Intelligent Motion Systems MDrive DSP-402 User guide

Excellence in Motion
DSP-402
APPLICATION GUIDE
TM
TM
CAN open
TM
FORCE
DRIVE
CAN open

The information in this book has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies.
Intelligent Motion Systems, Inc., reserves the right to make changes without further notice to any products herein to improve reliability, function or
design. Intelligent Motion Systems, Inc., does not assume any liability arising out of the application or use of any product or circuit described herein;
neither does it convey any license under its patent rights of others. Intelligent Motion Systems and are trademarks of Intelligent Motion
Systems, Inc.
Intelligent Motion Systems, Inc.’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or
malfunction of the product may directly threaten life or injury. Per Intelligent Motion Systems, Inc.’s terms and conditions of sales, the user of Intel-
ligent Motion Systems, Inc., products in life support or aircraft applications assumes all risks of such use and indemnifies Intelligent Motion Systems,
Inc., against all damages.
TM
CANopen DSP402 Application
Revision R020507
Copyright © 2007 Intelligent Motion Systems, Inc.
All Rights Reserved
MDrivePlus CANopen Change Log
Date Revision Changes
10/06/2006 R100606 Initial Release
12/20/2006 R122006 Added newly supported objects to DSP-402 Implementation
02/05/2007 R020507 Added new object support, broke out DSP 402 to separate document.

i
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

ii
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

iii
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

iv
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

v
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

vi
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Excellence in Motion
DSP-402
Application guide
TM
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

2 MDrivePlus CANopen R020507
Page Intentionally Left Blank

3Part 2: DSP-402 Implementation
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.
MDrivePlus Architecture
CAN Node
Application Layer and Communications Profile DS 301
Drive Profile DSP 402
Device Control State Machine
(Section XX)
Modes of Operation
Profile
Position
Mode
(Section X)
Homing
Mode
(Section X)
Profile
Velocity
Mode
(Section X)
Motor
MDrivePlus
CAN Network
Figure 1.2: MDrivePlus Architecture
Start Arbitration
(Command and Address) Control Data CRC ACK End Space
Marks Start
of Message Frame
Marks End
of Message Frame
Address and Message Modifier
(PDO, SDO etc.)
Data Length
Up to 8 Bytes
of Data
Cyclic Redundancy
Checksum
Receiver Pulls
Bit Low
Figure 1.1: Message Format

4 MDrivePlus CANopen R020507
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.
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.
Homing Function
Position Function
Velocity Function
Trajectory
Generator
Trajectory
Generator
Trajectory
Generator
Position Control
Loop
Velocity Control
Loop
Homing Mode (Section X)
Profile Position Mode (Section X)
Profile Velocity Mode (Section X)
Figure 1.3: Functional Architecture

5Part 2: DSP-402 Implementation
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.
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) Object
0000 Not Used
0001 – 004F Static Data Types
0020 – 003F Complex Data Types
0040 – 005F Manufacturer Specific Data
0060 – 007F Device Profile Specific Static Data Types
0080 – 009F Device Profile Specific Complex Data Types
00A0 – 0FFF Reserved for Future Use
1000 – 1FFF Communications Profile Area
2000 – 5FFF Manufacturer Specific Profile
6000 – 9FFF Standardized Device Profile
A000 – BFFF Standardized Interface Profile
C000 – FFFF Reserved for Future Use
Table 1.1: Object Dictionary
CAN
Contoller
Object Dictionary
I/O
Output (LED, Relay)
Input (Switch, Sensor)
Analog Input
Drive
Logic Motor
MDrivePlus Node
Additional System Nodes
Figure 1.4: MDrivePlus CANopen Object Dictionary

6 MDrivePlus CANopen R020507
Object Formatting
This manual will display the Object and Entry data using the model detailed below.
Object Description
Index
XXXXh
Name
Index Name
Object Code
VAR
Data Type
I/U
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) Range Length
± Integer 8 –128 ... +127 1 Byte
± Integer 16 – 32,768 ... +32,767 2 Bytes
± Integer 32 – 2,147,483,647 ... +2,147,483,647 4 Bytes
Coding 2’s Complement
Unsigned (U) Range Length
Unsigned 8 0 ... 255 1 Byte
Unsigned 16 0 ... 65,535 2 Bytes
Unsigned 32 0 ... 4,294,967,295 4 Bytes
Coding Binary
Entry Description
Access
R/W/S/K
PDO Mapping
Yes/No
Category
M/O
Range
I/U
Default
I/U
Access
R.......................................................................................Read Access
W.....................................................................................Write Access
S ........................................ Storable to Non Volatile Memory (NVM)
K.......................................................... Key Required for Write Access

7Part 2: DSP-402 Implementation
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 Sub-Index Functional Description
Entry Category Mandatory/Optional
Access R/W/S/K
PDO Mapping Yes/No
Value Range 1 Byte Hex
Default Value 1 Byte Hex

8 MDrivePlus CANopen R020507
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9Part 2: DSP-402 Implementation
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
Two Types: RPDO (Receive) and TPDO (Transmit)
Up to 8 Bytes of application data per message frame. No additional protocol overhead is required.
Transfer is not confirmed
PDOs Require setup, SDOs map each byte of the PDO to one or more Object Entries.
PDOs operate using the Producer (TPDO)/Consumer (RPDO) relationship Push-Pull model.
Best for transferring data such as Device Status, Set-points etc.
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
Can access any Object in the Object Dictionary regardless of size.
Transfer is confirmed
Direct access to the Object Dictionary
Client/Server relationship.
Best for setting up configuration parameters.
1.
2.
3.
4.
5.
6.
1.
2.
3.
4.
5.
Producer Consumer
TPDO RPDO
RPDO
RPDO
Data
Figure 2.1: PDO Producer – Consumer Relationship
Client
Server
ID Request
ID Request
Figure 2.2: SDO Client – Server Relationship

10 MDrivePlus CANopen R020507
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 1400h mapped to Control Word (6040h) and Target Position (607Ah).
RPDO Index Sub-Index Mapped To Index Bytes
1600h00h
1600h01h6040h2
1600h02h607Ah4
PDO Mapping Procedure (Consumer PDO)
PDO Mapping Example 1: Profile Position Mode – Mapping ControlWord and Target Position to RPDO1
Step Action Index Sub-Index Bytes Value
1Place MDrive in PreOperational State —
2Turn Off RPDO1 1400h01 — 8000 01C0h
3Set 1600hSub-Index 00 to 0 1600h00 — 0h
4Map ControlWord 6040hto 1600.01h, Establish New
Set Point 6040h00 2 005Fh
5Map target_position 607Ahto 1600.02h607Ah4Desired Axis
Position in Hex
6Set 1600h.00 to 2 Max Sub-Indexes 1600h00 — 2h
7Turn On RPDO1 1400h00 — 0000 01C0h
8Place MDrive in Profile Position Mode 6060h00 1 1h
9Place MDrive in Operational State
10 Send PDO to MDrive
Note: Before re-sending the PDO to the MDrive, the old set-point must be cleared by sending 6040.00h004Fh in a
second PDO or in an SDO.
MDrive CANopen
Node
1601h
0 = 2 (# of SubIndex Entries
1 = 2 Byte ControlWord (6040h)
2 = 4 Byte Commanded SetPoint (607A)
RPDO 2
BYTES 0 - 1 BYTES 2 - 5 BYTE 6 - 7
ControlWord
003Fh
Set-Point (Position) Data Unused
110 1 1 1
F = Operation
Enabled
abs/rel
change set immed.
new set-point
Default Mapping Example - Consumer PDO 2
00 00 00 00
Index
SubIndex
ControlWord = 03Fh
Move to Absolute SetPoint
ControlWord = 05Fh
Move to Relative SetPoint
ControlWord = 00Fh
Reset New Set-Point Bit
to Prepare for Next Move
Transition Bit
MUST be reset to zero
between set-points
Figure 2.3: PDO Mapping Showing the Default Mapping for RPDO2

11Part 2: DSP-402 Implementation
PDO Objects
Consumer PDO1 (RPDO1) 1400h (Object Description)
Index Name Object Code Data Type Category
1400hReceive PDO1 Parameter Record PDO Communications Parameters Mandatory
Consumer PDO1 (RPDO1) 1400h (Entry Description)
Sub-Index Description Category Access Value Range Default
00h Highest Supported Sub-Index Mandatory R/W Mfg. Specific
01h COB-ID used by PDO Mandatory R/W 0000 0200h+
NODE ID
02h Transmission Type Mandatory R/W 255d
03h Inhibit Time Optional R/W
04h Reserved
05h Event Timer Optional R/W 0d
1600h (Object Description – Mapping Parameters)
Index Name Object Code Data Type Category
1600hReceive PDO1 Mapping Record PDO Mapping Mandatory
1600h (Entry Description – Mapping Parameters)
Sub-Index Description Category Access Value Range Default
00h Highest Supported Sub-Index Mandatory R/W 01h
01h 1st Application Object Mandatory R/W 6040 0010h
02h 2nd Application Object Mandatory R/W Mfg. Specific
03h 3rd Application Object Mandatory R/W Mfg. Specific
04h 4th Application Object Mandatory R/W Mfg. Specific
05h 5th Application Object Mandatory R/W Mfg. Specific
06h 6th Application Object Mandatory R/W Mfg. Specific
07h 7th Application Object Mandatory R/W Mfg. Specific
08h 8th Application Object Mandatory R/W Mfg. Specific

12 MDrivePlus CANopen R020507
Consumer PDO2 (RPDO2) 1401h (Object Description)
Index Name Object Code Data Type Category
1401hReceive PDO2 Parameter Record PDO Communications Parameters Optional
Consumer PDO2 (RPDO2) 1401h (Entry Description)
Sub-Index Description Category Access Value Range Default
00h Highest Supported Sub-Index Mandatory R/W 02h
01h COB-ID used by PDO Mandatory R/W
0000 0300hor
8000 0000h+
NODE ID
02h Transmission Type Mandatory R/W 255d
03h Inhibit Time Optional R/W
04h Reserved
05h Event Timer Optional R/W 0d
1601h (Object Description – Mapping Parameters)
Index Name Object Code Data Type Category
1601hReceive PDO2 Mapping Record PDO Mapping Conditional, if 1401his
implemented
1601h (Entry Description – Mapping Parameters)
Sub-Index Description Category Access Value Range Default
00h Highest Supported Sub-Index Mandatory R/W 01h
01h 1st Application Object Mandatory R/W 6040 0010h
02h 2nd Application Object Optional R/W 6060 0008h
03h 3rd Application Object Optional R/W Mfg. Specific
04h 4th Application Object Optional R/W Mfg. Specific
05h 5th Application Object Optional R/W Mfg. Specific
06h 6th Application Object Optional R/W Mfg. Specific
07h 7th Application Object Optional R/W Mfg. Specific
08h 8th Application Object Optional R/W Mfg. Specific