Manual

Copyright © Roboteq Inc. 2018. All Rights Reserved. 8
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.
 0x6800 - 0x6FFF, for channel 2.
 0x7000 - 0x77FF, for channel 3.
There are Roboteq motor controllers with up to three channels available.
2.2 MODES OF OPERATION
Roboteq Controllers support the following operation Modes:
A. Open Loop
B. Closed Loop Speed, controls Speed using Speed as feedback.
C. Closed Loop Speed Position, controls Speed using Position as feedback.
D. Closed Loop Count Position, controls Position.
E. Closed Loop Position Relative, controls Position within specific boundaries.
F. Closed Loop Position Tracking, controls Position within specific boundaries, with
abrupt transition.
In order to conform the above operation modes to the operation modes described, the DS402
modes of operation supported by Roboteq are shown in Table 1 - Operation Table 1. Any
other mode described in DS402 standard is not supported by Roboteq controllers.
TABLE 1 - OPERATION MODES
Value
Definition
Roboteq Operation Mode
-4
1
Velocity Mode
Closed Loop Speed Position
-3
1
Profile Velocity Mode
Closed Loop Speed Position
-2
1
Profile Position Mode
Closed Loop Position Tracking Mode
2
-1
1
Profile Position Mode
Closed Loop Position Relative Mode
2
0
No Mode
Open Loop Mode
1
Profile Position Mode
Closed Loop Count Position Mode
2
Velocity Mode
Closed Loop Speed Mode
3
Profile Velocity Mode
Closed Loop Speed Mode
4
Torque Profile Mode
Closed Loop torque Mode
1
Roboteq Specific Modes
2
Not all Profile Position features can be supported with this mode.