RoboCommand S Description This object shall indicate the required velocity of the system in RPM. Positive values shall indicate forward direction and negative values shall indicate reverse direction. 3.4 0X 6043 - VL VELOCITY DEMAND Table 21 gives a short description of the object.
3.6 0X 6046 - VL VELOCITY MIN MAX AMOUNT Table 23 gives a short description of the object. TABLE 23 - VELOCITY MIN MAX AMOUNT Sub-Index 01 Optional N Type U32 Value Range Access RW Default PDO R PDO R 0 RoboCommand SPL Description VL velocity min amount. Sub-Index 02 Optional N Value Range Type U32 Access RW Default 1000 RoboCommand SPL Description VL velocity max amount.
3.7 0X 6048 - VL VELOCITY ACCELERATION Table 24 gives a short description of the object. TABLE 24 - VELOCITY ACCELERATION Sub-Index 01 Optional N Type U32 Value Range Access RW Default PDO R MAC(20000) RoboCommand SAC Description Delta speed in RPM*10. Sub-Index 02 Optional N Type U16 Value Range Access RW Default PDO R PDO R 1 RoboCommand SAC Description Delta time in seconds. 3.8 0X 6049 - VL VELOCITY DECELERATION Table 25 gives a short description of the object.
3.9 0X 6060 - MODES OF OPERATION Table 22 gives a short description of the object and Table 1shows the available modes. TABLE 26 - MODES OF OPERATION Sub-Index 00 Optional CND Type S8 Value Range Access RW Default PDO R MMOD(0) RoboCommand ROM Description The requested operation mode. 3.10 0X6061 - MODES OF OPERATION DISPLAY Table 27 gives a short description of the object and Table 1 shows the available modes.
TABLE 29 - VELOCITY ACTUAL VALUE Sub-Index 00 Optional CND Type S32 Value Range Access RO PDO T Default RoboCommand F Description This object shall provide the actual velocity value, in RPM, derived either from the velocity sensor or the position sensor. 3.13 0X6071 - TARGET TORQUE (TQ) Table 30 gives a short description of the object.
TABLE 32 - TARGET POSITION Sub-Index 00 Optional CND Type S32 Value Range Access RW Default PDO R 0 RoboCommand POS Description The commanded position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity, acceleration, deceleration, motion profile type etc. The value of this object shall be interpreted as absolute or relative depending on the abs/rel flag in the ControlWord.
3.18 0X6084 - PROFILE DECELERATION (PP) Table 35 gives a short description of the object. TABLE 35 - PROFILE DECELERATION Sub-Index 00 Optional Y Type U32 Value Range Access RW Default PDO R MDEC(20000) RoboCommand PAC Description This object shall indicate the configured deceleration, in (RPM*10)/second. 3.19 0X6087 - TORQUE SLOPE (TQ) Table 36 gives a short description of the object.
TABLE 38 - SUPPORTED DRIVE MODES Sub-Index 00 Optional REQ Type U32 Value Range Access C Default PDO N 0x0000000F RoboCommand SDM Description The supported drive modes. Roboteq Controllers support: Profile Position Mode (PP). Velocity Mode (VL). Profile Velocity Mode (PV). Torque Mode (TQ). 3.22 0X67FE - VERSION NUMBER Table 39 gives a short description of the object.
REFERENCES 1. Roboteq Controllers User Manual v1.8, https://www.roboteq.com/index.php/docman/motor-controllers-documents-andfiles/documentation/user-manual/272-roboteq-controllers-user-manual-v17/file. 2. CiA® 402 Draft Standard Proposal, v4.1.0, https://www.can-cia.org/canknowledge/canopen/cia402/ Copyright © Roboteq Inc. 2018. All Rights Reserved.
