CANopen Interface for SG5 and SG7
Contents
1. NTI AG LinMot www LinMot com Page 19 60 CANopen Interface Manual O D LinMot NMT Error Control The heartbeat mechanism takes precedence over the node guarding protocol If object 1017h of the object dictionary Producer Heartbeat Time is different from zero the heartbeat protocol is used If this entry is zero and the guard time multiplied with the life time factor is not zero the node guarding protocol is used instead If all of these values are zero no error control mechanism will be active The drive is also capable of consuming a heartbeat If object 1016h sub 1 of the object dictionary Consumer Heartbeat Time 1 is different from zero a heartbeat is consumed with the node ID and time given in ms taken from this entry Node Guarding Protocol Directory for configuring the node guarding protocol 1 Oo ee Le a E c a oO Z lt O CANopen Interface NMT Error Control Node Guarding Protocol The total time that has to pass for a node to trigger a failure is called the A node life time The node life time is the guard time multiplied by the life time factor Node Guarding starts with the reception of the first guarding message Heartbeat Protocol These parameters configure the heartbeat protocol CANopen Interface NMT Error Control Heartbeat Protocol CANopen Interface Manual amp LinMot Legacy Sync Watchdog These parameters configure the2. index sub index Object length Number of mapped rw Unsigned8 application objects in PDO Number of valid mapping entries Can be between 0 and 8 Contains the mapping for RxPDO 2 See 1600h sub 1 8h for additional details 1602h Receive PDO Mapping Parameter 2 RxPDO 3 Number of mapped rw Unsigned8 application objects in PDO Number of valid mapping entries Can be between 0 and 8 Contains the mapping for RxPDO 3 See 1600h sub 1 8h for additional details 1601h Receive PDO Mapping Parameter 1 RxPDO 2 NTI AG LinMot www LinMot com Page 29 60 T gt G ob fob Fe Q z CANopen Interface Manual LinMot Index Sub Index Name Access Type Data Type 1603h Receive PDO Mapping Parameter 3 RxPDO 4 Number of mapped rw Unsigned application objects in PDO Number of valid mapping entries Can be between 0 and 8 Contains the mapping for RxPDO 4 See 1600h sub 1 8h for additional details 1800h Transmit PDO Communication Parameter 0 TxPDO 1 oh Number of Entries ro Unsigned th COB ID ro Unsigned32 0 PDO is valid 0 RTR allowed 0 11 bit ID All O s 11 bit identifier 1 PDO is invalid 1 no RTR allowed 1 29 bit ID if 11 bit identifier The PDO valid not valid bit allows to select which PDOs are used in the operational state Only this bit can be changed by writing to this parameter The identifiers themselves ca
3. Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index DataBlock Data PEISE 42h CurvelD 20h 62h xxh __xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX xx xx xx Data Block Data 6 2 4 Error Log Commands o O A Q z lt O With these commands the error log of a drive can be read Index Sub Index Description Access Type Data Type 2000h Get Error Log Entry Counter This command returns the number of logged errors as well as the total number of occurred errors Get Error Log Entry Counter COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index 20h O 03 04 05 06 07 08 MSB Data 40h _ 00h Byte 01 LSB 02 Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index NrOfLoggedErr NrOfOccErr DECE 42h 00h 20h 70h _ xxh xxh yyh yyh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx Number of logged errors yy yy Number of occurred errors NTIAG LinMot www LinMot com Page 45 60 CANopen Interface Manual a LinMot Index Sub Index Description Access Type Data Type 2000h EntryNr 71h Get Error Log Entry Error Code This command returns the corresponding error code to the entry number Get Er
4. Command Table Get Entry Entry Nr COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index PECE 40h EntryNr 20h 85h S o J o Byte o1 LsB 02 03 04 05 o6 07 _ 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Block Size PEISE 42h EntryNr 20h 85h _ xxh xxh Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB xx xx Block size Index Sub Index Description Access Type Data Type The CT entry data can be read in increments of 4 Bytes To read the entry data this command has to be repeatedly called while the response to each call contains the next 4 bytes of data 2000h EntryNr Unsigned32 Command Table Get Entry Data COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index PEIE 40h EntryNr 20h 86h gt Byte 01 LSB 02 03 04 05 o6 07 _ 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Entry Data PEISE 42h EntryNr xxh xxh_ xxh xxh Byte 01 LSB 02 03 04 05 o6 07 _ 08 MSB XX XX XX XX Entry data NTIAG LinMot www LinMot com Page 50 60 gt c G oO c a ie Z lt O CANopen Interface Manual a LinMot Index Sub Index Description Access Type Data Type 87
5. With the Get Last Curve Service Command Result command one can check if the Info Block has already been written 2000h CurvelD 00h Data Block is finished 04h Data Block is not finished DOh Error Data Block was already finished Curve Service Add Curve Data 32Bit COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDOCS Index Sub Index InfoBlock Data DEM 23h CurvelD 20h_ 53h _ xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX xx Xx Curve data block data one setpoint as a 32Bit value Index Sub Index Description Access Type Data Type Curve Service Add Curve Info Block 32 Bit The Curve Info Block can be written in increments of 4 bytes at a time To write the info block this command has to be repeatedly called with each call containing the next 4 bytes of the info block With the Get Last Curve Service Command Result command one can check if the info block has already been written 2000h CurvelD OOh Info Block is finished 04h Info Block is not finished DOh Error Info Block was already finished Curve Service Add Curve Info Block 32Bit COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index InfoBlock Data PEISE 23h CurvelD 20h_ 54h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX xx xx Curve info block data NTI AG LinMot www LinMot
6. 08 MSB yy yy 2000h UPID Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Address Usage UPID found PECE 42h yyh yyh 21h yyh yyh xxh xxh Byte 01 LSB 02 03 04 05 o6 07 _ 08 MSB yy yy Address Usage xx xx UPID which was found Address Usage is interpreted as follows a el D D gt gt OO any Nes c lt 2 z BoP ng g 9 D zoas Sad o w CRUE Z gt Qa 0 Qa oO o Ipo T 3253 2 vy 3 Sead G83 o DO 3 Es TE 3 sir 38 aa 8 s Bit Nr 0 1 12 13 14 15 16 7 8 9 10 11 12 13 14 115 LSB MSB NTIAG LinMot www LinMot com Page 37 60 G gt a G oO _ c a ie Z lt O CANopen Interface Manual LinMot Index Sub Index Description Access Type Data Type uae Start Getting Modified UPID C Unsigned16 List This command is used in the same way as the Start Getting UPID List command 2000h sub 20h Only UPIDs with values that differ from their default values are returned Sub Index Description Access Type Data Type Get Next Modified UPID List item This command is used the in same way as the Get Next UPID List item command 2000h sub 21h Only UPIDs with values that differ from their default values are returned 6 2 2 System Commands Index Sub Index Description Access Type Data Type 2000h 07h Set ROM to def
7. Any configuration settings that have been done in the LinMot Talk1100 software are overwritten this way 9 1 Configuring a PDO variable by UPID with the EDS file For every PDO a maximum of 4 parameters can be mapped by their UPIDs If a parameter is configured to a PDO via its UPID the used space in the PDO is dependent on the data type of the configured parameter If a boolean variable is configured one byte of the PDO is used 9 1 1 Setting the UPIDs of the parameter to map to a PDO The UPIDs to map can be set via the dictionary entries 4F01h sub 1 4h for RxPDO1 to 4F08h sub 1 4h for TxPDO4 The drive automatically maps those parameters to the PDOs If too much data would be mapped to one PDO an error is generated 9 1 2 Getting UPID PDO data into PLC variables Since any parameter with a UPID can be mapped this way it is not possible to reflect this with the EDS file The user has to configure the PDO mapping on the PLC with dummy variables for the UPIDs This way the PLC recognizes that data will be transmitted at the according bytes in the PDO For every PDO there are several of those placeholders Objects 4F01h sub 5 Ah for RxPDO1 to 4F08h sub 5 Ah for TxPDO4 The mapping entries in the object dictionary contain the entries for mapped UPIDs 4F01h 4F08h and NOT the placeholder objects for the PLC NTIAG LinMof Page 56 60 CANopen Interface Manual a LinMot 9 1 3 Example Configuration of
8. G gt c G oO _ c a ie Z lt O CANopen Interface Manual LinMot Index Sub Index Description Access Type Data Type bean ROM Value CS Bool Unsigned32 Read Write the ROM Value of a UPID Any UPID from a Boolean type up to an unsigned32 type can be read or written If a value in the ROM is changed it is not immediately reflected in the RAM Values are read from the ROM to the RAM on startup of the drive Use the RAM ROM Write command sub index 06h to change both values at the same time 2000h UPID Read ROM Value by UPID COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data yyh yyh 02h Byte 01 LSB 02 03 04 05 06 07 08 MSB yy yy 2000h UPID Write ROM Value by UPID COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data Data BELGI H l o ln d Sin DE Byte 01 LSB 04 05 06 07 08 MSB yy yy 2000h UPID xx XX XX XX Value to write size depends on the UPID that will be written Index Sub Index Description Access Type Data Type The minimal possible value of the UPID is returned 2000h UPID Read Min Value by UPID COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index DEM 40h yyh yyh osh Byte 01 LSB 02 03 04 05 06 07 08 MSB yy yy 2000h UPID NTI AG LinMot www L
9. Get Entry List Entry 160 191 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type CT Get Entry List Entry 192 223 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type CT Get Entry List Entry 224 255 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type CT Get Last CT Service Command Result This command is used the get the results of command table commands which are initiated with an SDO write command from the PLC The result of the last executed command table service command is returned in the following format Get Last Command Table Service Command Result COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index DECE 40h ooh 20h 8Ffh Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Result CSCindex CSCsub index P TER 42h 00h 20h 8Fh zzh yyh y yyh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB Zz Result of the executed command See the corresponding command for details on how to interpret these results as its meaning differs from command to command yy yy Index of the last executed CT service command which can have a result XX Sub Index of the last executed CT service command which can
10. com Page 43 60 o O A Q z lt O CANopen Interface Manual LinMot Index Sub Index Description Access Type Data Type The Get Curve command has to executed first in order to read a curve from the drive via SDO With the commands Get Curve Info Block and Get Curve Data Block the corresponding blocks of the curve can be read afterwards 2000h CurvelD Curve Service Get Curve COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index Data EE TEE ER Een Byte 01 LSB 02 04 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDOCS Index Sub Index Result CSinfoB CSDataBlockSize lockSize PECE 42h CurvelD 20h 60h xxh_ yyh a zh Byte 01 LSB 02 03 04 o o6 07 _ 08 MSB xx Result 00h Curve exists D4h Curve does not exist yy Curve Info Block Size in Bytes ZZ ZZ Curve Data Block Size in Bytes Index Sub Index Description Access Type Data Type 2000h CurvelD Curve Service Get Curve Info Block The Curve Info Block can be read in increments of 4 Bytes To read the Info Block this command has to be repeatedly called with each call one can read the next 4 Bytes of the Info Block With the Get Last Curve Service Command Result command one can check if the Info Block has already been read 00h Info Block is finis
11. command 2000h sub 40h Curve Service save to flash Curve Service Poll Flash COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Sub Index PECE 40h OOh_ 20h 42h_ Byte 01 LSB 02 03 04 05 o6 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Result PECE 42h 00h 20h 42h_ xxh eer E Byte 01 LSB 02 03 04 05 06 07 08 MSB xx Result NTI AG LinMot www LinMot com Page 41 60 CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type Curve Service Get Last Curve Service Command Result This command is used the get the results of curve service commands which are initiated with an SDO write command from the PLC The result of the last executed curve service command is given in the following format Get Last Curve Service Command Result COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index ime 40h ooh 20h 43h Byte 01 LSB 02 03 04 o 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDOCS Index Sub Index Result CSCindex CSCsub index P TER 42h 00h 20h 43h zzh_ yyh yyh xh Byte 01 LSB 02 03 404 05 06 07 08 MSB Zz Result of the executed command See the corresponding command for
12. interface has the following additional error codes Error Code Error Description Recommended Actions Cth The drive is not compatible with CANopen The drive does not support CANopen interface software Download an appropriate firmware to the drive C2h The configured ID is not valid switches or Select a valid node address parameter C5h CANopen Error Bus error Check CAN termination baud rate and cabling C6h CANopen Error general Bus error Check CAN termination baud rate and cabling C7h CANopen Error Bus error stuff error Check CAN termination baud rate and cabling C8h CANopen Error Bus error form error Check CAN termination baud rate and cabling C9h CANopen Error Bus error ack error Check CAN termination baud rate and cabling CAh CANopen Error Bus error bit 1 error Check CAN termination baud rate and cabling CBh CANopen Error Bus error bit O error Check CAN termination baud rate and cabling CCh CANopen Error Bus error CRC error Check CAN termination baud rate and cabling CDh CANopen Error Error Control Timeout CANopen Timeout Is the master running CFh CANopen Error Invalid ID by Hex Switch S1 Invalid baud rate selected by S1 Check S1 Only 1 4 are valid settings DOh CANopen Error Invalid Mapping in TxPDO 1 More than 8 byte data mapped into TPDO 1 Verify the mapping by UPID should be 0 to be deactivated Dih CANopen E
13. legacy watchdog of the sync telegram This can be used together with heartbeat or node guarding This feature is not part of the DS 301 specifications and is LinMot specific The time between the arrival of two sync telegrams is measured If the measured time exceeds 1 5 LSW monitored cycle time an error is generated The Legacy Sync Watchdog is only active while the NMT State of the drive is operational Monitoring via the LSW starts automatically on the transition from Pre Operational to Operational state Watchdog Enable Enabling Disabling the legacy sync watchdog feature CANopen Interface NMT Error Control Legacy Sync Watchdog LSW Enable gt c G oO c a ie Z lt O The sync watchdog is deactivated Enable The sync watchdog is activated LSW monitored Cycle Time The real expected sync cycle time can be configured here NTIAG LinMot En Page 21 60 f canopen merce Morse LinMot 4 CANopen Variables CANopen These variables show information about the status of the CANopen communication CANopen 1 Oo ee Le a E c Q e Z lt O CANopen Object Dictionary All supported object dictionary entries can be read here f canopen interface Manual aE LinMot 5 Mapping of the PDOs 5 1 Default Mapping Motion Cmd Par Byte 00 03 32Bit The PDOs are mapped by default according to the following
14. scheme S 5 1 1 Default Mapping of the Receive PDOs RxPDO 1 Length Control Word 16Bit o Motion Cmd Header 16Bit Z lt O RxPDO 2 Length Motion Cmd Par Byte 04 07 32Bit Motion Cmd Par Byte 08 11 32Bit RxPDO 3 Length Motion Cmd Par Byte 12 15 32Bit Motion Cmd Par Byte 16 19 32Bit RxPDO 4 Length A maximum of 4 parameters 64Bit with a total maximum length of 64 Bit can be mapped by UPID NTIAG LinMof w LinMot com Page 23 60 CANopen Interface Manual E LinMot 5 1 2 Default Mapping of the Transmit PDOs TxPDO 1 Length Status Word 16Bit State Var 16Bit Actual Position 32Bit TxPDO 2 Length Demand Position 32Bit 2 Demand Current 32Bit S a TxPDO 3 Length re Z Warn Word 16Bit amp Logged Error Code 16Bit A maximum of 4 parameters with 32Bit a total maximum length of 32 Bit can be mapped by UPID TxPDO 4 Length A maximum of 4 parameters with 64Bit a total maximum length of 64 Bit can be mapped by UPID If the application requires it the mapping can be completely changed by the PDO Mapping parameter settings Many applications do not require to use all resources NTIAG LinMof w LinMot com Page 24 60 f canopen nterace manuar JE LinMot 5 1 3 Default Identifier The default identifiers 11 bit identifier are allocated by the f
15. the command to be executed Command Table Save to Flash COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Sub Index InfoBlock Data PECE 23h_ 00h 20h 80h xxh xxh xxh_ xxh Byte 01 LSB 02 03 04 05 o6 07 _ 08 MSB XX XX XX XX Any data NTIAG LinMot vw LinMot com E Page 47 60 o O A Q z lt O CANopen Interface Manual p LinMot Index Sub Index Description Access Type Data Type CT Poll Flash only available on SG5 Unsigned8 Read Parameter to get the status of a flash operation Result 00h State Idle Result 04h State Busy This command can be used to check if a flash operation is still ongoing e g command 2000h sub 80 CT save to flash Command Table Poll Flash COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index ime 40h ooh 20h 80h Byte 01 LSB 02 03 04 o 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDOCS Index Sub Index Result PECE 42h 00h 20h Saas 80h Rs Byte 01 LSB 02 03 04 05 06 07 08 MSB xx Result Index Sub Index Description Access Type Data Type CT Delete all Entries Unsigned32 Write anything to delete the complete Command Table in the RAM on SG6 or in the FLASH on SG7 On SG5 drives the c
16. the slave headers have to be used when spreading motion commands he across several PDOs g E a T Motion Cmd Par Byte The second 4 bytes of the command 4 7 32Bit parameters of the motion command c interface g O z lt Motion Cmd Par Byte The third 4 bytes of the command 8 11 32Bit parameters of the motion command interface By UPID 8 32Bit This parameter can be used for free mapping of any parameter or variable to RxPDO 2 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in RxPDO 2 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean NTI AG LinMot www LinMot com Page 17 60 CANopen Interface Manual LinMot RxPDO 3 These parameters define the mapping of the receive PDO 3 Eight bytes can be mapped in total CANopen Interface PDO Mapping RxPDO 3 Motion Cmd Par Byte The second half of the fourth 4 bytes 14 15 16Bit of the command parameters of the Motion Command Interface Motion Cmd Slave To ensure data consistency with S Header 16Bit asynchronous communication modes 5 the slave headers have to be used when spreading motion commands he across several PDOs g Motion Cmd Par Byte The fourth 4 bytes of the command 10 13 32Bit parameters of the Motion Command c Interface g Z lt Motion Cmd Par Byte The fifth 4 b
17. values one byte is used in the PDO with the lowest bit being the value of the Boolean NTI AG LinMot www LinMot com Page 15 60 CANopen Interface Manual LinMot RxPDO 1 These parameters define the mapping of the receive PDO 1 Eight bytes can be mapped in total CANopen Interface PDO Mapping RxPDO 1 Control Word 16Bit If this Boolean parameter is set the S control word has to be transmitted with RxPDO 1 Motion Cmd Header Motion command interface header 16Bit S Motion Cmd Par Byte The first 4 bytes of the command 0 3 32Bit parameters of the motion command 2 interface 2 TT By UPID 8 32Bit This parameter can be used for free O mapping of any parameter or variable to RxPDO 1 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in RxPDO 1 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean NTI AG LinMot www LinMot com Page 16 60 CANopen Interface Manual LinMot RxPDO 2 These parameters define the mapping of the receive PDO 2 Eight bytes can be mapped in total CANopen Interface PDO Mapping RxPDO 2 Motion Cmd Par Byte The first half of the third 4 bytes of the 8 9 16Bit command parameters of the motion command interface Motion Cmd Slave To ensure data consistency with S Header 16Bit asynchronous communication modes 5
18. w LinMot com Page 53 60 G gt c G oO _ c a ie Z lt O CANopen Interface Manual O LinMot In the LinMot Talk1100 Control Panel one can check the last executed motion command by pressing the Read Command button It should look like this now that the command has been executed Motion Command Interface Enable Manual Override O 10 mm 1 mm 1 mm 10 mm Command Category Yelocity Acceleration Interpolator Al 16Bit Command Type val 16Bit Go To Pos 090xh v B Count Nibble Toggle Bits th gt Auto Increment Count Nibble c S ee Lu E c Q 9 Z lt O Name Offs Description Scaled Value Int Value Dec Int Value Hex Header 0 O90xh YAI 16Bit Go To Pos 2305 2305 0901h 1 Par Target Position 50 mm 500 O1F 4h 2 Par Maximal Velocity 1 m s 1000 O3E8h 3 Par Acceleration 10 m s 2 100 0064h 4 Par Deceleration 10 m s 2 0064h Send Command CANopen Interface Manual LinMot 8 Reset Parameters to default values There are three options to reset the parameters of a LinMot drive to default values 1 By manipulating the two rotary hex switches resets ALL parameters 1 Power off the drive 2 Set the switches to FFh or set the Para Def switch to on 3 Power on the drive Error and Warn LEDs flash alternating 4 Set the switches to 00h or set the Para Def switch to off 5
19. CANopen Interface Manual amp LinMot gt c G oO c a ie Z lt O CANOPA CANopen Interface for SG5 and SG7 User Manual This document applies to the following drives E12x0 xx xx xxx SG5 E14x0 xx xx xxx SG5 C11x0 xx xx xxx SG7 A11x0 xx xx xxx SG7 with CANopen Interface SW installed a Page 1 60 CANopen Interface Manual 1 LinMot 2014 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of NTI AG The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 1 91 mk May 2014 Page 2 60 NTIAG LinMof gt c G oO c a ie Z lt q O CANopen Interface Manual E LinMot Table of Contents 1 System OvervieW ciinii ie he ne nn ne 4 2 Connecting the CAN bus tin entente edebe tent nus 4 2 1 Pin assignment of the CMD Con
20. T lt xPDO4 to transmit the following parameters X4 4 Analog Voltage UPID 1CA4h Ulnt16 Diff Analog Voltage UPID 1CA6h Sint16 Difference Velocity UPID 1B91h Sint32 1 Configuring the UPIDs Object dictionary entry to write Value 4F08h sub 1h TPDO4 UPIDs 1 1CA4h 4F08h sub 2h TPDO4 UPIDs 2 1CA6h 4F08h sub 3h TPDO4 UPIDs 3 1B91h 2 Set the PDO mapping in the PLC Object dictionary entry to map VETORIAL 4F08h sub 7h TPDO4 2 Byte UPID mapped TPDO4 4F08h sub 8h TPDO4 2 Byte UPID mapped TPDO4 4F08h sub 9h TPDO4 4 Byte UPID mapped TPDO4 3 The TxPDO4 now contains the following data TxPDO 4 X4 4 Analog Diff Analog Difference Velocity Voltage Data xxh xh zzh zzh zzh Byte 01 LSB 02 03 04 05 06 07 08 MSB The PDO mapping entries in the object dictionary look like this Mapping entry Value 1A03h sub 1h Transmit PDO Mapping Parameter 3 PDO mapping entry 1 STSCI 1A03h sub 2h Transmit PDO Mapping Parameter 3 PDO mapping entry 2 1A03h sub 3h Transmit PDO Mapping Parameter 3 PDO mapping entry 3 4F080210h 4F080320h NTIAG LinMot B Page 57 60 gt c G oO c a ie Z lt O CANopen Interface Manual 10 Interface Error Codes Please refer to Usermanual Motion Control Software for the error codes of the MC software The CANopen
21. TxPDO 3 See 1600h sub 1 8h for additional details c oO ee S E c Q e Z lt O Number of valid mapping entries Can be between 0 and 8 Contains the mapping for TxPDO 4 See 1600h sub 1 8h for additional details 1 AG LinMot Page 33 60 CANopen Interface Manual LinMot 6 2 Manufacturer specific Profile Area 2000h 5FFFh 6 2 1 UPID Commands Parameters can be modified via their UPIDs Unique Parameter ID via CANopen To use a UPID command an SDO read or write has to be performed on the index 2000h UPID The sub index specifies the command which is performed Index Sub Index Description Access Type Data Type 2000h UPID RAM Value Bool Unsigned32 Read Write the RAM Value of a UPID Any UPID from a Boolean type up to an unsigned32 type can be read or written Read RAM Value by UPID COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index D ee eee ee 05 o6 07 08 MSB Data 40h _ Byte 01 LSB 02 yy yy 2000h UPID Write RAM Value by UPID COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data Data PECE 23h yyh yyh Oih xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 o6 07 08 MSB yy yy 2000h UPID XX XX XX XX Value to write size depends on the UPID that will be written NTI AG LinMot www LinMot com Page 34 60
22. Wait until Enable and Warn LED start to turn off and on 6 Power off the drive not available on all drive types 2 By writing index 2000h sub index 7h 8h 9h Ah of the object dictionary After resetting the ROM values a reset should be performed either by sending a NMT Reset command or by turning the drive off and on again This has to be done to reload the RAM values from the ROM 3 Reinstalling the firmware will always reset all parameters to default values LinMot com Page 55 60 gt c G oO c a ie Z lt O CANopen Interface Manual amp LinMot 9 Configuration of the drive with an EDS File The EDS file for the LinMot drives is compliant with the standard CIA 306 DS V1 3 Electronic data sheet specification for CANopen Visit http www can cia org for detailed information The EDS file is part of the Lintalk1100 software which can be downloaded from http www LinMot com The EDS file is located at Firmware nterfaces CanOpen EDS in the installation folder of the LinMot Talk1100 software Consult the user manual of your PLC for details on how to use an EDS file with it gt c G oO c a ie Z lt O If an EDS file is used in most cases the PLC will automatically download i this configuration via SDO commands to the drive This is done before the drive is set to the operational state
23. ault Unsigned8 Unsigned32 OS Set all parameters of the OS to default values The execution of this command can take several seconds Any data can be written for the command to be executed Set ROM to default OS COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data PECE 23h 00h 20h 07h xxh xxh xxh_ xxh Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB XX XX XX XX Any Data Index Sub Index Description Access Type Data Type Set ROM to default MC SW Unsigned8 Unsigned32 Set all parameters of the MC SW to default values he execution of this command can take several seconds Any data can be written for the command to be executed Set ROM to default MC SW COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data DEISE 23h 00h 20h 08h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX XX xx Any Data NTIAG LinMot www LinMot com Page 38 60 gt S Fe eb Q d lt S CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type Set ROM to default Interface Unsigned8 Unsigned32 Set all parameters of the Interface to default values he execution of this command can take several seconds Any data can be written for the command t
24. ccording to DS 301 The default value is 1 cyclic synchronous Type 253 Asynchronous RTR only and 254 Asynchronous with inhibit time are supported as well The transmission type 250 is LinMot specific it is reserved according to DS 301 If the transmission type 250 is selected the transmit PDO is sent immediately after reception of the corresponding receive PDO TxPDO 1 corresponds to RxPDO 1 and so on It can be used to realize a simple Poll Request Poll Response type bus structure gt c G oO c a ie Z lt O No of SYNC msgs between transmissions Defines how many SYNC messages have to be received before the TxPDO is sent again this configures transmission types 1 240 Inhibit Time us Defines the minimal time between two send events in multiples of 100us Event Time ms Defines the maximal time between two send events in ms NTIAG LinMot En Page 11 60 CANopen Interface Manual E LinMot RxPDO 1 4 Enable Selector for enabling disabling the receive PDO 1 4 CANopen Interface PDO Configuration RxPDO 1 4 RxPDO 1 4 Enable The PDO is deactivated Enable The PDO is activated Transmission Type This defines the transmission type according to DS 301 The default value is cyclic synchronous transmission types 1 240 Type 254 Asynchronous with inhibit Time is supported as well The transmission type 250 is LinMot specific its reserved accordi
25. d entry number 2000h EntryNr Command Table Write Entry Entry Nr COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Block Size PEISE 23h EntryNr 20h 83h xxh xh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx Block size of CT entry Index Sub Index Description Access Type Data Type 2000h 84h CT Write Entry Data wo Unsigned32 EntryNr The CT entry data can be written in increments of 4 Bytes To write the entry data this command has to be repeatedly called while each call contains the next 4 bytes of data The entry will be activated when the last byte of the entry data has been written This can be checked with the CT Get Last CT Service Command Result command 00h Entry Data Block is finished 04h Entry Data Block is not finished DOh Error Entry Data Block was already finished Command Table Write Entry Data COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index CT Entry Data PEISE 23h EntryNr 20h 84h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX XX Xx CT entry Data NTI AG LinMot www LinMot com Page 49 60 o O A Q z lt O CANopen Interface Manual E Index Sub Index Description Access Type Data Type Read the block size of a CT Entry 2000h EntryNr Unsigned32
26. d rate parameter defines the CAN bus baud rate for the CANopen connection CANopen Interface Baud Rate Baud Rate Parameter Definition 125 kBit s CAN bus baud rate 125 kBit s 250 kBit s CAN bus baud rate 250 kBit s 500 kBit s CAN bus baud rate 500 kBit s 1 Mbit s CAN bus baud rate 1 Mbit s Advanced Bit Timing Setting For special applications where no standard setting for the baud rate works this parameter defines the bit timing for the CAN bus The setting of the baud rate by Bit Timing Register is only necessary on special bus configurations For example if there are devices on the bus that have slow optocouplers NTI AG LinMot www LinMot com Page 9 60 CANopen Interface Manual LinMot Node ID In this section the Node ID can be configured Node ID Source Select This parameter defines from which source the Node ID is taken CANopen Interface Node ID Node ID Source Select i O lt Q 2 z lt O Node ID Parameter Value Used Node ID when By Parameter is selected as source The default value is 63 3Fh CANopen Interface Manual E LinMot PDO Configuration TxPDO 1 4 Enable Selector for enabling disabling the transmit PDO 1 4 CANopen Interface PDO Configuration TxPDO 1 4 TxPDO 1 4 Enable The PDO is deactivated Enable The PDO is activated Transmission Type This defines the transmission type a
27. details on how to interpret these results as its meaning differs from command to command yy yy Index of the last executed curve service command which can have a result XX Sub Index of the last executed curve service command which can have a result Index Sub Index Description Access Type Data Type With this command a curve with the ID CurvelD will be created Up to 100 curves can be programmed into the drive If a curve with the same ID already exists an error will be generated which can be checked with the Get Last Curve Service Command Result command 00h No Error D4h Curve already exists 2000h CurvelD Curve Service Add Curve COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index InfoBlockSize DataBlockSize BELGI ered n E Byte 01 LSB 04 05 06 07 08 MSB xx xx Size of the curve info block in bytes yy yy Size of the curve data block in bytes NTIAG LinMot www LinMot com Page 42 60 gt c G oO c a ie Z lt O CANopen Interface Manual LinMot Index Sub Index Description Access Type Data Type Curve Service Add Curve Data 32 Bit The Curve Data Block can be written in increments of 4 Bytes at a time This way one setpoint 32Bit can be written at a time To write the Data Block this command has to be repeatedly called with each call containing the next setpoint of the Data Block
28. figure CAN Bus Line CAN_L i Oo ee Le E c Q e Z lt O 2 4 1 Activating the termination resistor E12xx E14xx For easy installation the LinMot CANopen drives has built in termination resistors which can be activated if the LinMot drive is at the end of the bus line and if there is no termination in the connector To activate the built in termination resistors switch 3 of S5 has to be set to ON CANopen Interface Manual i LinMot 2 4 2 Activating the termination resistor C11xx For easy installation the LinMot CANopen drives has built in termination resistors which can be activated if the LinMot drive is at the end of the bus line and if there is no termination in the connector To activate the built in termination resistors switch 3 of S4 has to be set to ON c oO ee S E c Q e Z lt O 2 4 3 Activating the termination resistor A11xx For easy installation the LinMot CANopen drives has built in termination resistors which can be activated if the LinMot drive is at the end of the bus line and if there is no termination in the connector To activate the built in termination resistors switch 1 of S5 has to be set to ON f canopen nteraco Mano LinMot 3 CANopen Parameters The CANopen drives have an additional parameter tree branch which can be configured with the d
29. g of the transmit PDO 2 Eight bytes can be mapped in total CANopen Interface PDO Mapping TxPDO 2 c S ee S E c Q O Z lt O CANopen Interface Manual LinMot TxPDO 3 These parameters define the mapping of the transmit PDO 3 Eight bytes can be mapped in total CANopen Interface PDO Mapping TxPDO 3 Warn Word 16Bit If this Boolean parameter is set the S warn word bit coded warnings is S transmitted with TxPDO 1 Q Logged Error Code If this Boolean parameter is set the 16Bit logged error code is transmitted with o TxPDO 1 c Motion Cmd Status Feedback of the motion command 2 16Bit header toggle etc 2 By UPID 8 32Bit This parameter can be used for free amp mapping of any parameter or variable to TxPDO 3 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in TxPDO 3 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean TxPDO 4 These parameters define the mapping of the transmit PDO 4 Eight bytes can be mapped in total CANopen Interface PDO Mapping TxPDO 4 By UPID 8 32Bit This parameter can be used for free mapping of any parameter or variable to TxPDO 4 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in TxPDO 4 is derived from the mapped UPID For Boolean
30. gured by Mapping mapping by UPID DAh CANopen Error Invalid UPID in TxPDO 3 Check the UPID which is configured by Mapping mapping by UPID DBh CANopen Error Invalid UPID in TxPDO 4 Check the UPID which is configured by Mapping mapping by UPID DCh CANopen Error Invalid UPID in RxPDO 1 Check the UPID which is configured by Mapping mapping by UPID DDh CANopen Error Invalid UPID in RxPDO 2 Check the UPID which is configured by Mapping mapping by UPID DEh CANopen Error Invalid UPID in RxPDO 3 Check the UPID which is configured by Mapping mapping by UPID DFh CANopen Error Invalid UPID in RxPDO 4 Check the UPID which is configured by Mapping mapping by UPID NTI AG LinMot www LinMot com Page 59 60 gt c G oO c a ie Z lt O D canopen interface manuar ER LinMot 11 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 z CH 8957 Spreitenbach c G Sales and Administration 41 0 56 419 91 91 office linmot com Q Tech Support 41 0 56 544 71 00 t support linmot com Tech Support Skype skype support linmot T a Fax 41 0 56 419 91 92 2 Web http www linmot com lt O USA LinMot Inc 204 E Morrissey Dr Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www l
31. h CT Get Entry List Entry 0 31 With this command a bitfield is read which indicates the presence of a CT entry 0 CT entry present 1 No CT entry present Unsigned32 CT Get Entry List Entry 0 31 COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index BEGM 40h ooh 20h 87h Byte 01 LSB 02 03 04 o 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Entry presence bitfield 20h 87h xxh xxh xxh xxh o3 o4 o5 o6 07 08 MSB Data 42h 00h Byte 01 LSB 02 XX xx xx xx Entry presence bitfield Index Sub Index Description Access Type Data Type 88h CT Get Entry List Entry 32 63 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type CT Get Entry List Entry 64 95 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type CT Get Entry List Entry 96 127 See command 2000h sub 87h for details Index Sub Index Description Access Type Data Type 8Bh CT Get Entry List Entry 128 159 See command 2000h sub 87h for details NTIAG LinMot www LinMot com Page 51 60 wT 5 Q O Fe Q e Z lt O CANopen Interface Manual BE LinMot Index Sub Index Description Access Type Data Type 8Ch CT
32. have a result NTIAG LinMot www LinMot com Page 52 60 CANopen Interface Manual CANopen Interface Manual E LinMot 7 Examples 7 1 Homing and motion commands For details on the use of motion commands consult the manual Usermanual MotionCtriSW 1100 The following example shows the homing procedure and execution of a motion command via CANopen with the default PDO mapping 1 Homing Control Word 083Fh RxPDO 1 ControlWord MCHeader MC Par Bytes 0 3 PECE Fh 08h 00h 00h 00h 00h 00h 00h Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB 2 Enter Operational State Control Word 003Fh RxPDO 1 ControlWord MCHeader MC Par Bytes 0 3 BEIGE 3Fh_ 00h 00h 00h 00h 00h 00h 00h __ Byte _ 01 LSB 02 03 04 o 06 07 08 MSB 3 Execute Motion Command VAI 16Bit Go To Pos 090xh CMD Header gt 0901h Par Byte 0 1 gt Target Position 50mm 01F4h Par Byte 2 3 gt Maximal Velocity 1m s 03E8h Par Byte 4 5 gt Acceleration 10m s 0064h Par Byte 6 7 gt Deceleration 10m s 0064h RxPDO 1 ControlWord MCHeader MC Par Bytes 0 3 BEIGE 3Fh_ 00h Oih 09h F4h Olh E8h 03h Byte _ 01 LSB 02 03 04 05 06 07 08 MSB RxPDO 2 MC Par Bytes 4 7 MC Par Bytes 8 11 BEIGE 64h 00h 64h 00h 00h 00h 00h 00h Byte 01 LSB 02 03 o4 05 o6 07 _ 08 MSB AG LinMot
33. hed 04h Info Block is not finished DOh Error Info Block was already finished Curve Service Get Curve Info Block COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDOCS Index Sub Index BELGI i a E EE eee eee eee Byte 01 LSB 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index InfoBlock Data P TER 42h CurvelD 20h 61h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX xx xx xx Info Block Data NTIAG LinMot www LinMot com Page 44 60 gt c G oO c a ie Z lt O CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type 2000h CurvelD Curve Service Get Curve Data The Curve Data Block can be read in increments of 4 Bytes To read the Data Block this command has to be repeatedly called with each call one can read the next 4 Bytes of the Data Block With the Get Last Curve Service Command Result command one can check if the Data Block has already been read 00h Data Block is finished 04h Data Block is not finished DOh Error Info Block was already finished Curve Service Get Curve Data Block COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index PESMI 40h CurvelD 20h 62h Byte 01 LSB 02 03 04 05 06 07 08 MSB
34. inMot com Page 35 60 gt c G oO c a ie Z lt O CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type 2000h UPID Max Value Bool Unsigned32 The maximal possible value of the UPID is returned Read Max Value by UPID COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index ECE 40h yyh yyh O4h_ 7 Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB yy yy 2000h UPID Index Sub Index Description Access Type Data Type 2000h UPID Default Value Bool Unsigned32 The default value of the UPID is returned Read Default Value by UPID COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index EE 40h yyh yyh 05 7 Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB yy yy 2000h UPID Index Sub Index Description Access Type Data Type RAM ROM Write Bool Unsigned32 Write the RAM and ROM Value of a UPID Any UPID from a Boolean type up to an unsigned32 type can be written Write RAM ROM Value by UPID COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Sub Index Data Data 23h_ yyh xxh_ xxh Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB yy yy 2000h UPID XX XX XX XX Value to write size depends on the UPID that will be writ
35. inmot usa com Please visit http www linmot com to find the distributor closest to you Smart solutions are a NTIAG LinMot En Page 60 60
36. istributed LinMot Talk software With these parameters the CANopen behaviour can be defined The LinMot Talk1100 software can be downloaded from http www linmot com Depending on the specific drive type used not all parameters may be present It is also possible to configure the drive via a PLC by writing to the appropriate CANopen dictionary entries This has to be done when the drive is in the pre operational state SESE Dis Enable With the Dis Enable parameter the LinMot drive can be run without the CANopen interface going online So in a first step the system can be configured and run without any bus connection CANopen Interface Dis Enable i Oo ee Le a E c a Oo Z lt O CANopen Interface Manual LinMot Baud Rate In this section the parameters for the baud rate selection are located Baud Rate Source Select Defines the source of the baud rate definition By Parameter The CAN bus baud rate is selected by the Baudrate Parameter T CANopen Interface Baud Rate Baud Rate Source Select By Hex Switch CAN bus baud rate dependent on S1 S1 O 0 By BTR g 1 125 kBit s g 2 250 kBit s 3 500 kBit s 4 1 Mbit s a Z lt O 125 kBit s 1 250 kBit s 2 500 kBit s 3 1 Mbits 4 By BTR CAN bus baud rate is defined according to the Bit Timing Register Baud Rate Parameter Definition The bau
37. ized device profile 1001h Error register ro Unsigned8 Only bit 0 is supported which indicates a generic error 1005h COB ID SYNC rw Unsigned32 Defines the COB ID of the Synchronization Object SYNC 1006h Communication cycle period This object defines the communication cycle period in us This period defines the SYNC interval It is 0 if not used The object is only relevant for SYNC producers and is not used in CANopen slaves Contains the length of the time window for synchronous PDOs in us It is O if not used This parameter is for compatibility only it is not used in the LinMot drive Contains the Device Name including HW Revision as an ASCII string Contains the Device Serial Number as an ASCII string Contains the version of the installed firmware as an ASCII string Contains the Guard Time used in the node guarding protocol Contains the Life Time Factor used in the node guarding protocol Defines the COB ID of the emergency object EMCY NTI AG LinMot www LinMot com Page 26 60 T 5 O A Q Z lt x O CANopen Interface Manual LinMot Index Sub Index Name Access Type Data Type The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat Monitoring starts after the reception
38. lude NMT Error Control Node Guarding Protocol or Heartbeat Protocol PDO Transmission types 1 240 250 253 and 254 SDO Upload and Download NMT Start Stop Enter PreOp Reset Node Reset Communication Boot Up Message An EDS Electronic Data Sheet file is provided for convenient configuration of all CANopen functions of the drive via a PLC 2 Connecting the CAN bus The CANopen bus can be connected either via X7 8 X42 X43 or X44 depending on the drive type 2 1 Pin assignment of the CMD Connector X7 X8 2 x RJ45 with 1 1 connected signals Standard twisted pairs 1 2 3 6 4 5 7 8 Use Ethernet cables according the EIA TIA 568A standard Pin 1 RS485A Pin 2 RS485 B Pin 3 RS485 Y Pin 4 5 Ground Pin 6 RS485 Z Pin 7 CAN H Pin 8 CAN L D NTIAG LinMot Page 4 60 CANopen Interface Manual O LinMot 2 2 Pin assignment of the Control Connector X42 X43 2 x RJ45 with 1 1 connected signals Standard twisted pairs 1 2 3 6 4 5 7 8 Use Ethernet cables according the EIA TIA 568A standard z c oO ee S E c Q e Z lt O 2 3 Pin assignment of the Mot Periph I O Connector X44 Molex Micro Fit 3 0 Molex Art Nr 43045 1000 Sof of io a 5an CANopen Interface Manual O LinMot 2 4 CAN Termination The CAN bus must be terminated by two 120 Ohm resistors at both ends of the bus line according to the following
39. mand to be executed Curve Service Save to Flash COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Sub Index Data PEISE 23h 00h 20h 40h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX XX xx Any Data NTIAG LinMot www LinMot com Page 40 60 gt c G oO c a ie Z lt O CANopen Interface Manual LinMot Index Sub Index Description Access Type Data Type Curve Service Delete all Unsigned8 Unsigned32 Curves All curves in the RAM SG5 are deleted This does NOT delete curves from the flash on SG5 On SG7 devices the curves are deleted directly from the flash XX XX Xx xx Any Data After a system reset the curves are loaded again from the flash to the RAM on z SG5 devices Any data can be written for the command to be executed Curve Service Delete all Curves COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data ba PESEM 23h ooh 20h 4th xxh xxh xxh 2 Byte _ 01 LSB 02 03 04 05 06 07 08 MSB s c eb Q te Z lt Index Sub Index Description Access Type Data Type Curve Service Poll Flash Unsigned8 only available on SG5 Read Parameter to get the status of a flash operation Result 00h State Idle Result 04h State Busy This command can be used to check if a flash operation is still ongoing e g
40. me the error occurred NTIAG LinMot www LinMot com Page 46 60 o O A Q z lt O CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type 2000h EntryNr 73h Get Error Log Entry Time high This command returns the higher 32 bits of the drive s system time when the error happened Get Error Log Entry Time high COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index P TER 40h EntryNr 20h 73h Byte 01 LSB 02 03 04 05 06 07 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Time High P TER 42h EntryNr 20h 73h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX XX XX Higher 32 Bits of the system time the error occurred 6 2 5 Command Table Commands See the LinMot 1100 Drive Configuration over Fieldbus Interfaces for additional detail on the use of the command table and a description of the CT entry format Index Sub Index Description Access Type Data Type CT Save to Flash only available on SG5 Unsigned8 Unsigned32 Write any data with this command to save the command table which is in the RAM to the FLASH The command table is loaded on startup from the FLASH to the RAM Any data can be written for
41. nector X7 X8 4 2 2 Pin assignment of the Control Connector X42 X43 5 2 3 Pin assignment of the Mot Periph I O Connector X44 5 2 4 CAN TERMINANT ee a a ra cm a aa 6 2 4 1 Activating the termination resistor E12xx E14xx 6 2 4 2 Activating the termination resistor C11xx 7 2 4 3 Activating the termination resistor A11Xx 7 3 CANopen Paraimeters noosa a aa ai aa a aa 8 4 CANopen VAra DIS Sn amet 22 5 Mapping Of the PDOS nn in ns nt ead entr ten ada tisane Kaaa a Ria 23 Sd l D AUIEMAP INOE Es anse ani 23 5 1 1 Default Mapping of the Receive PDOS 23 5 1 2 Default Mapping of the Transmit PDOSs 24 5 1 3 Default IdSNEII r n nn NN Datienetinenentei cie 25 5 2 Using the Motion Command Interface in asynchronous transmission modes 25 6 ODISCE DiC tO Meal Yaris ncaa nn ee 26 6 1 Communication Profile Area 1000h 1FFFI 2 ceccceeeeeeeeessceeeeeeeeeeeeeenneees 26 6 2 Manufacturer specific Profile Area 2000h 5FFFh 34 0 21 IP IDC Orit S cc nement 34 0 22 System SOM WINS acetates an ae ae ee 38 6 2 3 Curve Service OM INAIDS scsi caszespectcexeseicdatsesdueaacedistaepscieansteaecesdeedseepsuades 40 6 2 4 Err
42. ng to DS 301 If the transmission type 250 is selected the transmit PDO is sent immediately after reception of the corresponding receive PDO TxPDO 1 corresponds to RxPDO 1 and so on It can be used to realize a simple Poll Request Poll Response type bus structure gt c G oO c a ie Z lt O NTIAG LinMot En Page 12 60 CANopen Interface Manual LinMot PDO Mapping TxPDO 1 These parameters define the mapping of the transmit PDO 1 Eight bytes can be mapped in total T CANopen Interface PDO Mapping TxPDO 1 Status Word 16Bit If this Boolean parameter is set the status word is transmitted with TxPDO 1 9 State Var 16Bit If this Boolean parameter is set the state var high byte state low byte sub E state is transmitted with TxPDO 1 S Q Actual Position If this Boolean parameter is set the 32 2 32Bit bit actual position is transmitted with a TxPDO 1 8 By UPID 8 32Bit This parameter can be used for free mapping of any parameter or variable to TxPDO 1 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in TxPDO 1 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean NTI AG LinMot www LinMot com Page 13 60 CANopen Interface Manual LinMot 2 TxPDO 2 These parameters define the mappin
43. nnot be changed The default ID is 180h Node ID ES Transmission type uw Unsigned8 Only transmission types 1 cyclic synchronous 254 asynchronous and 250 poll request poll response are supported Type 250 is LinMot specific and not part of the CANopen standard The Default is 1 cyclic synchronous 3h Inhibit time rw Unsigned16 This time is a minimum interval for PDO transmission in asynchronous modes The value is defined as multiple of 100us 4h Reserved rw Unsigned8 5h Event timer rw Unsigned16 In asynchronous modes additionally an event time can be used for TPDOs If an event timer exists for a TPDO value not equal to 0 the elapsed timer is considered to be an event The event timer elapses as a multiple of 1 ms This event will cause the transmission of this TPDO in addition to otherwise defined events NTI AG LinMot www LinMot com Page 30 60 T 5 O A Q Z lt x Oo CANopen Interface Manual LinMot w Index Sub Index Name Access Type Data Type c S ee S E c Q O Z lt O CANopen Interface Manual LinMot w Index Sub Index Name Access Type Data Type c S ee S E c Q O Z lt O CANopen Interface Manual E Index Sub Index Name Access Type Data Type Number of valid mapping entries Can be between 0 and 8 Contains the mapping for
44. o be executed Set ROM to default Interface COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data P TER 23h 00h 20h 09h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX xx xx Any Data Index Sub Index Description Access Type Data Type Set ROM to default Unsigned8 Unsigned32 Application Set all parameters of the Application to default values he execution of this command can take several seconds Any data can be written for the command to be executed Set ROM to default Application COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Sub Index Data Data 23h 00h xxh_ xxh Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB XX XX XX xx Any Data Index Sub Index Description Access Type Data Type 2000h Initiates a software reset of the drive Any data can be written for the command to be executed Reset Drive COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Sub Index Data Data 23h_ 00h xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX Xx XX Any Data NTIAG LinMot www LinMot com Page 39 60 gt a G oO c a ie Z lt O CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type Stop MC and APPL Softwa
45. of the first heartbeat If the consumer heartbeat time is 0 the corresponding entry is not used The time has to be a multiple of ims The producer heartbeat time defines the cycle time of the heartbeat If not used it is to be set to 0 The time has to be a multiple of 1ms The vendor ID contains a unique value allocated to each manufacturer of CANopen devices The vendor ID of LinMot is 0000 0156h Contains the drive type Contains the drive version Contains the last four ASCII characters of the serial number NTI AG LinMot _ www LinMot com Page 27 60 c oO ee S E c Q e Z lt O CANopen Interface Manual LinMot Index Sub Index Name Access Type Data Type Receive PDO Communication Parameter 0 RxPDO 1 Number of Entries Unsigned8 3 ro COB ID ro Unsigned32 0 29 28 11 10 0 0 PDO is valid 0 RTR allowed 0 11 bit ID All O 11 bit identifier 1 PDO is invalid 1 no RTR allowed 1 29 bit ID if 11 bit identifier The PDO valid not valid bit allows to select which PDOs are used in the operational state Only this bit can be changed by writing to this parameter The identifiers themselves cannot be changed The default ID is 200h Node ID Transmission type wooo Unsigned8 T 5 O A Q Z lt x Oo Only transmission types 1 cyclic synchronous 254 asynchronous and 250
46. ollowing scheme Emergency 0001b 81h FFh TxPDO 1 0011b 181h 1FFh TxPDO 3 0111b 381h 3FFh RxPDO 1 0100b 201h 27Fh 897 1023 1400h 1600h RxPDO 2 0110b 301h 37Fh RxSDO 1100b 601h 67Fh NMT Error Control 701h 77Fh 1793 1919 100Ch 100Dh NG NodeGuarding Heartbeat 1016h 1017h Heartbeat 10 9 Function Code z This results in the following table g Object Function Code COB ID ore 212 Object for Comm binary hex dec Parameter Mapping i O Q z lt x O 5 2 Using the Motion Command Interface in asynchronous transmission modes Because the CMD interface of the LinMot drives consists of more than 8 bytes it is necessary to link two or more RxPDOs together to ensure data consistency This is done by the Motion CMD Slave Header In order to execute a command the toggle bits of all headers have to be changed to the same new value On the slave header only the last 4 bits are evaluated so it is possible to simply copy the CMD Header from RxPDO 1 to the Motion CMD Slave Header of RxPDOs 2 4 NTIAG LinMot i Page 25 60 LinMot 6 Object Dictionary In this chapter all entries in the object dictionary which are supported by the drives are listed 6 1 Communication Profile Area 1000h 1FFFh Index Sub Index Name Access Type Data Type Device Type ro Unsigned32 Always zero no standard
47. ommand CT Save to Flash has to be issued afterwards to save the CT permanentely Command Table Delete all Entries COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data Data 00h 20h 81h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX Xx xx Any data Index Sub Index Description Access Type Data Type 2000h EntryNr CT Delete Entry Entry Nr Write anything to delete the CT entry with the corresponding number in the RAM The ROM entry of the CT entry is not deleted this way Command Table Delete Entry Entry Nr COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDOCS Index Sub Index Data PECE 23h EntryNr xxh_ xxh xxh_ xxh Byte 01 LSB 02 03 04 05 06 07 _ 08 MSB XX XX XX XX Any data NTIAG LinMot www LinMot com Page 48 60 gt S Fe c eb Q d lt S CANopen Interface Manual LinMot Index Sub Index Description Access Type Data Type This command has to be executed first if one wants to write a CT entry to the RAM SG5 or FLASH SG7 This command writes the block size of the CT entry Afterwards the data for the entry can be written with the command CT Write Entry Data The result of this command can be checked with the CT Get Last CT Service Command Result command 00h No Error D1h Invalid block size D4h Invali
48. or SONI LEN Soot snc scenes eee ecient eee 45 6 2 5 Command Table Commands i 2 2 io ceeneencoaeeess case ctendeedadaxnehacnbes 47 T Examples a ON in ee ee re ee a inertie 53 7 1 Homing and motion Commande sense nn 53 8 Reset Parameters to default values 55 9 Configuration of the drive with an EDS File ss 56 9 1 Configuring a PDO variable by UPID with the EDS file 56 9 1 1 Setting the UPIDs of the parameter to map to a PDO 56 9 1 2 Getting UPID PDO data into PLC variables 56 ERNEST ana es ane eue ubuia 57 10 Interface Error CodeS en aa aaa aa aa N Ea Ea aa 58 11 Contact AddreSSeS snnrsssrrerrrnnrnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn een 60 NTIAG LinMot Page 3 60 gt c G oO c a ie Z lt O CANopen Interface Manual amp LinMot 1 System overview The LinMot CANopen drives comply with the following specifications CIA 102 DS V2 0 CAN physical layer for industrial applications E CIA 301 DS V4 0 2 CANopen application layer and communication profile CIA 303 3 DR V1 3 CANopen additional specification Part 3 Indicator Ss specification CIA 306 DS V1 3 Electronic data sheet specification for CANopen Further information on specifications can be found under http www can cia org c The following resources are available 2 4TxPDO 2 4 RxPDO lt 1TxSDO O 1RxSDO The supported protocols inc
49. poll request poll response are supported Type 250 is LinMot specific and not part of the CANopen standard The Default is 1 cyclic synchronous 1401h Receive PDO Communication Parameter 1 RxPDO 2 Number of Entries ro Unsigned COB ID ro Unsigned32 The default ID is 300h Node ID See 1400h sub 1h for additional details Transmission type Unsigned The default is 1 cyclic synchronous See 1400h sub 2h for additional details 1402h Receive PDO Communication Parameter 2 RxPDO 3 oh Number of Entries ro Unsigned8 1h COB ID ro Unsigned32 The default ID is 400h Node ID See 1400h sub 1h for additional details 2h Transmission type rw Unsigned8 The default is 1 cyclic synchronous See 1400h sub 2h for additional details NTI AG LinMot www LinMot com Page 28 60 CANopen Interface Manual LinMot Index Sub Index Name Access Type Data Type 1403h Receive PDO Communication Parameter 3 RxPDO 4 oh Number of Entries ro Unsigned8 un COB ID ro Unsigned32 The default ID is 500h Node ID See 1400h sub 1h for additional details ES Transmission type rw Unsigned8 The default is 1 cyclic synchronous See 1400h sub 2h for additional details 1600h Receive PDO Mapping Parameter 0 RxPDO 1 Number of mapped rw Unsigned8 application objects in PDO Number of valid mapping entries Can be between 0 and 8 Contains the mapping for RxPDO 1 mapping entry is built as follows
50. re Unsigned8 Unsigned32 MC SW and Application SW are stopped Any data can be written for the command to be executed Stop MC and APPL Software COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index P TER 23h 00h 20h 35h xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 o08 MSB XX XX xx xx Any Data Index Sub Index Description Access Type Data Type Start MC and APPL Software Unsigned8 Unsigned32 MC SW and Application SW are started Any data can be written for the command to be executed Start MC and APPL Software COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDO CS Index Sub Index Data PECE 23h 00h 20h 36h xxh xxh xxh_ xxh Byte 01 LSB 02 03 04 05 o6 07 _ 08 MSB XX XX XX XX Any Data 6 2 3 Curve Service Commands See the LinMot 1100 Drive Configuration over Fieldbus Interfaces for additional detail on the use of curve commands and a description of the content of the curve info and data blocks Index Sub Index Description Access Type Data Type Curve Service Save to Flash only available on SG5 Unsigned8 Unsigned32 All curves are saved from the RAM to the flash and are thus permanently saved MC SW and application have to be stopped in order for this command to work see command 2000h sub 35 Stop MC and Application Software Any data can be written for the com
51. ror Log Entry Error Code COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index 20h 7th 03 04 o 06 07 08 MSB Data 40h EntryNr_ Byte 01 LSB 02 Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDOCS Index Sub Index SourcelD Error Code PESMI 42h EntryNr 20h 7th xxh xxh yyh yyh Byte 01 LSB 02 03 04 05 06 07 08 MSB xx xx SourcelD ID of the part of the firmware which triggered the error 1 OS 2 Motion Control Software 3 Interface e g CANopen 4 Application e g EasySteps yy yy Error Code Further Information on the meaning of the error codes can be found in the manuals of the respective firmware parts Index Sub Index Description Access Type Data Type 2000h EntryNr 72h Get Error Log Entry Time low This command returns the lower 32 bits of the drive s system time when the error has occurred Get Error Log Entry Time low COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index DECE 40h EntryNr 20h_ 72h 7 Byte 01 LSB 02 03 04 05 o6 07 _ 08 MSB Return Value COB ID 580 Node ID Response from LinMot Drive to PLC SDO CS Index Sub Index Time Low PEISE 42h EntryNr 20h 72h _ xxh xxh xxh xxh Byte 01 LSB 02 03 04 05 06 07 08 MSB XX XX XX XX Lower 32 Bits of the system ti
52. rror Invalid Mapping in TxPDO 2 More than 8 byte data mapped into TPDO 2 Verify the mapping by UPID should be 0 to be deactivated D2h CANopen Error Invalid Mapping in TxPDO 3 More than 8 byte data mapped into TPDO 3 Verify the mapping by UPID should be 0 to be deactivated D3h CANopen Error Invalid Mapping in TxPDO 4 More than 8 byte data mapped into TPDO 4 Verify the mapping by UPID should be 0 to be deactivated D4h CANopen Error Invalid Mapping in RxPDO 1 More than 8 byte data mapped into RPDO 1 Verify the mapping by UPID should be 0 to be deactivated NTI AG LinMot www LinMot com Page 58 60 gt c G oO c a ie Z lt O CANopen Interface Manual Error Code Error Description Recommended Actions D5h CANopen Error Invalid Mapping in RxPDO 2 More than 8 byte data mapped into RPDO 2 Verify the mapping by UPID should be 0 to be deactivated D6h CANopen Error Invalid Mapping in RxPDO 3 More than 8 byte data mapped into RPDO 3 Verify the mapping by UPID should be 0 to be deactivated D7h CANopen Error Invalid Mapping in RxPDO 4 More than 8 byte data mapped into RPDO 4 Verify the mapping by UPID should be 0 to be deactivated D8h CANopen Error Invalid UPID in TxPDO 1 Check the UPID which is configured by Mapping mapping by UPID D9h CANopen Error Invalid UPID in TxPDO 2 Check the UPID which is confi
53. ten NTIAG LinMot www LinMot com Page 36 60 gt S c eb Q Z lt O CANopen Interface Manual i LinMot Index Sub Index Description Access Type Data Type Start Getting UPID List Unsigned16 With this command the starting UPID can be set from which the command Get Next UPID List item begins returning info when called This command has to be sent at least once before information on UPIDs can be retrieved via the Get Next UPID List item command Start getting UPID List COB ID 600 Node ID SDO Write from PLC to LinMot Drive SDOCS Index Sub Index Data Data PEM 23h yyh yyh 20h _ xxh xxh xxh xxh Byte _ 01 LSB 02 03 04 05 06 07 08 MSB XX XX XX xx Any Data yy yy 2000h UPID Sub Index Description Access Type Data Type Index Get Next UPID List item With this command information on UPIDs can be read After the initialization with the command Start getting UPID List information on UIPIDs can be read with this command The command can be repeatedly issued With each new command the information on the next existing UPID is sent When the end of the list is reached the UPID FFFFh is sent Get Next UPID List item COB ID 600 Node ID SDO Read from PLC to LinMot Drive SDO CS Index Sub Index BEGM 40h yyh yyh 2th Byte 01 LSB 02 03 o4 05 06 07
54. ytes of the command 12 15 32Bit parameters of the Motion Command Interface Motion Cmd Par Byte The sixth 4 bytes of the command 16 19 32Bit parameters of the Motion Command Interface By UPID 8 32Bit This parameter can be used for free mapping of any parameter or variable to RxPDO 3 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in RxPDO 3 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean NTI AG LinMot www LinMot com Page 18 60 CANopen Interface Manual LinMot RxPDO 4 These parameters define the mapping of the receive PDO 4 Eight bytes can be mapped in total CANopen Interface PDO Mapping RxPDO 4 Motion Cmd Slave To ensure data consistency with S Header 16Bit asynchronous communication modes S the slave headers have to be used when spreading motion commands T across several PDOs g Motion Cmd Par Byte The sixth 4 bytes of the command 16 19 32Bit parameters of the motion command c interface 2 a a o By UPID 8 32Bit This parameter can be used for free mapping of any parameter or variable to RxPDO 4 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in RxPDO 4 is derived from the mapped UPID For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean
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