Moog DS2100 User Manual Page 276
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DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402
PAGE 7-22 C27750-001
LINEAR EXAMPLE
Consider the case of a linear example as shown below. Consider for example that the position encoder resolution
(feedback) is 2
20
i.e. 1048576 increments/rev (e.g. using encoder encinc = 2048, and encres = 9), the gear ratio is
1:1, and the feed constant is 50000 μm/rev. The velocity should be in μm/sec, and acceleration in μm/sec
2
.
Motor Revolution
Mo to r
Pos in Position Units (Linear)
Figure 7.9 Linear Factor Example.
The following input values, will result in the output factors listed below: -
ds402 position notation index = -6 ds402 acceleration dimension index 0x55 (m/sec
2
)
ds402 position dimension index = 0x01 (metres) ds402 position encoder resolution = 1048576 / 1
ds402 velocity notation index = -6 ds402 velocity encoder resolution = 65536 / 1 (Fixed)
ds402 velocity dimension index = 0xA6 (m/sec) ds402 gear ratio = 1/1
ds402 acceleration notation index = -6 ds402 feed constant = 50000 / 1
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
×
=
constfeed
ratiogearresolutionencoderposition
FactorPosition
_
___
50000
1048576
1
50000
1
1
1
1048576
=
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
×
=
incs per position unit
)(
10
__
sec
_
___
xPosNotIndexVelNotInde
unitsvelconstfeed
unitsPos
ratiogearresencvel
FactorEncoderVelocity
−
×
⎟
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎜
⎝
⎛
×
⎟
⎠
⎞
⎜
⎝
⎛
××
=
50000
65536
10
1
50000
1
1
1
65536
))6(6(
=×
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
×
=
−−−
incs/sec per velocity unit
)(
10
sec_
_
xVelNotIndexAccNotInde
unitsaccel
unitsvelFactorEncVel
FactoronAccelerati
−
×
⎟
⎟
⎠
⎞
⎜
⎜
⎝
⎛
×
×
=
50000
65536
10
1
50000
65536
))6(6(
=×
⎟
⎟
⎟
⎠
⎞
⎜
⎜
⎜
⎝
⎛
=
−−−
incs/sec2 per acceleration unit
- Digital Controller 1
- Installation & 1
- User’s Manual 1
- SECTION 1: DS2100 OVERVIEW 3
- 1.1 Introduction 5
- 1.2 DS2100 Models 6
- DS2100 User's Manual 10
- 1.4 Design Standards 10
- DS2100 User's Manual 11
- Page Intentionally Blank 16
- Required for 19
- CE-Compliance 19
- 2.2 Safety Regulations 20
- 2.4 UL Requirements 42
- 3.1 System Components 48
- 3.2 Equipment Mounting 53
- 3.3 Power Dissipation 62
- 3.8 24V Backup Connection 78
- 3.11 Motors - Installation 91
- Serial Communications 113
- Connector (RS232) 113
- 3.14 Wiring Summary 117
- DS2100 Cable End 125
- 15-Pin Sub-D Connector 125
- Plug (male) on cable 125
- SECTION 4: GETTING STARTED 127
- 4.1 Introduction 129
- 4.2 Initial Preparation 129
- 4.3 Power Supply 129
- 4.4 Installing Windrive 130
- 4.5 Controller Access 131
- 4.6 Motor Selection 132
- 4.8 Acceleration Limits 136
- 4.9 Parameter Utilities 137
- 4.10 Status & Faults 138
- 4.11 High Power Application 139
- 4.12 Autophasing 140
- 4.13 Torque Mode Enable 141
- 4.14 Velocity Mode Enable 142
- 4.15 Oscilloscope 143
- Click enable button ( ) 145
- 4.16 Power-Down Sequence 148
- ...... 5-29 150
- 5.1 Introduction 152
- 5.2 DS2100 Conventions 153
- 5.3 Power Interface Section 154
- 5.4 Motor Configuration 161
- 5.4.5 Bus Parameters 162
- 5.5 Resolver Input 166
- 5.5.2 Resolver Parameters 168
- 5.6 Encoder Input 170
- 5.6.2 Encoder Parameters 174
- 5.7 Commutation Module 176
- _adjustment 177
- 5.7.3 Commutation Parameters 178
- 5.8 Position Feedback 179
- 5.9 Velocity Feedback 180
- 5.10.1.1.4 Homing Switch 184
- 5.10.1.1.5 Quickstop 184
- 5.10.1.1.9 CAN Re-Enable 185
- 5.10.1.1.10 Re-Boot 185
- 5.11 Control Loops 190
- DS2100 User's Manual 191
- 5.12.1 Drive Monitoring 210
- 5.12.3 Drive Fault Reaction 214
- NON-FATAL 216
- 5.12.5 Fault Clearing 218
- 5.12.6 Event Log 218
- 5.13 Self Protection 222
- 5.14 Parameter Storage 223
- C27750-001 PAGE 6-1 227
- 6.1 Introduction 229
- 6.2 Reference Documentation 229
- CAN Cable Wiring 230
- 6.3 CAN node identifier 232
- 6.5 Data Types 234
- 6.6.1 CAN state 235
- 6.7.2 SDO timeout 237
- 6.7.3 SDO abort codes 237
- 6.7.4 SDO Parameters 238
- 6.8.2 Transmission Type 239
- 6.8.3 PDO Inhibit Time 239
- 6.8.4 PDO Event Time 239
- 6.8.5 PDO mapping 240
- 6.8.6 PDO Parameters 241
- DS2100 User's Manual 243
- 6.9 Synchronisation 243
- 6.10.1 Error reporting 245
- 6.10.2 Heartbeat Protocol 245
- 6.10.4 Drive Identification 245
- 6.10.5 Identity Object 246
- G361_CAN_Vx.x dd.mmm.yyyy 247
- 6.11 CAN Indicators 248
- 6.11.2 Error Indicator 249
- 6.12 Data Type Parameters 250
- 6.13.3 SYNC Transmit 252
- 6.13.4 Auto-Start 252
- 6.13.5 Calculate SYNC Period 252
- 6.13.7 Recovery From Bus-Off 252
- PAGE INTENTIONALLY BLANK 254
- DS2100 User’s Manual 255
- TABLE OF CONTENTS 256
- 7.1 Introduction 257
- 7.2 References 257
- 7.5 Revision History 258
- 7.6 Overview 259
- 7.7 Emergency Messages 260
- 7.8 Predefined Objects 260
- 7.9 Motor/Drive Parameters 263
- 7.10 Device Control 266
- 7.11 Factors Group 271
- Motor Revolution 276
- 7.14 Profile Velocity Mode 289
- 7.16 Profile Position Mode 297
- 7.18 Homing Mode 311
- DS2100 User’s Manual 323
- DS2100 User’s Manual 324
- PAGE INTENTIONALLY BLANK 324
- APPENDIX A DATA LOGGER 325
- A.1 Data Logger 327
- A.1.4 Data Access 329
- A.1.7 Trigger parameters 332
- APPENDIX B GUI 335
- B.1 Contents 336
- B.2 Introduction 338
- B.3.4 Main Window 340
- B.3.5 Main Menu 340
- B.3.6 Toolbar 340
- B.3.7 Status Bar 340
- B.3.9 Panel View 342
- B.3.10 Panel View Toolbar 342
- B.3.13 Macro Player 344
- B.3.14 Macro Player Toolbar 344
- B.3.15 Driver 346
- B.3.16.89.1 Display Area 440
- B.3.16.89.2 Timebase Panel 440
- B.3.16.89.3 Channel Panels 441
- B.3.16.89.4 Cursor Panel 441
- B.3.16.89.5 Trigger Panel 441
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