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1. 37 Rev 1 1 12 1 2010 CANopen User Manual Homing Methods 25 and 26 Home to the home switch transition shown below and bounce off the CCW limit if re quired HOMING MODE 25 Index Pulse Home Switch Neg Limit Switch Unused Pos Limit Switch HOMING MODE 26 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 1 38 12 1 2010 CANopen User Manual Homing Methods 27 and 28 Home to the home switch transition shown below and bounce off the CW limit if re quired HOMING MODE 27 Index Pulse Unused Home Switch Neg Limit Switch Pos Limit Switch rupert HOMING MODE 28 cw B CCW oe Unused Home Switch L Neg Limit Switch l Pos Limit Switch 39 Rev 1 1 12 1 2010 CANopen User Manual Homing Methods 29 and 30 Home to the home switch transition shown below and bounce off the CW limit if re quired HOMING MODE 2
2. cw Ccw Index Pulse TL Unused Home Switch Neg Limit mi Switch Geee Pos Limit Switch Unused 35 Rev 1 1 12 12010 CANopen User Manual Homing Methods 21 and 22 Home to the home switch transition HOMING MODE 21 cw III B Teew Index Pulse Unused Home Switch Neg Limit l d Switch Hosgg Pos Limit d Switch HOMING MODE 22 Index u Pulse Home Switch Neg Limit Switch Unused Pos Limit Switch Pruped Rev 1 1 36 12 1 2010 CANopen User Manual Homing Methods 23 and 24 Home to the home switch transition shown below and bounce off the CCW limit if re quired HOMING MODE 23 Index Pulse Home Switch Neg Limit d Switch i a Pos Limit Switch HOMING MODE 24 Index Pulse Home Switch Neg Limit TI TI Switch Pnuped Pos Limit Switch
3. Rev 1 1 28 12 1 2010 CANopen User Manual Homing Method 6 Homes to the first index CW after the negative home switch changes state the initial di rection of motion is dependent on the state of the home switch HOMING MODE 6 cw CCW Index Pulse Home Switch Neg Limit Switch Prused Pos Limit Switch Homing Method 7 Starts moving CCW or CW if the home switch is active and homes to the first index CW of the home switch transition HOMING MODE 7 Index Pulse Home Switch UO HH Neg Limit Switch pPrruped Pos Limit Switch 29 Rev 1 1 12 1 2010 CANopen User Manual Homing Method 8 Starts moving CCW or CW if the home switch is active and homes to the first index CCW of the home switch transition HOMING MODE 8 Index Pulse Home Switch Neg Limit Switch nk e Pos Limit Switch T Homing Method 9 Starts moving CCW and homes to the first index CW of the home switch transition HOMING MODE 9 Index Pulse Home Switch Neg Limit Switch Pos Limit Gmiel BEER REE SSR SEE
4. Rev 1 1 26 12 1 2010 CANopen User Manual Homing Method 2 Homes to the first index CW after the CCW limit switch is reached HOMING MODE 2 Index Pulse Home Switch Unused Neg Limit Switch Unused Pos Limit Switch H Homing Method 3 Homes to the first index CW after the positive home switch changes state the initial direc tion of motion is dependent on the state of the home switch HOMING MODE 3 Index Pulse Home Switch Neg Limit Switch Heed Pos Limit Switch 27 Rev 1 1 12 1 2010 CANopen User Manual Homing Method 4 Homes to the first index CCW after the positive home switch changes state the initial direction of motion is dependent on the state of the home switch HOMING MODE 4 cw Index Pulse P1111 tt Home Switch Neg Limit m Switch Pnupeg Pos Limit Switch ical Homing Method 5 Homes to the first index CCW after the negative home switch changes state the initial direction of motion is dependent on the state of the home switch HOMING MODE 5 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch
5. 0603 8 2B 40 60 00 0F 00 00 00 Clear New Set Point Bit Single Move Relative 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit Multiple Move Stopping between Moves 0603 8 23 81 60 00 BO 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit Multiple Move Continuous Motion 0603 8 23 81 60 00 B0 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 02 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 5F 02 00 00 Set New Set Point B
6. PDS Power Drive System PDO Process Data Object RPDO Receive incoming PDO SDO Service Data Object TPDO Transmit outgoing PDO 7 Rev 1 1 12 1 2010 CANopen User Manual CANopen Network Topology Overview MOONS CANopen drives can be integrated into a CANopen system with other device types as shown below CANopen Motion Master CAN Bus MOONS MOONS Other Other CANopen CANopen CANopen CANopen Drive Drive Device Device Figure 1 CANopen Network Topology Overview Drive Setup There are four phases to setting up a MOONS CANopen Drive e Wiring the power and motor e Wiring the CANopen connector to the drive e Setting the Bit Rate and Node ID e Configuring the Drive Wiring the Power and Motor Please refer to the drive s hardware manual for this step The appropriate manual can be found on the CD that was included with the drive or bv visiting www moons com Rev 1 1 8 12 1 2010 CANopen User Manual Wiring the CANopen Connector for MSST5 C Drives MOONS MSST5 C drive uses a four pin spring connector shown in Figure 2 below and conforms to DR303 specification The connector should be wired in a daisy chain configura tion as shown in Figure 3 below with a 120 ohm resistor used to terminate each end Other wiring topologies such as star networks are not recommended due to wave reflection prob lems Please reference specific hardware manuals for your drive s wiring configuration GND CAN_L SHL
7. must be written to the controlword OD entry located at dictionary address 6040 This puts the drive into Operation Enabled state with the motion halted Starting Stopping Motion To start and stop motion toggle the controlword halt bit bit 8 When the halt bit is set to 0 motion will start or continue when the halt bit is set to 1 motion will stop The bit can be toggled by writing 010F and 000F to controlword OD entry 60401 Rev 1 1 24 12 1 2010 CANopen User Manual PROFILE VELOCITY MODE T T T l l v2 v1 Actual Speed o v2 v1 Target Speed 0 I I 1 T 1 I I Halt I I o l l I 1 Figure 10 Profile Velocity Mode Graph Point Target Speed Halt Bit Drive command to Motor sm oo dtr stopp Motor accelerates to speed Vi 8 mw 051 Motor decelerates to stopped p gt vev o Motor accelerates from Vi to V2 Te vso o Motor decelerates from V2 to 0 gt o oen Motor remains topped Table 15 Profile Velocity Mode Example 25 Rev 1 1 12 1 2010 CANopen User Manual Appendix E Homing Methods Set Running Parameters Set the homing and index velocities acceleration deceleration offset and home sensor if required using OD entries 6099 609A 607C and 7001 respectively Note It is important that the limit switch settings have been defined in ST Co
8. 60 00 OF 00 00 00 Operation Enabled Set to Normal Q Mode 0603 8 2F 60 60 00 FF 00 00 00 Set to Normal Q Mode 0603 8 2F 07 70 00 01 00 00 00 Set Q Segment Number to 1 Start Stop Q Program 0603 8 2B 40 60 00 1F 00 00 00 Q Program Starts 0603 8 2B 40 60 00 1F 01 00 00 Q Program Halts Sync Q Mode Enable Motor Power DSP402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 OF 00 00 00 Operation Enabled Set to Sync Q Mode 0603 8 2F 60 60 00 FE 00 00 00 Set to Sync Q Mode 0603 8 2F 07 70 00 01 00 00 00 Set Q Segment Number to 1 0603 8 23 05 10 00 80 00 00 00 Set Sync Pulse to 0x80 Start Stop Q Program 80 0 Q Program Starts 0603 8 2B 40 60 00 0F 01 00 00 Q Program Halts F Shanghai AMP amp MOONS Automation Co Ltd Fl 00 RI S No 168 Mingjia Road Industrial Park North Minhang District Service Canter Shanghai 201107 P R China 86 400 820 9661 mew 4 better Tel 86 21 52634688 Fax 86 21 62968682 00 i 7 E mail info moons com cn Web www moonsindustries com l 57 Rev 1 1 12 1 2010
9. A Set Point Ack Bit 12 O Target Reached A Bit 10 e gt 2 A B C D E F G H I Figure 7 Multiple Set Points Stopping Between Moves In this example controlword bits 9 Change of Set point and 5 Change Set Immediately are 0 The motor comes to rest between moves Ges Ready Bit Acknowledge Bit Bit Star Drive acknowledges set point starts executing set point o o User pulls new set point ready bit low Drive pulls set point ack bit low indicat ing ready to receive another set point gt 1 gt 0 gt 1 User tells drive another set point is readv 0 gt 1 Drive acknowledges set point buffers it as another set point is still in progress 100 1 I 0 User pulls new set point ready bit low gt 0 Drive pulls set point ack bit low starts executing new set point as soon as old one is finished 1 The set point is finished no set points in buffer so Target Reached bit is set Table 12 Multiple Set Point Profile Position Move with Stopping Between Moves Start 21 Rev 1 1 12 1 2010 CANopen User Manual PROFILE POSITION MODE Set of Set Points A Actual Speed OT a a E A New Set Point Ready Bit 4 0 gt L gt A Set Point Ack Bit 12 0 l ke Target Reached A i Bit 10 0 eS E A B C D EF G H I Figure 8 Multiple Set Points Con
10. Eege 19 mel RUIN GE EE 19 Starti ng Stopping MONO ise ieketit EE EE taa 19 Appendix D Profile Velocity Mode ENEE 24 General Mode Description EE 24 Enable Profile Velocity Mode 1 14 isa na abort 24 Skelett 24 Enable Drive Ope E 24 Starti ng Stopping Motion seei i a ka uh ita G 24 Appendix E Homing Kl ii 2 0nd iidieccrsncteinieicacdeaaddedeneisiebonedladsdadanesetbicbinasiddaidudbeleieimecaiedaiale 26 Set Running ae EE 26 Enable Homing OT 26 Starting the Homing ee UE 26 Homing Method Diagrams AT 26 Homing Method EE 26 Homing Method E 27 HANN Method A a eaaa aaeeea 27 Homing Method KEE 28 Homing Method E EE 28 elle MVE Method KEE 29 3 Rev 1 1 12 1 2010 CANopen User Manual Homing BA Ve E Homing Method EE feig LL 9 0 EE EE NE Homing Method AE Homing Memod AN EE RE EE EE ANE H ming Method RR ENE NN RE RER Homing Method l EEE komino BG 5 we Homing Methods 15 and UG casas a ii ie i i eaccede gece eee Homing Method E komine Method E Homing Methods 19 and 2 E Homing BESAT KE Homing Methods 23 and 24 E Homing Methods 25 and 28 cca rca ea terete dead ered acubechouodteadendeannqiBienlntas sien niacin aes Homing Methods 27 and 28 i iiiiieeieeini e ii mk keinens iesirea Homing Methods 29 and AO okesctncseras ce veteuetest ice wacadedouedouetenaddlcdasnimtniatpacsesctedoueiousueteenaesees Homing d Ee Homing Method E nominee we Homo Me ibda i A meen Appendix F Profile Torque Mode Servo Onlv PBN Enable Profile Tor
11. came with the drive or on MOONS website lists all the properties of every supported object in the OD Compatibility Issues To maintain compatibility with the DSP402 spec the following OD entries are defined as 32 bit values but not all the bits will be used by the drive The entries below should be writ ten and read as per the CANopen Spec Length but only the Effective MOONS Length will be used For example OD entry 606C Velocity Target Value is defined as a 32 bit number but only the lower 16 bits will be used by the drive The upper 16 bits will be ignored and should be left as zero when issuing a write command For more information see Appendix A for a description of Parameter Unit Scaling Index Length Length Homing Speeds multiple Drive inputs ma oo a ooo drive Outputs Jm 2008 Table 3 Object Dictionary Compatibility Issues Rev 1 1 12 12 1 2010 CANopen User Manual Life Time Factor Identity Object Table 4 DS301 Object Descriptions For more information see DS301 for a complete description 13 Rev 1 1 12 1 2010 CANopen User Manual Controlword Statusword 6085 Quick Stop Deceleration see Appendix A Parameter Unit Scaling 6098 Homing Method 6099 Homing Speeds see Appendix E Homing Methods 609A Homing Acceleration see Appendix E Homing Methods 60FE Drive Outputs 60FF Target Velocity see Appendix D Profile Velocity Mode 6502 Supported Drive Modes T
12. does not come to a complete stop but decelerates according to the profile deceleration value starting at point B When the halt bit transitions at point C it accelerates immediately back to the target speed At Point E reducing the target speed to zero has the same effect as enabling the halt bit since the drive is com manding the motor to move at zero speed It should be noted that both enabling the halt bit and setting the target velocity to zero keep torque applied to the motor In order to allow the shaft to move freely the NMT state must be put in the Drive Disabled state Enable Profile Velocity Mode To enable the profile velocity mode the value 0003 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted Set Running Parameters Set the velocity acceleration and deceleration using OD entries 60FF 6083 and 6084 respectively Enable Drive Operation After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation the value 010F
13. heartbeats with the Pre Operational state as a status code Rev 1 1 10 12 1 2010 CANopen User Manual Supported DSP402 Modes of Operation MSST MSSTAC6 Profile Velocity e Profile Position e Profile Torque mu Interpolated Position a ae Q Program Table 2 Modes of Operation For detailed information on each mode see the corresponding appendix Profile Position Mode Appendix C Profile Velocity Mode Appendix D Homing Modes Appendix E Profile Torque Mode Appendix F Q Program Mode Appendix G MOONS CANopen Drive Detail DS 301 CANopen Communications DS 402 Motion Control Modes Profile Profile Homing Q Profile Velocity Torque Modes Program Position Mode Mode Mode Mode Limit Switches Etc Encoder Option Figure 4 CANopen Drive Motion Control Modes T Rev 1 1 12 1 2010 CANopen User Manual Object Dictionary The Object Dictionary OD is the core of any CANopen node It provides links to all the communication and running parameters of anode The Object Dictionary is defined in the Electronic Data Sheet EDS which lists all supported objects along with any sub objects Any OD Entry may be accessed using the standard Service Data Object SDO protocol while some may be accessed using the low overhead Process Data Object PDO protocol For more information see Appendix for a description of SDO and PDO Access Electronic Data Sheet The EDS available on the CD that
14. the Node ID For example the default RPDO1 COB ID is 200 Therefore the COB ID for RPDO1 to Node 2E would be 200 O2E 22E The default COB IDs for each PDO may be found in DS301 on page 78 Building an RPDO Data Frame Example This example will show how to set the controlword of node 2E to 7E4F using RPDO1 The paragraph above shows how the COB ID of 22E was determined The mapping table above that shows that the first two message bytes will contain the controlword According to Endianness the first data byte will be 4F and the second will be E The entire message will then read COB ID Data Length Data Byte 0 Data Byte 1 Table 23 PDO COB IDs For more information on PDO mapping see DSP402 3 For more information on the PDO protocol see DS301 51 Rev 1 1 12 1 2010 CANopen User Manual Appendix J Operation Mode Specific Control and Status Word Control Word of Profile Position Mode Positioning shall be completed target reached before the next one gets Set Point started Immediately Next positioning shall be started immediately Target position shall be an absolute value Target position shall be a relative value Positioning shall be executed or continued Axis shall be stopped The previous set point will be completed and the motor will come to rest before a new set point is processed Change of Set Point The motor will continue at the speed commanded by the previous set point until it has reach
15. the controlword To halt execution of a Q program the halt bit bit 8 of the controlword must be set to 1 The Q program will halt immediately and start from the beginning the next time a 0 gt 1 transi tion is seen on the Q Program start bit after the halt bit has been cleared Rev 1 1 46 12 1 2010 CANopen User Manual Synchronous Q Program Execution To execute a stored Q program on a single drive a value of 2 FE must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD entry 6061 mode of operation display which is updated when the cur rent operation mode is accepted Next the desired Q segment number 1 12 must be written to the Q Segment Number register located at address 7007 To enable operation 001F must be written to the controlword OD entry 6040 After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation a value of 000F must be written to the controlword OD entry located at dictionary address 6040 This puts the drive into Operation Enabled state and ready to run the Q program To run the drive b
16. the receipt of a valid set point using bit 12 of the statusword at OD 6041 Because the set point is edge triggered once the drive receives and processes the set point the new set point of the control word must be cleared by writing 000F to the controlword register While the drive is acting on a set point a new set point may be entered and triggered using the new set point The second set point will be received as soon as it is processed or at the end of the previous set point which ever is later Controlword Bits New Set point bit 4 set this bit high to clock in a new set point Once the drive has accepted the set point it will respond by setting statusword bit 12 high Controlword bit 4 should then be taken low Change of Set point bit 9 if this bit is low the previous set point will be completed and the mo tor will come to rest before a new set point is processed If bit 9 is high the motor will continue at the speed commanded by the previous set point until it has reached the position commanded by the previ ous set point then transition to the speed of the new set point Change Set point Immediately bit 5 if this bit is high the new set point will take effect immedi ately The motor speed will transition to the speed and position commanded by the new set point Absirel bit 6 if this bit is high the set point distance is relative For example if the previous motor position was 10 000 steps and a new set poin
17. will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation the value OOOF must be written to the controlword OD entry located at dictionary address 6040 This puts the drive into the Operation Enabled state with no torque applied It should be noted that both enabling the halt bit and setting the target torque to zero will ramp down the torque applied to the motor according to the torque slope At the end of the slope no torque will be applied to the motor allowing the shaft to move freely 43 Rev 1 1 12 1 2010 CANopen User Manual Starting Stopping Torque To start and stop motion toggle the controlword halt bit bit 8 When the halt bit is set to 0 motion will start or continue when the halt bit is set to 1 motion will stop The bit can be toggled by writing 010F and 000F to controlword OD entry 60401 Parameter Calculations Example An application requires a torque of 50 oz in and a torque slope of 25 oz in sec The motor print lists the Torque Constant of the motor as 0 07Nm A The Nm A constant given must first be converted into mNm A as required by the Torque Constant OD entry The formula used for this is Nm mA _ 4 me Nm As the drive works primarily in Nm the desired 50 oz in of torque must also be converted into Nm using the conversion factor
18. 00 0F 00 00 00 Motion Starts 0603 8 23 FF 60 00 60 09 00 00 Change Target Velocity to 10 rps 0603 8 2B 40 60 00 OF 01 00 00 Motion Halts Homing Mode Enable Motor Power DSP402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Homing Mode 0603 8 2F 60 60 00 06 00 00 00 Set to Homing Mode 0603 8 2F 98 60 00 13 00 00 00 Set Homing Method to 19 Set Motion Parameters 0603 8 23 9A 60 00 58 02 00 00 Set Homing Acceleration to 100rps s 0603 8 23 99 60 01 FO 00 00 00 Set Homing Velocity Search for Switch to 1rps 0603 8 23 99 60 02 78 00 00 00 Set Index Velocity Search for Index or Zero to 0 5rps 0603 8 23 7C 60 00 40 9C 00 00 Set Homing Offset to 40000 Steps 0603 8 2F 01 70 00 03 00 00 00 Set Homing Switch to Input 3 7 Start Stop Homing 0603 8 2B 40 60 00 1F 00 00 00 Homing Starts 0603 8 2B 40 60 00 1F 01 00 00 Homing Stops Rev 1 1 56 12 1 2010 CANopen User Manual Normal Q Mode Enable Motor Power DSP402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40
19. 141 6 oz in Nm 50 ozin _ 141 6 oz in 0 3531 Nm Nm Now the resultant torque of 0 3531Nm must be converted into mNm as required by the Target Torque OD entry 0 3531 Nm 1000 a 353 1 meNm The result is a value of 353 mNm rounded to the nearest whole number for the Target Torque OD Entry Finally the desired slope must be converted from the given units of oz in sec into the re quired units of mNm sec 25 a kon i 14 ha RE r Rounding to the nearest whole number results in a Torque Slope of 177 mNm sec Current Verification Example It is important to check that the current required of the drive is within the limits of the servo amplifier The drive being used for example has a continuous rating of 7 amps and a peak current of 14 amps which may be held continuously for 2 seconds This means that a current of 7 amps can be held indefinitely and currents between 7 and 14 amps may be used in short Rev 1 1 44 12 1 2010 CANopen User Manual bursts Using the target torque and torque constant from the example above the current draw can be checked as shown 0 3531 Nm Nm 0 07 A 5 0443A The resultant current 5 0443A is below the 7A continuous current rating of the drive and well below the peak current rating of 14A It is possible for the drive to maintain a current of 7A indefinitely and peak up to 14A for up to two seconds continuously Values between 7A and 14A may be held proportional
20. 9 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Mnuped HOMING MODE 30 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Pruped Rev 1 1 40 12 1 2010 CANopen User Manual Homing Methods 31 and 32 Homing Methods 31 and 32 are reserved for future expansion Homing Method 33 Homes to the next index pulse CW from the current position If the CW limit is hit the drive resets to the CCW limit and continues searching for a limit in the CW direction HOMING MODE 33 Index Pulse Home Unuse Switch e Neg Limit oven H Pos Limit Switch 41 Rev 1 1 12 1 2010 CANopen User Manual Homing Method 34 Homes to the next index pulse CCW from the current position If the CCW limit is hit the drive resets to the CW limit and continues searching for a limit in the CCW direction HOMING MODE 34 cw 13 ccw Index Pulse Home Switch Pnuped Neg Limit Switch Pos Limit Switch Homing Method 35 T
21. CANopen User Manual Rev 1 1 AMP amp MOONS Automation CANopen User Manual Introduction This manual describes MOONS CANopen implementation of CiA DS301 and CiA DSP402 specifications It is expected that the user fully understands both CiA standards That under standing along with this specification will enable the user to develop a distributed motion control system The intent of this manual is to highlight manufacturer specific requirements as they pertain to MOONS drives Information and standards may be obtained from the CiA website at http www can cia com Information and software relating directly to the MOONS CANopen drives including an open source example program may be obtained from our website at http www moons com Rev 1 1 2 12 1 2010 CANopen User Manual Contents fe ie ie DEE 2 Reference Documents EE H Commonly Used FN E 7 CANopen Network Topology Overview A 8 Driv SEP EE 8 Wiring the Power ara Be 8 Wiring the CANopen Connector for MSST5 C Drives nn nn nn nn nanna 9 CANopen EH 9 Dive a 0 EELER 10 Supported DSP402 Modes of Operation E 11 Object 8 95 1 8 pg tak NE EE 12 Electronic Data Sheet EEE EE EE 12 ee e e 12 Global Control Word and Status Word DEE 15 General Purpose e E 16 Appendix A Parameter Unit Scaling EE 17 Appendix B Response e 18 Appendix C Profile Position MOTE E 19 General Mode Description ME 19 Enable Profile Position Mode a2 ii ia eege eher eege
22. D CAN_H Figure 2 The CANopen Connector Figure 3 shows a CANopen network with two MOONS MSST5 C drive connectors wired to a Kvaser Leaf USB to CANopen Adapter R termination 120 ohm nominal CAN L CAN Gh CAN SHLD CAN H ta DSUB9 Female R termination 120 ohm nominal 1 Spacing Spring Plug 1 Spacing Spring Plug R termination n Network must be terminated at each Cable may be made with up to 127 drive end with a 120 ohm resistor connectors Termination is only required at each end Figure 3 Wiring Schematic CANopen Bitrate MOONS CANopen drives have three settings one for Bit Rate and two for Node ID The Bit Rate is configured using an 8 position switch See Table 1 for the Bit Rate settings Please reference the drive s hardware manual for the location of the Bit Rate switch The Node ID is configured using a 16 position switch to set the lower 4 bits of the Node ID and a 8 position switch to set the upper 3 bits of the Node ID In some cases the upper 3 9 Rev 1 1 12 1 2010 CANopen User Manual bits of the Node ID are configured using ST Configurator STAC Configurator or Quick Tuner Please reference the drive s hardware manual for Node ID switch configuration and setup Valid ranges for the Node ID are 01 through 7F Node ID 00 is reserved in accordance with the DS301 specification Note The Node ID and Bit Rate are captured
23. E The first data byte is reserved for the control byte which is always 40 for an SDO Read The next 2 bytes are reserved for the OD entry address in Little Endian format To obtain OD entry 1017 we stuff data byte 1 with 17 and data byte 2 with 10 Data byte 3 is reserved for the sub index of the OD entry which in this case is zero The last 4 bytes are unused for SDO reads The whole message appears as COB ID Data Length Data Byteo 1 2 3 4 5 6 7 Table 19 Enable SDO Use The drive will respond with a message with COB ID 580 Node ID or 5AE For more information see DS301 SDO protocol PDO Access Enable PDO Use To enable Process Data Object PDO use the NMT state must be set to Operational and an NMT message sent to enable the Operational state When completed the heartbeat should return a 5 The drive is now ready to receive RPDOs and will transmit TPDOs depending on the Transmission Type 49 Rev 1 1 12 1 2010 CANopen User Manual TPDO Transmission Types There are several triggering options for Transmit PDOs which are controlled by OD en tries 1800 to 1803 and their associated sub entries Possible TPDO Triggers SYNC pulse Node will send TPDO after receiving one or multiple SYNC pulses Event Timer Node will issue TPDO based on an internal event or timer Remote Request Node will send TPDO after a remote request PDO transmitted on the next SYNC pulse after the statuswo
24. S EER Rev 1 1 30 12 1 2010 CANopen User Manual Homing Method 10 Starts moving CCW and homes to the first index CCW of the home switch transition HOMING MODE 10 cw IA Index Pulse Home Switch Neg Limit Switch peer Pos Limit ge BEER Homing Method 11 Starts moving CW or CCW if the home switch is active and homes to the first index CCW of the home switch transition HOMING MODE 11 cw coe CCW Index Pulse Home Switch T Neg Limit Switch Pos Limit a Switch Pe 31 Rev 1 1 12 1 2010 CANopen User Manual Homing Method 12 Starts moving CW or CCW if the home switch is active and homes to the first index CW of the home switch transition HOMING MODE 12 Index Pulse Home Switch EEH HEE Neg Limit Switch Pos Limit Switch peer Homing Method 13 Starts moving CW and homes to the first index CCW of the home switch transition HOMING MODE 13 cw CC Index Pul
25. Types eege 50 Table 21 PDO Mapping Stepper ENEE 50 Table 22 PDO Mapping DSRV EE 50 Jee PEN 51 List of Figures Figure 1 CANopen Network Topology Overview ccccceseeseeessseseseseceeeceneceeeeeeee 8 Figure 2 The CANopen Gonnector int 9 Fig re 3 Ming EE 9 Figure 4 CANopen Drive Motion Control Modes ssseeeseesseseeeseeceeeceeeceeeeees 11 Figure 5 Global Control Word and Status Word 15 Figure 6 Single SetPoint ee ee eeh 20 Figure 7 Multiple Set Points Stopping Between MOVES rrrnrnnnnnnnnnnnnrrrrrrrrnrnnnrennnn 21 Figure 8 Multiple Set Points Continuous Motion 22 Figure 9 Multiple Set Points Immediate Change in Motion n 23 Figure 19 Profile Selektioun 25 Figure 11 Set Running ParameterS cccccccecceeseeeressreneeedenenseccscscsecsecnecconens 43 Figure 12 Profile Torque WMO EE 45 Rev 1 1 6 12 1 2010 CANopen User Manual Reference Documents MOONS MSST5 10 C Data Sheet MOONS SV7 C Data Sheet MOONS MSSTAC6 C Data Sheet CiA DS301 CiA DR303 CiA DSP402 Bosch CAN Physical Layer Specifications 2 0B MOONS Q Command Reference Commonly Used Acronyms CAN Controller Area Network CiA CAN in Automation Group Standards Body COB ID Communication Object Identification DR CiA Draft Recommendation DS CiA Draft Standard DSP CiA Draft Standard Proposal EDS Electronic Data Sheet NMT Network Management OD Object Dictionary
26. able 5 DSP402 Objects Rev 1 1 14 12 1 2010 CANopen User Manual Acceleration_Current See Appendix A For Scaling Table 6 Global Control Word and Status Word Global Control Word and Status Word Homing Postion vetooty morau a Homing Postton vetociy Tore 6 ca Reserved Homing Following Reserved Reserved Reserved Error Error Homing Set Point i Speed Reserved Reserved Attained Ack Internal Limit Active Target Reached Change of Reserved Reserved Reserved Reserved Remote Set Point Halt Reserved Fault Reset Warning Change Reserved Set Point Reserved Reserved Reserved Quick Stop Immediately Homing Q New Set Operation Point Reserved Reserved Program Voltage Enabled Start Start Figure 5 Global Control Word and Status Word 15 Rev 1 1 12 1 2010 CANopen User Manual General Purpose Registers MOONS CANopen products provide 23 general purpose registers These registers are 32 bit read write registers They are volatile so the information sent there will not be saved after a power cycle These registers may also be accessed and manipulated via a stored Q Program if de sired The table below cross references the CANopen OD entries and the Q Programmer register addresses For more information on using these general purpose registers in a Q Program please see the Q Command Reference available at www moons com For more information about th
27. akes the current position to be the home position the Home Offset value is ignored and the motor does not move at all HOMING MODE 35 Index Pulse Home Switch ppuped Neg Limit Switch lak Pos Limit Switch Unused Rev 1 1 42 12 1 2010 CANopen User Manual Appendix F Profile Torque Mode Servo Only General Mode Description Profile Torque mode is a servo control torque operating mode It requires knowledge of the Torque Constant of the motor in Nm A This information can be found in the motor print Enable Profile Torque Mode To enable Profile Torque Mode the value 0004 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted Set Running Parameters To operate in Profile Torque mode the following parameters must be set Parameter Object Dictionary Length in Units Description Name Entry bytes a motor print motor Torque Slope 6087 4 m Nm Rate at which to ramp torque to sec new target Figure 11 Set Running Parameters Enable Drive Operation After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This
28. ased on the SYNC pulse the pulse must be set in the COB ID SYNC register located at OD entry 1005 A standard value for the SYNC pulse is 80 but any unused COB ID may be used Refer to DS301 for a list of reserved COB IDs Once the SYNC pulse has been set and the desired Q segment has been set the drive will execute the Q segment every time it receives a SYNC pulse In this way multiple drives may be instructed to start a Q program with a single network wide instruction To halt execution of a Q program set the halt bit bit 8 of the controlword to 1 The Q program will halt immediately and start from the beginning the next time a SYNC pulse is sent after the halt bit has been cleared More Information For more information see DS301 COB IDs For more information on Q programming see the Host Command Reference on the CD included with the MOONS CANopen drive 47 Rev 1 1 12 1 2010 CANopen User Manual Appendix H Understanding NMT States Under normal operating conditions a Network Management NMT state machine will power up into an Initialization state send out a boot up packet move into a Pre Operational state and start sending out heartbeats with the Pre Operational state status code NMT Mode NMT Control NMT Status Code Command Heartbeat Initialization Node Reset aa Pre Operational 18 17 O Operational Stopped Table 17 Understanding NMT States Building a CANopen NMT Data Frame Example Th
29. de the rps by the acceleration multiplier to obtain the hexa decimal number 10 rps 0 1667 59 988 Using the formula above and rounding to the nearest whole number results in a value of 60 decimal or 3C to send as an SDO Write to OD 6083 Set the Target Position to 2000 steps Because the relationship between physical steps and internal steps is one to one the value 2000 can be sent to OD 607A Sending a negative number must be done in two s complement notation To find the two s complement subtract the value 2000 from 2 since the Target Position is a 32 bit number 2 2000 4 294 965 296 FFFFF830 17 Rev 1 1 12 1 2010 CANopen User Manual Appendix B Response Codes STM CW Limit Over Current 2000 imentFoldkad RI Resistance Not Used Not Used Out of Range 4000 Blank Q Segment 8000 Not Used Note Items in bold italic represent Drive Faults which automatically disable the motor Use the OF command in a Q Program to branch on a Drive Fault Table 9 Object 603F DSP402 Error Codes 0020 Jogging currently in jog mode 0040 topping in the process of stopping from a stop command S u W Table 10 Object 700B DSP Status Codes M 0010 Moving motor is moving H C Rev 1 1 18 12 1 2010 CANopen User Manual Appendix C Profile Position Mode General Mode Description Profile Position Mode is a point to point operating mode using set points which consist of veloci
30. e Q Program Mode see Appendix G User Defined Registro s0 o User Defined Register 400 J 7 User Defined Register 4 J 2 User Defined Registers 4005 s User Defned Registers 400 6 User Defned Registers 400 e UserDened Regstero 400 gt User Defned Register10 a00 User Defined Regs a008 J 7 User Defned Registera 2000 User Defined Regisert4 a06 gt User Defned Register 4r User Defined Register17 7 m LL User Defned Register19 aor J 7 User Defined Registerzi 4o UserDemed Registerzz av Table 7 User Defined Registers in CANopen and Q Programmer Rev 1 1 16 12 1 2010 CANopen User Manual Appendix A Parameter Unit Scaling The table below shows conversions from physical units to internal drive units Use this table to scale parameters before they are sent to the drive Units must be rounded to the near est whole number and represented in hexadecimal Negative numbers should be expressed using two s complement notation Parameter Type Multiplier Velocity 0 0042 0 1667 Table 8 Parameter Scaling Chart Querying the Point to Point Profile Acceleration from the drive An SDO read from OD 6083 returns a value of 226 or 550 decimal Using the accelera tion multiplier this yields an acceleration of 91 685 rps s 550 0 1667 RPS 91 685 rps s Set the Point to Point Acceleration to 10 rps When setting a known rps divi
31. ed the position commanded by the previous set point then transition to the speed of the new set point Halt Bit 8 in controlword 0 Target position not reached Halt Bit 8 in controlword 1 Axis decelerates Halt Bit 8 in controlword Halt Bit 8 in controlword 1 Velocity of axis is 0 Set Point Ack Previous set point alreadv processed waiting for new set point 0 Target position reached Previous set point still in process set point overwriting shall be accepted Following No following error Error Following error Rev 1 1 52 12 1 2010 CANopen User Manual Control Word of Profile Velocity Mode Halt o The motion shall be executed or continued a Axis shall be stopped Status Word of Profile Velocity Mode Halt Bit 8 in controlword 0 Target velocity not reached Target Halt Bit 8 in controlword 1 Axis decelerates Reached Halt Bit 8 in controlword 0 Target velocity reached Halt Bit 8 in controlword 1 Velocity of axis is 0 12 Speed Speed is not equal to 0 STEE Control Word of Homing Mode Homing po Do not start homing procedure Operation l Start 1 Start or continue homing procedure bg 0 JEnablebit4 a Stop axis Status Word of Homing Mode Halt Bit 8 in controlword 0 Home position not reached Target Halt Bit 8 in controlword 1 Axis decelerates Reached 1 Halt Bit 8 in controlword 0 Home position reached Halt Bit 8 in controlword 1 Vel
32. ew Set Point Set Point Target Reached What s Going On Point Ready Bit Acknowledge Bit Bit User tells drive a set point is ready Drive acknowledges set point starts executing set point Drive pulls set point ack bit low indicat ing ready to receive another set point User tells drive another set point is ready Drive acknowledges set point immedi ately executes it beginning transition to new set point speed and position User pulls new set point ready bit low Drive pulls set point ack bit low The set point is finished no set points in buffer so Target Reached bit is set Table 14 Multi Set Point Profile Position Move with Immediate Change in Motion 23 Rev 1 1 12 1 2010 CANopen User Manual Appendix D Profile Velocity Mode General Mode Description Profile Velocity Mode is a relatively simple operating mode Once the velocity accelera tion and deceleration are set the drive will either command the motor to accelerate to the running velocity according to the acceleration parameter or to halt movement according to the deceleration parameter The figure below shows an example of Profile Velocity Mode The top graph shows the actual speed of the motor the middle graph the target speed value and the bottom graph the halt bit in the controlword The table below explains how the halt bit and target velocity may be used together to af fect motor speed Between points B and C the motor
33. is example will show how to send a broadcast message to all CANopen nodes to put them into an operational NMT state The COB ID for NMT commands is always 0 This en sures that an NMT command has the highest priority on the bus and will never be preempted except by another node sending out an NMT command The first data byte of an NMT command contains the NMT Control Command which is 1 Operational in this case The second data byte contains either the Node ID of a target Node or in the event that the NMT master is requesting that all nodes change their NMT Mode a zero To send a broad cast message a zero is used The completed data frame is below COB ID Data Length Data Byte 0 Data Byte 1 of 2 4 BECH Table 18 Example NMT Data Frame Rev 1 1 48 12 1 2010 CANopen User Manual Appendix I SDO and PDO Access Enable SDO Use To enable Service Data Object SDO use the NMT state must be either Pre Operational or Operational Send an NMT message to put the node into either state When completed the heartbeat should return either 127 Pre Operational or 5 Operational The drive is now ready to read and or write all OD entries Building an SDO Read Data Frame Example This example will show how to read the heartbeat time of node ZE An SDO read request must be sent to the drive The default COB ID for SDO requests is 600 see DS301 plus the Node ID of 2E This results in a specific COB ID for this message of 62
34. it to 1 0603 8 2B 40 60 00 4F 02 00 00 Clear New Set Point Bit 55 Rev 1 1 12 1 2010 CANopen User Manual Multiple Move Immediate Change in Motion 0603 8 23 81 60 00 BO 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 7F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 6F 02 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 7F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 6F 02 00 00 Clear New Set Point Bit Profile Velocity Mode Enable Motor Power DSP402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 01 00 00 Operation Enabled Motion Halted Set to Profile Velocity Mode 0603 8 2F 60 60 00 03 00 00 00 Set to Profile Velocity Mode Set Motion Parameters 0603 8 23 FF 60 00 FO 00 00 00 Set Target Velocity to 1 rps 0603 8 23 83 60 00 58 02 00 00 Set Acceleration to 100 rps s 0603 8 23 84 60 00 58 02 00 00 Set Deceleration to 100 rps s Start Stop Motion 0603 8 2B 40 60
35. ive with the RS 232 port disconnected Once Q Programmer is in control of the drive it may be used in the same way as any other MOONS Q drive See the Q Com mand Reference for more information on Q programming Normal Q Program Execution To execute a stored Q program on a single drive a value of 1 FF p must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD entry 6061 mode of operation display which is updated when the cur rent operation mode is accepted Next the desired Q segment number 1 12 must be written to the Q Segment Number register located at address 7007 After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation a value of 000F must be written to the controlword OD en try located at dictionary address 6040 This puts the drive into Operation Enabled state and ready to run the Q program To run the selected Q program a value of 001F must be written to the controlword The Q program will then run to completion The Q program may be re executed by a 0 gt 1 transition of the Q Program start bit bit 4 in
36. ly long For more information see DSP402 2 Profile Torque Mode PROFILE TORQUE MODE T T I T l l l l T H i Actual 2 l 1 1 Torque l T4 T2 Target Torque T4 Figure 12 Profile Torque Mode Graph Point Target Torque Halt Bit Drive command to Motor p stat o nooo 1 0 RamptorquetoTi Ooa o n o o fO venoe Fe fm Ramp torque to zero Pte Ramp torque to zero Pedant torque at zoro Table 16 Profile Torque Mode Example 45 Rev 1 1 12 1 2010 CANopen User Manual Appendix G Q Program Mode General Mode Description In order to expand the functionality of MOONS CANopen drives the Q programming language may be used to execute complex motion profiles that may not be possible within the scope of DSP402 The Q program must be written and pre loaded into the CANopen drive us ing Q Programmer v1 3 5 or later Q Programs may also access and manipulate the CANopen General Purpose registers for use in stored programs The section above on General Purpose Registers has a chart to convert from the OD entry to the Q address Loading a Q Program As with ST Configurator and Quick Tuner the drive must be powered up with the RS 232 port connected and Q Programmer running for the CANopen drive to delay the normal boot up procedure The CAN boot up can be resumed by closing the Q Programmer application or by power cycling the dr
37. ming Mode EE 53 Control WV Oe OE OT 54 Status Word of Q e REE a a rri e aaea 54 Appendix K Example Gelee E 55 Profile Position ModE E 55 Profile Velocity e ninii enaa 56 HNL 56 Normal Q PVCS RE REE EEE NE REE REE 57 Syne Q Mode EE NE EE EEE A 57 5 Rev 1 1 12 1 2010 CANopen User Manual List of Tables Table 1 Bil Rate Switch Elle CC 10 RENTA 11 Table 3 Object Dictionary Compatibility ISSUES nn 12 Table 4 DS301 Object Re e EE 13 RER a iceccoirecre nonren eee EE EE EEA GREE 14 Table 6 Manufacturer Specific Objects casei dec cece eerste d Spuere 15 Table 7 User Defined Registers in CANopen and Q Programmer 16 Table 8 Parameter Scaling Chart EE 17 Table 9 Object 603F DSP402 Error CodeS slip ere eee 18 Table 10 Object 700B DSP Status Codes user a 18 Table 11 Single Set Point Profile Position Move ss ssmnnnnnnnzennnnzennnnnzzznnnnznzznznnani 20 Table 12 Multiple Set Point Profile Position Move with Stopping Between Moves 21 Table 13 Multiple Set Point Profile Position Move with Continuous Motion 22 Table 14 Multi Set Point Profile Position Move with Immediate Change in Motion 23 Table 15 Profile Velocity Mode Example missiera 25 Table 16 Profile Torque Mode Exvample Abee 45 Table 17 Understanding NM F States l i ienet danset 48 Table 18 Example NMT Data trame enennnnnnnznnnnnnnznenennnnrnnnrznznnnnanannnnnn 48 Table 19 Enable SDO RE 49 Table 20 TPDO Transmission
38. nfigurator or Quick Tuner prior to using the CANopen Homing Mode Enable Homing Mode To enable Homing Mode the value 0006 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To put the drive into Operation Enabled Mode write 000F to the controlword OD entry located at dictionary address 6040 Starting the Homing Procedure Set the Homing Method required using OD entry 6098 To start the homing procedure bit 4 of the controlword OD entry located at dictionary address 6040 must transition from 0 to 1 The status of the homing procedure can be monitored using the statusword OD entry 6041 Homing Method Diagrams Homing Method 1 Homes to the first index CCW after the CW limit switch is reached HOMING MODE 1 cw B ccw Index IA Pulse 7 Home Switch jk Neg Limit Switch Pos Limit Switch
39. ocity of axis is 0 Homing PO Homing Mode not yet complete Attained Homing Mode carried out successfully 13 Homing Error L 0 REF ii ii Homeng error 53 Rev 1 1 12 1 2010 CANopen User Manual Control Word of Q Mode Bit 4 Q Program ME Toggle this bit from 0 gt 1 to run Q program Start Reg 0 Enable bit 4 Stop axis Halt Bit 8 in controlword 0 Q program running Halt Bit 8 in controlword 1 Axis decelerates Halt Bit 8 in controlword 0 Q program finishes or not started Halt Bit 8 in controlword 1 Velocity of axis is 0 Rev 1 1 5A 12 1 2010 CANopen User Manual Appendix K Example Programs Profile Position Mode Enable Motor Power DSP402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Profile Position Mode 0603 8 2F 60 60 00 01 00 00 00 Set to Profile Position Mode 777 Set Motion Parameters 0603 8 23 81 60 00 FO 00 00 00 Set Profile Velocity to 1 rps 0603 8 23 83 60 00 58 02 00 00 Set Acceleration to 100 rps s 0603 8 23 84 60 00 58 02 00 00 Set Deceleration to 100 rps s Single Move Absolute 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 1F 00 00 00 Set New Set Point Bit to 1
40. only after a power cycle or after a network reset command has been sent Changing the switches while the drive is powered on will NOT change the Node ID until one of those conditions has also been met Switch Setting 7 12 5 kbps Table 1 Bit Rate Switch Settings Drive Configuration Once the CAN connector has been wired to the drive and the Node ID and Bit Rate have been set the drive can be configured Drive configuration for MSST stepper drives and STM Integrated Motors is accomplished using the ST Configurator software which can be found on the CD that was included with the drive To configure an MSSTAC6 STAC Configurator is used Drive configuration and tuning for servo drives are performed using Quick Tuner In all cases the drive will need to be connected to a Windows PC using the included RS 232 serial cable Please refer to the appropriate software manual or built in help screens for details Note When the CANopen drive is first powered on the drive will automatically send a power up packet over the RS 232 port If a MOONS application is present it will send a re sponse back to the drive over RS 232 and the drive will hold the CAN node in the Initialization state until the application is closed If no response is detected the drive will continue the nor mal CANopen startup procedure the drive will power up into the Initialization state send out a boot up packet move into the Pre Operational state and start sending out
41. que EE Set Running un E Enable Drive e EE STAMING STOPPING TORQUC 2 2 ssibu mina b a dd Parameter Calculations EXAmple iicccsnicsnnieccsacctasnnuvennnseadaencdncenncnnmensnsdassdaacanmenmssandsucdtasddund Current Verification Example ee deeg Appendix G Q Program Mode EE General Mode Description AAA Loading LO Progra EE Normal Q Program Execution EE Synchronous Q Program EXSCUUOM E More UPON E Appendix H Understanding NMT States near nn r ent tratta Building a CANopen NMT Data Frame Example Appendix SDO and F DO E Enable SDO EE Building an SDO Read Data Frame Exvample ss Rev 1 1 4 12 1 2010 CANopen User Manual PLO ACCESS oaeiae ei aa oaa ia a aa a a a aa eaaa 49 Enable ES EE TN 49 HRS RE 50 PDO Mapping Ee TE 50 PDO Mapping SENO E 50 PEN 51 Building an RPDO Data Frame Example ia ege EES eEE EE Eege 51 Appendix J Operation Mode Specific Control and Status Word 52 Control Word or Profile Position Oe Gs cicussantsattces susannonsdeicesas duane teueudeatadutncace tinda tav a bati 52 Status Word of Profile Position Mode soisicicicccccacccccetsictebenciccdecsdanndeesncbondscdasscaslelsiasvedstersiedans 52 Control Word of Profile Velocity Mode is sits ccnacacsenevencnncececedecs inesunenaeatdnacanecetegeuseedkaxemexetiae 53 Status Word of Profile Velocity MOde assis senate doi dectusre eet eaccciaasnntounaietatesicaeinre eae 53 Control Word of Homing Nh Ea i i deena berede methods 53 Status Word of Ho
42. rd has changed PDO transmitted on every SYNC pulse 2 240 PDO transmitted on every n SYNC pulses 254 255 PDO transmitted every time statusword changes or the Event Timer has expired Table 20 TPDO Transmission Types PDO Mapping Stepper Name Parameter Parameter Total TPDO1 Statusword 604 2 CT 2 TPDO2 Statusword 60414 2 TargetPosition 6064 4 6 EE Statusword 604 2 Targetvelooiy 6065p 2 4 eoa msme mr 1 eno come a Ir 1 1 RPDOZJ Controlword 6040 2 TargetDistance 607A 4 6 RPDO3 Controlword 6040 2 Target Velocity 60FF 2 4 EEO O O a a E E Table 21 PDO Mapping Stepper PDO Mapping Servo PDO First Mapped OD Entry Bytes Second Mapped OD Entry Bytes Bytes Name Parameter Parameter TPDO1 Statusword 6041 2 Me on ee ee revos eer Leen 109 2 4 VO SIN IN IN TPDO4 InputStatus 70034 1 aset Soe som gt 1 2 RPDOZJ Controword 6040 2 TargetDistance 607A 4 6 RPDO3 Controword 6040 2 TargetVelocity 60FF 2 4 RPDO4 Outputstate sore 1 pp 14 N N N Table 22 PDO Mapping Servo Rev 1 1 50 12 1 2010 CANopen User Manual PDO COB ID Because PDOs are directly mapped to OD entries no overhead is required when work ing with them RPDOs may be sent directly with the COB ID being the default RPDO COB ID plus
43. se Home IMMA Neg Limit Switch Pos Limit Switch Rev 1 1 32 12 1 2010 CANopen User Manual Homing Method 14 Starts moving CW and homes to the first index CW of the home switch transition shown above HOMING MODE 14 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Prused Homing Methods 15 and 16 Homing Methods 15 and 16 are reserved for future expansion 33 Rev 1 1 12 1 2010 CANopen User Manual Homing Method 17 Homes to the CW limit switch HOMING MODE 17 Index Pulse Home Switch Neg Limit Switch i i Pos Limit Switch rasere Homing Method 18 Homes to the CCW limit switch HOMING MODE 18 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 1 34 12 1 2010 CANopen User Manual Homing Methods 19 and 20 Home to the home switch transition HOMING MODE 19 Index Pulse Unused Home Switch Neg Limit Switch iii Pos Limit Switch Serer
44. t is issued with a distance of 20 000 the final position will be 30 000 If bit 6 is low the distance is absolute If the previous motor position was 10 000 and a new set point is issued with a distance of 20 000 the new position will be 20 000 The distance travelled from the previous position to the new position will be 10 000 steps For best results do not 19 Rev 1 1 12 1 2010 CANopen User Manual change this bit while the motor is moving Note Two set points can be set up but if status bit 12 is high then the buffer is full and another set point will be ignored For more information See DSP402 2 Profile Position Mode PROFILE POSITION MODE Single Set Point Actual pa Speed J 0 A New Set Point Ready Bit 4 Ur A Set Point Ack Bit 12 O Target Reached A Bit 10 e E H D ILI A B C D E Figure 6 Single Set Point Target Reached What s Going On Point Ready Bit Acknowledge Bit Bit san 00 00 7070 brvewalingforsetpom 0 Usertellsdrivea set point is ready bh 6 Drive acknowledges set point starts executing set point c KN ar ing ready to receive another set point elo loin The set point is finished and the Target Reached bit is set Table 11 Single Set Point Profile Position Move Oo 0 Pep ee L 61 Rev 1 1 20 12 1 2010 CANopen User Manual PROFILE POSITION MODE Set of Set Points Actual Speed A New Set Point Ready Bit 4 0
45. tinuous Motion In this example controlword bit 9 Change of Set point is 1 and controlword bit 5 Change Set Immediately is 0 The motor continues at the speed of the first set point until is reaches the distance of the first set point then changes to the new set point speed The motion is continuous Point Ready Bit Acknowledge Bit Bit Drive acknowledges set point starts executing set point User pulls new set point ready bit low Drive pulls set point ack bit low indicat ing ready to receive another set point Drive acknowledges set point buffers it as another set point is still in progress User pulls new set point ready bit low Drive pulls set point ack bit low starts executing new set point as soon as the old one is finished Table 13 Multiple Set Point Profile Position Move with Continuous Motion Rev 1 1 22 12 1 2010 CANopen User Manual PROFILE POSITION MODE Set of Set Points A Actual Speed Ss L gt A New Set Point Ready Bit 4 o MA po S a i gt b A Set Point Ack Bit 12 0 Target Reached A Bit 10 0 Ias A BC D EF G H l Figure 9 Multiple Set Points Immediate Change in Motion In this example controlword bit 9 Change of Set point is 1 and controlword bit 5 Change Set Immediatelv is 1 The motor immediatelv changes to the new set point speed without completing the first set point The motion is continuous Graph N
46. ty acceleration deceleration and target position Once all these parameters have been set the drive buf fers the commands and begins executing the set point When using a set of set points method a new set point can be sent to the drive while a previously sent set point is still executing Enable Profile Position Mode To enable the Profile Position Mode the value 0001 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted Set Running Parameters Set the distance velocity acceleration and deceleration using OD entries 607A 6081 6083 and 6084 respectively Starting Stopping Motion After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To indicate a new set point and start motion toggle bit 4 by sending 001F to controlword OD entry 6040 To enable drive operation the value 001F must be written to the controlword OD entry located at dictionary address 6040 This will also signal that there is a new set point ready The drive acknowl edges

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