Download Intelligent Motion Systems DSP

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
ii
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