PVD 3543 GB
Contents
1. Control Word takes action on drive Status Machine The following sequence must be reproduced At starting the drive is in status Switch on disabled Program the 0x0006 value to go to drive status Ready to switch on Then the value 0x0007 to go to drive status Switched on Then the 0x000F value or 0x007F if drive mode 3 or 4 validates torque and the DIGIVEX Motion operating drive status Operation enable The 0x0007 value or 0x0077 if drive mode 3 or 4 cancels torque validation drive back to status Switched on Operating mode 1 2 3 5 reserved CR O reserved EHE Eu 3 Homing mode not available from this instruction use home cmd 1 7 Interpolated Mode Position Position drive with interpolation corresponds to drive mode 3 15 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages Target Position 32 integral bit signed instruction expressed in unit corresponding to the position to be reached 0x607A CANopen index For a correct acknowledgement put the variable speed drive positioner in Position drive with interpolation mode drive mode 3 or Profile Position Mode drive mode 4 Target Velocity 32 integral bit signed instruction expressed in unit1 s corresponding to the speed to be reached Ox60FF CANopen index This instruction is recopied to the speed value variable and is only acknowledged if the variable speed dr2. 1 CanOpen standard Switch On Disabled see DS402 v 1 1 CanOpen standard j 6 8 move on Manufacturer Specific authorized movement data 9 Remote see DS402 v 1 1 CanOpen standard Manufacturer Specific validated torque data Mode Of Operation Display 8 bit coded condition word showing the operating mode in progress 0x6061 CANopen index eoe rend an OSUGIERE rae o O 6 Homi gt not available use _cmd mode not available use home_cmd 1 7 Interpolated Position position drive with interpolation mode corresponds to Mode drive mode 3 Position Actual Value 32 integral bit signed variable 0x6064 CANopen index expressed in unit1 showing the value of the actual servocontrol axis position corresponds to pos Velocity Actual Value 32 integral bit signed variable Ox606C CANopen index expressed in unit1 s showing the value of the actual axis speed corresponds to speed 18 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages VL Control Effort 16 integral bit signed variable 0x6044 CANopen index expressed in rpm showing the value of the actual axis speed corresponds to speed1 converted to rpm Torque Actual Value 0 01 Nm 16 integral bit signed variable expressed in hundredths of Nm showing the actual torque value Torque Actual Value Nm 16 integral bit signed variable expressed in Nm showing the actual torque value in port 16 integral bit u
3. DIGIVEX Motion Remote control using PDO messages 4 2 Setting parameters for PDO messages Use the Parameter Setting tool to set the parameters for communication via PDO messages Operating Modes CanOpen tab 3 Operating modes Subscriber 12 Iof x SDO Server 2 Node Id Node Id 64 C 4 Node Id Node Id 32 Node Id 64 Node Id 96 PDO Rx PDO Tx PDO Rx 3 Control Word Target Position PDO1 Tx 3 Status Word Position Actual Yalu PDO2 Rx 0 Disabled PDO2 Tx 0 Disabled PDO3 Rx 0 Disabled PDO3 Tx 0 Disabled PDO4 Rx 0 Disabled PDO4 Tx 0 Disabled DK Cancel 13 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 4 2 1 PDO Rx Messages These PDO messages relate to instructions sent by a supervisor DIGIVEX Motion variable speed drive positioners are capable of managing up to 4 PDO messages of this type in read mode PDO Rx 1 This field defines the PDO Rx 1 message content corresponding parameter PDO1 rx cfg The selection is carried out using a drop down list 0 inactive default value 1 Control Word Control Word Mode Of Operation Control Word Target Position Control Word Target Velocity Control Word Target Torque Control Word VL Target Velocity 21 Control Word Torque Max 0 01 Nm Target Position 22 Control Word Torque Max Nm Target Position 23 Control Word Current reducti
4. SDO message reset cmd 1 2 6 3 PDO Messages The disappearance of PDO messages is not monitored A fault is not generated if PDO instruction messages are no longer transmitted whilst synchronization messages are still being transmitted Movement will stop naturally because position instructions are no longer being up dated Even so beware of a sudden recovery of position instruction transmission 6 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 2 6 4 Power loss Setting to zero torque A specific control makes remote control of the appliance easier for the supervisor in the event of power loss or setting to zero torque e There is no forcing of the target position with the actual position value of the axis contrary to other operating modes e Tracking error monitoring is not suspended Two situations exist e The supervisor has realized or is aware of the power loss or the setting to zero torque and decides to stop the machine correctly stop PDO message transmission whilst synchronization messages are still being transmitted power down the variable speed drive postioner completely or change to position drive mode and stop sending synchronization messages No fault will be indicated e The supervisor has not realized that there is a problem and continues to transmit PDO and synchronization messages DIGIVEX Motion will then generate a major fault tracking error U fault when the tracking err
5. e Numerical Controls CYBER 4000 1 to 4 axes e CYBER 2000 NC 1to2 axes e VARIABLE SPEED DRIVE POSITIONER gt SINGLE AXIS DSM POWER SINGLE AXIS DPM MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER DIGIVEX Motion Remote control using PDO messages TABLE OF CONTENTS 1 GENERAL POINTS 3 1 1 List of published DIGIVEX Motion manuals 3 1 2 Introduction 3 2 POSITION DRIVE WITH INTERPOLATION MODE 4 2 1 General points 2 2 Setting parameters 2 3 Commissioning 2 4 Cycle 2 5 Mode exit 2 6 Safety Measures 2 6 1 EMCY Messages 2 6 2 SYNC Messages 2 6 3 PDO Messages 2 6 4 Power loss Setting to zero torque 2 7 Maximum synchronization message rate NN DODD OOH n 5 A 3 OTHER OPERATING MODES 3 1 General Points 3 2 Speed Drive Mode 3 2 1 Setting parameters 3 2 2 Commissioning 3 3 Profile Velocity Mode Speed in unit1 s 3 3 1 Setting parameters 3 2 2 Commissioning 3 4 Velocity Mode Speed in rpm 3 4 1 Setting parameters 3 4 2 Commissioning 3 5 Profile Torque Mode torque drive 3 5 1 Setting parameters 3 5 2 Commissioning 3 6 Condition Returns 3 6 1 Setting parameters 3 6 2 Commissioning xo qo o o o co o oo co QO IX LX GA IX A ooo 4 SETTING PARAMETERS 4 1 Operating mode selection 4 2 Setting parameters for PDO messages 1 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using
6. the speed value variable The supervisor must send a Stop Remote Node message at the end of the process to cancel the validation of the PDO message acknowledgement see the DS301 v4 01 CanOpen standard 9 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 3 5 Profile Torque Mode torque drive 3 5 1 Setting parameters e Putthe DIGIVEX Motion in torque drive mode drive mode 6 e Setthe parameters for PDO Rx using option 5 Control Word Target Torque 3 5 2 Commissioning The supervisor must send an NMT Start Remote Node message at the beginning of the process for DIGIVEX Motion to validate the PDO message acknowledgement see the DS301 v4 01 CanOpen standard Next DIGIVEX Motion waits for the supervisor to transmit a synchronization SYNC message before applying the last received PDO message instruction This instruction expressed in thousandths of motor rated torque M is then converted to Nm and recopied to the torque value variable The supervisor must send a Stop Remote Node message at the end of the process to cancel the validation of the PDO message acknowledgement see the DS301 v4 01 CanOpen standard 3 6 Condition Returns 3 6 1 Setting parameters e Setthe parameters for one or more PDO Tx 3 6 2 Commissioning The supervisor must send a NMT Start Remote Node message at the beginning of the process for the variable speed drive positioners to validate the transmiss
7. PDO messages 4 2 1 PDO Rx Messages Control Word Operating mode Target Position Target Velocity VL Target Velocity Target Torque Torque Max 4 2 2 PDO Tx Messages Status Word Mode Of Operation Display Position Actual Value Velocity Actual Value VL Control Effort Torque Actual Value 0 01 Nm Torque Actual Value Nm in port pos memo Master Actual Value PxStatus Word Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www SSDdrives com 2 PVD 3543 GB 09 2005 14 15 15 16 16 16 16 16 17 18 18 18 18 19 19 19 19 19 19 19 DIGIVEX Motion Remote control using PDO messages 1 GENERAL POINTS 1 1 List of published DIGIVEX Motion manuals DIGIVEX Single Motion DSM User Manual DSM PVD3515 DIGIVEX Power Motion DPM User Manual DPM PVD3522 DIGIVEX Multi Motion DMM User Manual DMM PVD3523 DIGIVEX Motion CANopen PVD3518 DIGIVEX Motion Profibus PVD3554 PME DIGIVEX Motion Adjustment Manual PVD3516 DIGIVEX Motion Directory of Variables PVD3527 DIGIVEX Motion Programming PVD3517 DIGIVEX Motion Cam Function PVD3538 PME Tool kit User and Commissioning Manual PVD3528 CANopen CAN Bus Access via CIMO3 PVD3533 CANopen Remote control using PDO messages PVD3543 Block Positioning Application Softw
8. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX Motion Remote control using PDO messages PVD 3543 GB 09 2005 PRODUCT RANGE TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery gt NX HX HXA 1to 320 N m gt NX LX 0 45 to 64N m High rotor inertia for better inertia load matching gt HS LS 3 3 to 31 N m Varied geometrical choice short motors range HS LS 3 3 to 31 N m or small diameter motors HD LD 9 to 100 N m Voltages to suit different mains supplies 230V three phase for s rie L NX 400V 460V three phase for s rie H NX DIGIVEX DRIVE DIGITAL SERVOAMPLIFIERS SINGLE AXIS DSD COMPACT SINGLE AXIS DpD DLD POWER SINGLE AXIS DPD MULTIPLE AXIS DMD PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS HV COMPACT SERIES HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kW up to 60 000 rpm Uuuuu uy e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 DC SERVODRIVES e AXEM RS SERIES SERVOMOTORS 0 08 to 13 N m e RTS SERVOAMPLIFIERS e RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere AXL COMPACT SERIES SERVOREDUCERS 5 to 700 N m 5 POSITIONING SYSTEMS
9. Status Word Velocity Actual Value Status Word VL Control Effort 21 Status Word Torque Actual Value 0 01 Nm Position Actual Value 22 Status Word in port pos memo PDO message transmitted after an event following a change in status of any one of the inO to in15 on off control inputs Reception of a SYNC message does not result in transmission of a PDO message 23 Master Actual Value pos2 24 PxStatus Word Torque Actual Value 0 01 Nm Position Actual Value 25 PxStatus Word Torque Actual Value Nm Position Actual Value 26 PxStatus Word id_measure 0 01A Position Actual Value The PDO message content is defined in accordance with DS402 v1 1 and DS301 v4 01 CANopen standards This field defines the PDO Tx 2 message content corresponding parameter PDO2 tx cfg The selection is carried out using a drop down list This field defines the PDO Tx 3 message content corresponding parameter PDO3 tx cfg The selection is carried out using a drop down list PDO Tx4 This field defines the PDO Tx 4 message content corresponding parameter PDOA tx cfg The selection is carried out using a drop down list 17 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages Status Word 16 bit coded condition word 0x6041 CanOpen index 0 Ready To Switch On see DS402 v 1 1 CanOpenstandard 1 Switched On see DS402 v 1 1 CanOpen standard Quick Stop see DS402 v 1
10. arameters e Putthe DIGIVEX Motion in speed drive mode drive mode 5 e Setthe parameters for PDO Rx using option 4 Control Word Target Velocity 3 2 2 Commissioning The supervisor must send an NMT Start Remote Node message at the beginning of the process for DIGIVEX Motion to validate the PDO message acknowledgement see the DS301 v4 01 CanOpen standard Following this DIGIVEX Motion waits for the supervisor to transmit a synchronization SYNC message before applying the last received PDO message instruction This instruction is then recopied to the speed value variable speed expressed in unit1 s The supervisor must send a Stop Remote Node message at the end of the process to cancel the validation of the PDO message acknowledgement see the DS301 v4 01 CanOpen standard 3 4 Velocity Mode Speed in rpm 3 4 1 Setting parameters e Putthe DIGIVEX Motion in speed drive mode drive mode 7 e Setthe parameters for PDO Rx using option 4 Control Word Target Velocity 3 4 2 Commissioning The supervisor must send an NMT Start Remote Node message at the beginning of the process for DIGIVEX Motion to validate the PDO message acknowledgement see the DS301 v4 01 CanOpen standard Next DIGIVEX Motion waits for the supervisor to transmit a synchronization SYNC message before applying the last received PDO message instruction This instruction expressed in rpm is then converted to unit1 s before being transferred in
11. are PVD3519 Fly shear linear cutting software application PVD3531 Rotary blade cutting software application PVD3532 1 2 Introduction The aim of this document is to describe possible uses for CANopen PDO messages Position control with interpolation mode Position drive mode Speed drive mode Torque drive mode Condition returns 3 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 2 POSITION DRIVE WITH INTERPOLATION MODE 2 1 General points A supervisor card must be used for the position control with interpolation mode The card sends cyclic synchronized position instructions to one or more axes via CANopen PDO messages 2 2 Setting parameters This stage involves the determining of general DIGIVEX Motion parameters Operating Motor Resolver Servocontrol etc Modes Use the Parvex Motion Explorer software Parameter Setting tool to do this and refer to the PVD 3516 manual Please refer to section 4 of the above document for parameter setting specificities linked to Position drive with interpolation operating modes 2 3 Commissioning The supervisor must send a NMT Start Remote Node message for the DIGIVEX Motion PDO message to be acknowledged see the DS301 v4 01 CanOpen standard At the same time DIGIVEX Motion waits for the supervisor to transmit a first synchronized message It must receive a further 127 synchronized messages in order to determine the exact m
12. essage frequency During this phase PDO Rx messages are not acknowledged The supervisor must therefore wait before sending instructions Remark Afterwards the synchronized message frequency SYNC period is recalculated every 1024 periods in order to account for any possible time drift 2 4 Cycle After this commissioning phase PDO messages transmitted by the supervisor PDO Rx are acknowledged by DIGIVEX Motion and the position instruction Target Position is injected into the variable speed drive positioner trajectory generator in order to construct the position instruction and the speed and acceleration predictors necessary for the servocontrol algorithm The trajectory generator used by the Position drive with interpolation mode is a trajectory generator specific to this mode It uses 3 points new instruction instruction in progress and previous instruction to generate the trajectory 4 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages Position t SYNC_period i4 th n4 Synchronization SYNC messages are messages transmitted by the supervisor at exact and regular intervals Do not go below 3 ms for correct running They allow instruction acknowledgement synchronization If several axes are being driven instructions will be applied at the same moment to all variable speed drive postioners The clocks of the different variable speed drive postioners are independent theref
13. ges is not validated see the DS301 v4 01 CanOpen standard e stop PDO message transmission whilst still transmitting synchronization messages e disconnect the variable speed drive postioner mains and auxiliary power supplies or change the operating mode for example send a SDO message to change the variable speed drive postioner to position drive mode drive mode 0 e stop sending synchronization messages No fault will be indicated 2 6 Safety Measures 2 6 1 EMCY Messages An emergency EMCY message is transmitted when a variable speed drive postioner goes into fault showing the supervisor and all other subscribers present on the CANopen bus that a problem has occurred The message shows the nature of the fault 2 6 2 SYNC Messages DIGIVEX Motion monitors the immediate frequency of synchronization messages during the running process DIGIVEX Motion generates a minor fault flashing b if the elapsed time between two successive messages is more than 1 1 times the calculated frequency This fault does not stop the running process DIGIVEX Motion generates a major fault flashing b when synchronization messages are no longer transmitted or when 3 consecutive synchronization messages have been detected out of frequency This fault causes an OK relay of the variable speed drive postioner to open and therefore if connection specifications have been respected the power cuts out The flashing b fault can be cleared with a
14. ion of PDO condition return messages see the DS301 v4 01 CANopen standard Following this the variable speed drive positioners wait for the supervisor to transmit a synchronization SYNC message in order to return a PDO message containing the condition return The condition return corresponds to the condition of the variable speed drive positioner when the synchronization message was received This PDO message will be transmitted about 600 us after the synchronization message acknowledgement The supervisor must send a Stop Remote Node message at the end of the process to cancel the validation of the PDO message acknowledgement see the DS301 v4 01 CANopen standard 10 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 4 SETTING PARAMETERS 4 1 Operating mode selection Use the Parvex Motion Explorer software Parameter Setting tool Select the required option from the Operating Modes Options Axis Control tab gi Operating modes Subscriber 12 Home setting Brake CanOpen Programmed motion direction Reversal of direction Program execution Enable program execution upon energizing Wait for power to pass the PROGO HSTART address Enable motion torque M Movement enabled at power up M Torque enabled at power up Axis control C Position control Position control with interpolation C Speed control C Torque control Speed control v Stop axis before sw
15. itching from speed control mode to position control mode OK Cancel Attention The CANopen position drive with interpolation mode requires the presence of a position drive with interpolation licence The other operating modes do not require licences 11 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages This licence is obtained from Parvex If the licence was not anticipated when the equipment was ordered it is always possible to add it on at a later date by contacting your usual commercial wholesaler The licence is validated in the Diagnostic Assistance tool by entering a code The required code is based on the serial number of the appliance for which it was produced therefore a code that is valid for one appliance will not be valid for another fks Fault finding Tool Subscriber 12 Software Version giat AP701V01 T JPosition control with interpolation Properties Serial Number 01010001 2 Properties Board number SP6606 SD6625 1 3 Properties Time under torque 92h20m 4 Properties Total Time 378h32m 5 Properties h Refresh history 6 Properties 7 Properties 8 Properties Incidents Firmware Licenses S SA PARVEX Use of the Position drive with interpolation operating mode without a licence results in a flashing F fault Licence missing 12 PVD 3543 GB 09 2005
16. ive positioner is in Profile Velocity Mode drive mode 5 VL Target Velocity 16 integral bit signed instruction expressed in rpm corresponding to the speed to be reached 0x6042 CANopen index This instruction is converted into unit1 s before being transferred to the speed value variable It is only acknowledged if the variable speed drive positioner is in Velocity Mode drive mode 7 Target Torque 16 integral bit signed torque instruction 0x6071 CANopen index expressed in thousandths of motor rated torque Mo This instruction is recopied to the torque value variable and is only acknowledged if the variable speed drive positioner is in Profile Torque Mode drive mode 6 Torque Max 16 integral bit unsigned variable expressed in hundredths of Nm PDO rx no 21 or in Nm PDO rx no 22 showing the torque value not to be exceeded torque limit 16 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 4 2 2 PDO Tx Messages These PDO messages relate to condition returns sent to a supervisor DIGIVEX Motion variable speed drive positioners are capable of managing the transmission of up to 4 PDO messages of this type PDO Tx 1 This field defines the PDO Tx 1 message content corresponding parameter PDO1 tx cfg The selection is carried out using a drop down list inactive default value Status Word Status Word Mode Of Operation Display Status Word Position Actual Value
17. nsigned variable expressing the status of the logic input port binary coded value of the status of the inO to in15 inputs Please refer to the PVD 3527 DIGIVEX Motion Directory of Variables Manual for further information pos memo 32 integral bit signed variable expressed in unit1 showing the memorized value of the actual axis position pos Memorization is carried out following a change in the status of the inO or in1 inputs only the rising edge corresponding to evel inO for inO or level in1 for int is acknowledged Master Actual Value 32 integral bit signed variable expressed in unit2 showing the value of the actual measured axis position corresponds to pos2 PxStatus Word 16 bit coded condition word Oo inn ManufacturerSpecific O 6 ino Manufacturer Specific O 8 move on Manufacturer Specific authorized movement data 9 jubO Manufacturer Specific 11 pos memo result Manufacturer Specific memorized position data following a change to 1 by pos memo cmd data automatically set to 0 after pos memo cmd reset Manufacturer Specific variable speed drive positioner ok data Fault Warning see DS402 v 1 1 CanOpen standard Manufacturer Specific programs running data Manufacturer Specific validated torque data 19 PVD 3543 GB 09 2005
18. on 0 01A Target Position The PDO message content is defined in accordance with DS402 v1 1 and DS301 v4 01 CANopen standards PDO Rx 2 This field defines the PDO Rx 2 message content corresponding parameter PDO2_rx_cfg The selection is carried out using a drop down list v PDO Rx 3 This field defines the PDO Rx 3 message content corresponding parameter PDO3 rx cfg The selection is carried out using a drop down list PDO Rx4 This field defines the PDO Rx 4 message content corresponding parameter PDOA4 rx cfg The selection is carried out using a drop down list 14 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages Control Word 16 bit coded condition word 0x6040 CanOpen index 0 Switch On see DS402 v 1 1 CanOpen standard Disable Voltage Quick Stop 2 3 Enable Operation 4 5 Operation Mode Specific x T EA EX Operation Mode Specific pe Operation Mode Specific Reset Fault 8 Halt 9 ubO ub1 pos memo cmd out out out2 exec_en see DS402 v 1 1 CanOpen standard see DS402 v 1 1 CanOpen standard Enable IP Mode if drive mode 3 or 4 see DS402 v 1 1 CanOpen standard Set Immediat if drive mode 3 or 4 see DS402 v 1 1 CanOpen standard Abs Rel if drive mode 3or4 Manufacturer Specific Allows the memorization of the actual axis position in the pos1_c variable during the change to zero resolver function active on the rising front of pos memo cmd
19. or goes over its maximum authorized value trackerror max Any risk of inopportune surges is therefore minimized should the power come back on or the torque be revalidated 2 Maximum synchronization message rate The synchronization message frequency SYNC period will depend on the number of axes and the number of PDO messages exchanged between the supervisor and each of the axes Assuming that the CAN bus has 2 PDO messages per axis 1 transmitting and 1 receiving the following minimum values will apply 9 to 12 axes SYNC period gt 3 ms SYNC period gt 4 ms SYNC period gt 4 ms 1 ms per group of additional 4 axes The SYNC period frequency is bound to be a multiple of 1 ms and must be generated as regularly as possible 7 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 3 OTHER OPERATING MODES 3 1 General Points The use of PDO messages is not limited to the position drive with interpolation mode All types of applications using PDO messages are possible A supervisor card must be used for sending PDO messages The card controls the intervals between the sending and the receiving of the PDO messages sending instructions and receiving condition returns The sequencing is carried out using synchronization SYNC messages transmitted by the supervisor card The dialogue via PDO messages can only be established between a master appliance supervisor and slave appliances DIGIVEX M
20. ore the maximum acknowledgement phase difference between motion controllers is 250 us which corresponds to a variable speed drive postioner maximum sampling period We recommend that you leave a timeframe of at least 300 us between the last PDOrx message and its corresponding synchronization SYNC message The PDOrx message contains the P 4 position instruction which is applied at moment t when the axis is at position P SYNC period Superviseur Digivex Motion PDOrx 1 SYNC PDOrx SYNC Digivex Motion Superviseur iron 600 PDOtx See HS M Sp tn 1 tn gt t DIGIVEX Motion can in reply to the reception of a SYNC message transmitted by the supervisor return a PDOtx message the contents of which can be selected by the user Status Word Status Word Mode Of Operation Display Status Word Position Actual Value etc This is not obligatory you can choose not to return a condition message If this message is transmitted it is sent about 600 us after the acknowledgement of the synchronization SYNC message A PDOtx message contains values corresponding to time t 5 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 2 5 Mode exit The supervisor can use the following procedure to stop the machine correctly at the end of the running process e send a Stop Remote Node message so that the acknowledgement of PDO messa
21. otion variable speed drive positioner keypad display input output module etc and never between two slave appliances For all operating modes excepting the position drive with interpolation mode e itis possible for the synchronization SYNC messages not to be cyclic e synchronization messages are not monitored e alicence is not required for work with PDO messages e internal interpolation is not carried out by the variable speed drive positioner between the various instructions transmitted to him 3 2 Speed Drive Mode 3 2 1 Setting parameters e Putthe DIGIVEX Motion in speed drive mode drive mode 1 e Setthe parameters for PDO Rx with option 4 Control Word Target Velocity 3 2 2 Commissioning The supervisor must send a NMT Start Remote Node message at the beginning of the process for DIGIVEX Motion to validate the PDO message acknowledgement see the DS301 v4 01 CANopen standard Following this DIGIVEX Motion waits for the supervisor to transmit a synchronization SYNC message before applying the last received PDO message instruction This instruction is then recopied in the variable speed value The supervisor must send a Stop Remote Node message at the end of the process to cancel the validation of the PDO message acknowledgement see the DS301 v4 01 CANopen standard 8 PVD 3543 GB 09 2005 DIGIVEX Motion Remote control using PDO messages 3 3 Profile Velocity Mode Speed in unit1 s 3 3 1 Setting p
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