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1. Bit Value Meaning Remarks 0 k ready to switch on 1 k switched on 2 k operation enabled 1 3 0 fault 4 k voltage enabled 5 quick stop 6 k switch on disabled 1 A 7 0 warning 1 8 0 halt active 1 9 0 remote 10 target reached 11 k internal limit active 1 12 0 Speed 13 14 reserved 15 3 4 4 4 Output values Index Name Byte Mapping 6064 position actual value 4 Yes 606C velocity actual value 4 Yes 6077 torque actual value 4 Yes GFC AntriebsSysteme GmbH 19 CANopen interface User manual 3 4 5 Reference operation mode Homing Mode The drive performs a reference operation The settings of the parameters index 2105 H reference operation parameter are used The reference type and speed can be overwritten by the standard CANopen indices homing method and homing speeds Only one speed is used for approaching and passing the reference point homing speed subindex 1 Seven different reference operation types are available in the MDA reference operation management They are shown in CANopen in combination with the reference setting Passing direction as indicated below 3 4 5 1 Reference operation types CANopen Standard Reference operation type Passing direction 35 23h None None 23 26 17h 1Ah Marker negative 27 30 1Bh 1Eh positive 19 13h Flank negative 20 14h positive 2 18 2h 12h Limit
2. 22 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 6 3 Operation mode specific bits in the status word Bit Value Meaning Remarks 0 k ready to switch on 1 k switched on 2 k operation enabled 1 3 0 fault 4 k voltage enabled 5 quick stop 6 k switch on disabled 1 A 7 0 warning 8 k halt active 1 9 0 remote 10 target reached 11 k internal limit active 1 Manual operation 12 0 active 13 14 reserved 15 3 4 6 4 Output values Index Name Byte Mapping 6064 position actual value 4 Yes 606C velocity actual value 4 Yes 6077 torque actual value 4 Yes GFC AntriebsSysteme GmbH 23 CANopen interface User manual 3 4 7 Driving data record operation mode The drive executes a driving data record DDR The controller type is determined by the setting in the driving data record The driving data record number is retrieved from the control word if DDR 0 or from the parameters index 2100h driving data record number gt 0 A driving data record number between 1 and 99 is valid 3 4 7 1 Operation mode specific bits in the control word Bit Value Meaning Remarks 1 A
3. Subindex Byte Parameter Access 1 2 Faults Voltage RO 2 2 Faults Temperature RO 3 2__ Faults Motor RO 4 2 Faults LocalCAN RO 5 2 Faults Fieldbus RO 6 2 Faults Driving data record RO 7 2 Faults Parameters RO 8 2 Faults Logic hardware RO 9 16 2 Fault registers 09 to 16 4 3 3 4 Subindex 1 Individual fault register 1 voltages Bit Decimal Description o yY O o 1 Voltage monitoring DC circuit link UZK lt 180V Voltage monitoring DC circuit link UZK lt 400V Voltage monitoring Brake 4 3 3 2 Subindex 2 Individual fault register 2 temperatures Bit Decimal Description amp O o 1 Temperature monitoring Motor 3 8 Temperature monitoring Ballast resistor reserved 4 3 3 3 Subindex 3 Individual fault register 3 motor Bit Decimal Descripion 1 0 0 0 Oo 1 Resolversignal 0 0 0 0 0 3 8 Encoderindex Z2 9 5 6 64 reserved 0 0 0 0 0 0 0 0 8 256 reserved gt 0 0 0 0 0 0 0 9 512 Fault Motor controis S 4 3 3 4 Subindex 4 Individual fault register 4 LocalCAN Bit Decimal Description O o A Connection CAN XC DSP Connection CAN XC I OBox GFC AntriebsSysteme GmbH 41 CANopen interface User manual 4 3 8 5 Subindex 5 Individual fault register 5 fieldbus Bit Decimal Description O
4. o A Connection monitoring via bus Fault in the slave drive for Technological function Electric shaft 4 3 3 6 Subindex 6 Individual fault register 6 driving data manager Bit Decimal Description sd 0 1 Reference operation fault n Quickstop is performed 3 8 Drive blocked during driving data record 6 64 Positioning commands without set reference 8 256 Range overflow of absolute encoder APP02 00 and MDAwin02 00 4 3 8 7 Subindex 7 Individual fault register 7 parameters Bit Decimal Description y O 0 1 Fault Motor parameters 4 3 3 8 Subindex 8 Individual fault register 8 logic hardware Bit Decimal Description O 0 1 Faulinthe EEPROM Fault in the Flash CRC Fault during system start 42 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 4 2003h Warning register For a detailed parameter description refer to the Drive warning window section in the RS232 Firmware user manual Subindices 9 to 16 are currently not assigned The meanings of the numbers in each subindex are explained in the following tables Subindex Byte Parameter Access 1 2 Warnings Voltage RO 2 2 Warnings Temperature RO 3 2 Warnings Motor RO 4 2 Warnings LocalCAN RO 5 2 Warnings Fieldbus RO 6 2 Warnings Driving data manager RO T 2 Warnings Parame
5. uunsnnunasnsnaannnnannnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnn 9 Functions of the CANopen interface of the MDA unssusunsnnsnaannnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnn 9 Description of the state machine eeeeeeeeeeeeeeeeeeeeeee nennen nennen nnn nn nnnnnnn nannten nannten nnns nennen 9 Function diagram for basic controller A 9 Control and parameter change rights remote nnns 10 6040h control Toro RM 11 6041h stats oro un ae ern haare Rene 11 Operation MOUCS eR 12 Changing the operation mode enne nnne nenne nnne sea oo sena Aa AEREA Ka aa Taai 12 Position control operation mode Profile position mode essen 13 State machine for position confrol nennen nennen nnne daada sterne nnns nennen 13 Operation mode specific bits in the control word ssssssssssssseeeeeeeeeneenennmee nnns 14 Iput Tan LEE 14 Operation mode specific bits in the status word ssssssssssssssesseeeeneeee nnnm nnns 15 SIVE 15 Speed control operation mode Profile velocity mode 16 Operation mode specific bits in the control word ssesssssesssssseseeeeeeeneennnnn enne nnns 16 Input UE 16 Operation mode specific bits in the status word sssssssesssssssseeeeeeeeee nennen nnns 17 OUtPUt VANWOS va L 17 Torque control operation mode Profile torque mode 18 Operation mode specific bits in the control wo
6. Possibly other functions may be available which are not described in this document However the manufacturer shall not be obliged to provide these functions with a new drive or when performing maintenance work The contents of this document were checked for compliance with the described hardware and software Deviations may nevertheless occur we assume no liability for full compliance with all data The information contained in these documents is subject to regular revision and any required modification will be included in the next issue We reserve the right to alter the present document without prior notification Issue Note 1 05 First Issue 1 06 General update 1 09 Update due to functional extension with firmware APP 02 00 2 09 General update 2 GFC AntriebsSysteme GmbH User manual CANopen interface Table of contents 1 1 oo to to to o w N 1 4 3 3 4 3 4 2 1 SAFETY INSTRUCTIONS 6 Designated BI 6 General Notes e 6 LUE LliiEEDpnc 6 IJsed danger SIGNS Eon ream e n t Ut Mox nae uie ees 7 sed ane elei ee EE H Furtlier symbols EE 7 Commissioning electrical connection 1s eee eese eeee es eene eene e nennen nnne nnnm nnns nnns 8 SHORT DESCRIPTION 8 CANOPEN 9 Basic information on the CANopen interface of the MDA
7. Interface description CANopen Milan drive advanced Servo motor with integral controls CANopen interface User Manual Preface Thoroughly read the present manual and all safety instructions and warnings in particular before installation and commissioning of the servo drive Observe all warning plates attached to the device Please make sure that all warning plates are legible and that missing or damaged signs are replaced The present user manual describes wiring commissioning functions and the protocol of the Milan Drive Advanced CANopen interface It is part of the overall documentation of the servo drives with Milan Drive Advanced integral electronics For information on installation commissioning and functions of the Milan Drive Advanced please refer to the corresponding user manuals A list of these user manuals can be found in the literature section For more detailed information refer to Website For technical and general information customers may refer to the following address http www milan drive de Contact In case you have any questions or problems when reading these operating instructions please contact one of the addresses mentioned at the end of these instructions or the sales agent responsible for your area
8. Limit switch positive or negative reached APP02 01 and MDAwin02 01 reserved 4 3 4 7 Subindex 7 Individual warning register 7 parameters Bit Decimal Description amp O o 1 WamingMotorparameters S O Warning System parameters 4 3 4 8 Subindex 8 Individual warning register 8 logic hardware Bit Decimal Description amp amp i O 0 15 44 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 5 2004h Operational data For a detailed parameter description refer to the Operational data window section in the RS232 Firmware user manual The user has read access only Subindex Byte Parameter Unit Access 1 4 Operation time Sec RO 2 4 Motor running time Sec RO 3 2 Fault Temp Elect RO 4 2 Fault Temp Motor RO 5 2 Fault Temp PE RO 6 2 Fault DC link circuit RO 7 2 Fault Fieldbus RO 8 2 Fault Excess current RO 9 2 Number of restarts RO 4 3 6 2010h to 20FFh event buffer This function is not yet available Subindex Byte Parameter List Min Max Default Access 1 2 Eventclass 0 No entry 0 6 0 1 Fault 2 Warnings 3 Info 4 Write parameters 5 Command 6 System message 2 2 Event number event class dependent 0 64k 0 Fault number Warning number Info number Parameter number Command number System message number
9. uunssssssnssnnnnennsnnnnennnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnannnnnnnannn nn 34 4 2 7 1011h store EE 35 4 2 8 1011h restore default parameters sse nnne nennen nnne nnne nennen nennen 35 4 2 9 1018h Identity ODJOCH LE 35 4 2 10 1600h to 1603h Receive PDO mapping parameter nennen 35 4 2 11 1A00h to 1A02h Transmit PDO mapping parameter sssssssseseneeeeeneeneen nennen 36 4 2 12 6060h modes of OperatiON nenne nennen nennen nnns ener sinn rnn nenne nnne nnns 36 4 2 13 607Dh software position limit 444444unnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnsnnnnn 36 4 2 14 6086h motion profile type 2 u 4444anennnnnnnennnnnnnannnnnnnannnnnnnannennnnannnnnnnannennnnannennnnannennnnannennnennennenn 36 4 2 15 6098h homing method esee kon n kaa k k an een ka ka ak cernes keen ga v ko ROLE earn EE ENEE 36 4 2 16 6099 homing Speeds e sov gwan ape konn kaa m kako en anhand a han aaa pedu m de Xo Aaa 36 4 2 17 60FBh position control parameter eet 36 4 2 18 lange e ue HE le IC 37 4 3 Device specific parameter numbers Manufacturer Profile eeeeeeesssesssss 38 4 3 1 2000h Actual values see ee en el 38 4 3 1 1 Subindex 14 Into E CN DEE 38 4 3 1 2 Subindex 15 Info collective faults eene entere uid nnne nene nnns 39 4 3 1 3 Subindex 16 Info collective warnings nennen enne ener nnn
10. 1400h 1600h TX PDO2 0101 281h 2FFh 1801h 1A01h RX PDO2 0110 301h 37Fh 1401h 1601h TX PDO 3 0111 381h 3FhF 1802h 1A02h RX PDO 3 1000 401h 47Fh 1402h 1602h RX PDO 4 1001 501h 57Fh 1403h 1603h TX SDO 1011 581h 5FFh RX SDO 1100 601h 67Fh Nodeguard 701h 77Fh 26 GFC AntriebsSysteme GmbH User manual CANopen interface 3 5 2 Network management object NMT The network management processes the basic communication with the slave nodes An NMT telegram contains the COB ID 0 a command specifier and the node address in the first data byte refer to telegram structure The MDA responds to the following command specifiers CS CS Meaning 01h starts a slave node and enables the PDOs 02h stops a slave node 80h enter preoperational 81h resets the communication stack of a slave node 82h reset communication 3 5 3 Process data object PDO PDOs are used for real time data exchange with the MDA The MDA uses three TX PDOs MDA gt client and four RX PDOs client gt MDA The MDA supports dynamic mapping the following mapping is set as default TX PDO EEESESES oS RS EA Tx PDO1 1A00h SW SW Tx PDO2 1A01h MOO Tx PDO3 1A02h VEL VEL VEL VEL POS POS POS POS SW status word 6041h MOO operation mode modes of operation display 6061h VEL actual speed velocity actual value 606Ch POS actual position position actual value 6064h RX PD
11. the desired objects can be mapped A mapping example is shown in the Example chapter The standard assignment is detailed in chapter Process Data Object PDO GFC AntriebsSysteme GmbH 35 CANopen interface 4 2 11 1A00h to 1A02h Transmit PDO mapping parameter The PDO assignment can be read via sub index 0 Prior to allow new mapping the sub index 0 must be deleted first overwritten by 9h Hereafter the desired objects can be mapped A mapping example is shown in the Example chapter The standard assignment is detailed in chapter Process Data Object PDO 4 2 12 6060h modes of operation Refer to the operational data section 4 2 13 607Dh software position limit User manual The positions of the software limit switches are set as 32 bit value via the software position limit object Subindex Object Name Bytes Meaning 1 VAR _ limit 0 4 Software limit switch positive 2 VAR limit 1 4 Software limit switch negative 4 2 14 6086h motion profile type The ramp type of the CANopen specific operation modes is set as 16 bit value via the motion profile type object Value 32786 to 1 0 1 2 to 32767 Meaning reserved Linear Sinesquare reserved 4 2 15 6098h homing method For a detailed description refer to the homing mode section 4 2 16 6099h homing speeds Subindex Objekt Name Bytes Bedeutung 1 VAR speed 0 4 Output speed referenc
12. with DDR Bit02 07 Reserved 4 1 DDR no DDR no 0 99 0 RW 5 2 Function O None 0 16 None RW 1 Synchronisation 2 GOTOxx 3 Intermediate stop 4 Single step 5 Set reference point 6 Start reference 7 Start stop 8 Hardware limit switch negative 9 Hardware limit switch positive 10 Stop with RFO ramp 11 Quickstop 12 Power amplifier off 13 Start driving data record 14 Stop driving data record 15 Teach in 16 Reset error 4 3 17 2300h to 2303h Digital outputs For a detailed parameter description refer to the I O drive window section in the RS232 Firmware user manual Sub Byte Parameter List Min Max Default Access index 1 1 Module address 0 Not assigned Not RW 1 Interface assigne 2 Reserved d 2 1 Output number 0 255 Not RW assigne d 3 1 Feature Bit00 Active High Low 1 RW Bit01 In combination with DDR Bit02 07 Reserved 5 1 DDR no DDR no 0 99 0 RW 6 2 Function Number of the status bit 0 646 None RW 52 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 18 2400h Analogue input For a detailed parameter description refer to the I O drive window section in the RS232 Firmware user manual Sub Byte Parameter List Min Max Default Access index 1 1 Module address O Not assigned Not RW 1 Interface assigned 2 Reserved 2 1 Input number 0 255 Not RW assigned 3 1 Feature Bit00 Inverse sig
13. 0011 4 u Write data initiate SDO download request 2Bn 0010 1011 2 2Fn 0010 1111 1 40 0100 0000 all data Read data initiate SDO upload request Response ID command byte slave master Bit 7 6 5 4 3 2 1 0 Meaning SCS SCS SCS Table Response IDs slave gt master hex bin No of data bytes Description 42 0100 0010 not indicated 43 0100 0011 4 m Read data initiate SDO download response 4Bn 0100 1011 2 4F 0100 1111 1 604 0110 0000 all data Write data initiate SDO upload response 80 10000000 4byteabortcode Fault abort transfer request In addition to the fault numbers specified in CANopen other drive specific fault numbers are listed below For the CANopen fault numbers refer to the DSP 402 Table Fault numbers for negative response ID hex Description 0601 0000 R W attribute incorrect unsupported access 0602 0000 Object does not exist within the object directory 0607 0012 Data type not suitable 0607 0013 Data type does not exist no object 0609 0010 Index invalid no object 0609 0011 Subindex invalid no subindex 0609 0030 Upper or lower limit exceeded range exceeded For a complete list of the fault codes refer to CiA DS 301 GFC AntriebsSysteme GmbH CANopen interface User manual 3 6 Programming the master sub assembly 3 6 1 Configuration of the controls To set the bus address use the Fieldbus wi
14. 6 driving data manager 44 4 3 4 7 Subindex 7 Individual warning register 7 parameters 44 4 3 4 8 Subindex 8 Individual warning register 8 logic hardware esssesssessisesiessressrnssrnsrinsernsrrnsernnernnernnenns 44 4 3 5 2004h Operational data 45 4 3 6 2010h to 20FFh event buffer oic nnd rennen ENER den nae Ven ana dancer 45 4 3 7 2100 h Current driving data record number 45 4 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 8 2101h System paramlltels etre ette breeds een 46 43 9 21020 Dive AA bese si ensure Eege adea ea dees 47 43 10 2103H Name plate tier Dente etg end tuere ne Ope uoc aue EE 48 43 11 2104h Hardware Information cerent eren ront eren rr ep eub ken ku una ree rne ER 48 43 12 2105h Reference operation iiiter einen 49 4 3 19 2106 n Bus InterTaCe een tette u Es reet Pe ne eee i RR 50 4 3 14 2107h Control ee TEE 50 4 3 15 2108h 2109h Manual operation 1 and 3 51 4 3 16 2200h to 2203h Digital mputs nennen nennen nennen nennen nennen nnns 52 4 3 17 2300h to 2303h Digital outputs ssssssesseeeeeeneenneneneeen mener Nae E KEEA ARERR 52 4 3 18 2400h Analogue input nenne nnn nnns rennen snnt nnne rentre snnt ener 53 4 3 19 2600h to 2603h Speed position controller controller record 1 to 4 53 4 3 20 2700h to 2763h Driving data reCOrds AA 54 4 3 21 2900h to 29F Fh Soft EE 54 5 MDAWIN OPERATING SOFTWARE 55 5 1 Settings in the Field
15. Byte Parameter List Min Max Default Access 1 2 Logic variant RO 2 2 Bus module variant 0 No module RO available 1 Profibus 2 CANopen 3 2 I O interface variant 0 RO No module available 1 Type1 4 2 Number of digital inputs on 0 4 4 RO interface 5 2 Number of digital outputs on 0 4 4 RO interface 6 2 Number of analogue inputs on 0 2 1 RO interface 7 2 Number of analogue outputs 0 2 0 RO on interface 8 2 Status digital inputs RO 9 2 Status digital outputs RO 10 2 Status analogue input 1 0 65k 0 RO 11 17 Reserved 4 3 2 1 Subindex 8 Status digital inputs Bit Decimal Description 0 1 Digital input 1 1 2 Digital input 2 2 4 Digital input 3 3 8 Digital input 4 4 15 gt 16 reserved 4 3 2 2 Subindex 9 Status digital outputs Bit Decimal Description 0 1 Digital output 1 1 2 Digital output 2 2 4 Digital output 3 3 8 Digital output 4 4 15 gt 16 reserved 40 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 3 2002h Fault register For a detailed parameter description refer to the Drive fault window section in the RS232 Firmware user manual Subindices 9 to 16 are currently not assigned The meanings of the numbers in each subindex are explained in the following tables The fault numbers are set by the system and will be cancelled after acknowledgement The user has read access only
16. PDOs and thus the operation mode can be modified either via PDO and or via SDO communication In the following states Switch On Disabled Ready To Switch On Switched On and Operation Enable one of the operation modes during which drive commands in state Operation Enable can be performed can be selected as described hereafter 12 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 2 Position control operation mode Profile position mode The drive executes a position controlled driving data record DDR The indices are represented via the driving data record 0 and the speed position controller controller record 4 index 2603 h 3 4 2 1 State machine for position control In addition to the state machine as described in chapter Workflow of basic control the state machine as described below is used to control the drive in positioning control operation mode The DDR is started on transition to the state Aktiv Bei bergang in State Aktiv wird FDS gestartet Bei Multiple Setpoint Mode QuickStopp aus allen States TARGETREACHED TARGETREACHED prem m N di N IN I w x A ZHALT NEU f NSETP Li START __ 1 gt State machine profile position mode START STOP Control word Bit 8 halt NSETP Control word Bit 4 new setpoint TARGETREACHED Status word Bit 10 target reached IDLE idle state PASSIV READY transitions ZHALT intermediate stop
17. Subindex Bytes Parameter Min Max 1 Operator Reserved Input 1 Input 2 Input 3 Input 4 H O O1 AIIN POP PO P2 0 Output 54 GFC AntriebsSysteme GmbH User manual CANopen interface 5 MDAwin operating software For a detailed description of the MDAwin operating software refer to the MDAwin operating software section in the RS232 Firmware user manual 5 1 Settings in the Fieldbus window Datei Modus Extras MDA Optionen Ansicht Fenster ECKE BE FDS Staten _FDS Stoppen FDS Nr 1 Schreiben _ nd Schreiben __Einzeischitt N chster FDS x F hrung sperren fen oy Antrieb Info 5 Kr Antrieb St rung Slave Adresse BEER on Antrieb Warnung Betriebsart Baudrate d Betriebsdaten S Handbetrieb Diagnose E FDS Programmierung Editor FDS E Parameter E Antrieb Typenschild Hardware Stromregler Drehzahl Lageregler System 1 0 Antrieb Feldbus Referenzfahrt E Technologiefunktionen Fliegendes Referenzieren F Type The bus module included within the drive is automatically detected and displayed if there is a connection to the drive available online Slave address The address of the slave 0 127 is entered in this field An address may be assigned only once within a segment The address 125 is preset on delivery Operation mode This function is not yet available via CANopen When us
18. ZHALT NEU intermediate stop in multiple setpoint mode GFC AntriebsSysteme GmbH 13 CANopen interface User manual 3 4 2 2 Operation mode specific bits in the control word Bit Value Meaning Remarks 1 A 0 0 switch on 1 k enable voltage 2 k quick stop 3 k enable operation 4 k new setpoint Accept new setpoint 1 Complete active positioning operation then start next positioning operation a 0 A A Abort active positioning operation then start next positioning operation 6 1 abs r l Setpoint is relative 0 Setpoint is absolute 1 7 0 reset fault 8 1 halt 0 9 10 reserved 13 14 15 remote request 3 4 2 3 Input values Mandatory Index Name Byte Mapping 6060 Modes of operation 2 Yes 607A target position 4 Yes 6081 __ profile velocity 4 Yes Optional Index Name Byte Mapping 6072 __ max torque 2 Yes 6083 profile acceleration 4 Yes 6084 profile deceleration 4 Yes 6086 motion profile type 2 Yes 60FB j position control parameter set Array 14 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 2 4 Operation mode specific bits in the status word Bit Value Meaning Remarks 0 k ready
19. description PROFIBUS DP Order no Y004 011 6 Interface description CANopen Order no Y004 013 7 Functional block description S7 functional blocks for Profibus DP Order no Y004 012 8 Functional block description PLC function blocks for CANopen Order no Y004 014 9 Operation instructions Operation box PV 1608 Order no Y004 010 8 2 Further literature 1 As an introduction to CAN Wolfhard Lawrenz CAN Controller Area Network Grundlagen und Praxis H thig Verlag ISBN 3 7785 2734 7 2 CANopen CANopen Application Layer and Communication Profile CiA Draft Standard 301 Available from CAN in Automation e V http www can cia org 3 CANopen Profile CANopen Device Profile for Drives and Motion control CiA Draft Standard Proposal 402 Available from CAN in Automation e V http www can cia org GFC AntriebsSysteme GmbH 61 Grenzstra e 5 D 01640 Coswig Tel 49 3523 94 60 Fax 49 3523 74142 gfc antriebe gfc antriebe de P Berlin Cottbus Leipzig Halle x Bautzen nm Mei en Coswig Flughafen GFC B101 N Nossen DD Klotzsche Sa DD Neustadt C 3 Dresden Pirna C Siebenlehn A wen Chemnitz Freital Hof M Eisenach Prag Daimlerstrasse 9 73760 Ostfildern Tel 0711 34803 0 Fax 0711 34803 3034 riester wof auma com Y004 014 003 en 2 09
20. factor 1000 110000 1750 RO 8 2 Max torque positive 0 10000 4000 mNm RW 9 2 Max torque negative 0 10000 4000 mNm RW 10 2 Max speed positive 0 8000 4000 rpm RW 11 2 Max speed negative 0 8000 4000 rpm RW 12 2 Speed limit 0 10000 6000 rpm RW 1 5 Mspeed 13 2 Resolver offset 1 4095 1 Inc RO 14 2 Align Current 0 65535 1000 mNm RO 15 2 Align Period 0 65535 1000 ms RO 16 2 Position ind 1 65535 4096 RO impulses 17 2 Position holding time 0 65535 0 ms RW 18 2 Brake apply time 0 5000 40 ms RO 19 2 Brake release time 0 5000 40 ms RO 20 2 UZK correction factor 0 1000 90 RO 21 2 Ballast monitoring 0 User defined 2 internal RW 1 None 2 internal 3 100W external 4 200W external 5 400W external 22 2 Ballast time constant only for P0321 0 65535 250 RO 0 23 2 Ballast fault only for P0321 0 65535 700 RO 0 24 2 Max motor torque 0 10000 4000 mNm RO 25 2 Max motor speed 0 8000 4000 rpm RO 26 2 Quick stop ramp O Linear 0 1 0 RW 1 Sinesquare 27 2 Quick stop value 100 65535 65535 rpm s RW GFC AntriebsSysteme GmbH 47 CANopen interface User manual 4 3 10 2103h Name plate For a detailed parameter description refer to the Name plate window section in the RS232 Firmware user manual Subindex Byte Parameter Access 1 20 Commission number RO 2 20 Product designation RO 3 20 Serial no motor RO 4 20 Serial no electr RO 5 20 Customer designation 1 R
21. on Type of hazard and its source consequences measures or Possible consequence s on non observance prohibitions gt Measure s to avoid the hazard WARNING indicates a potentially hazardous situation which if the warnings and notes are not observed could result in death or serious damage to health or considerable material damage Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences measures or Possible consequence s on non observance prohibitions gt Measure s to avoid the hazard CAUTION indicates a potentially hazardous situation which if the warnings and notes are not observed could result in minor injuries or material damage Danger sign on the type of danger and or pictograph on Type of hazard and its source consequences prohibitions Possible consequence s on non observance gt Measure s to avoid the hazard 6 GFC AntriebsSysteme GmbH User manual CANopen interface NOTE contains important information on the product or highlights a section of the documentation to which special attention should be paid Pictograph on NOTE consequences or measures Type of hazard and its source Possible consequence s on non observance gt Measure s to avoid the hazard 1 3 1 Used danger signs Danger signs warn about a danger source Layout yellow triangle and symbol General danger
22. switch positive cannot be set negative 1 17 1h 11h Limit switch negative cannot be set positive Manufacturer specific Reference operation type Passing direction 1 FFh No reference operation reference is setto None the value entered in the reference offset 2 FEh Reference memory reference bit and None actual position are restored from the memory 3 4 5 2 Operation mode specific bits in the control word Bit Value Meaning Remarks 1 A 0 0 switch on 1 enable voltage 2 quick stop 3 enable operation 4 Homing operation start 5 1 d 6 0 reserve 1 7 0 reset fault 8 9 10 11 reserved 12 13 14 15 remote request 20 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 5 3 Input values Mandatory Index Name Byte Mapping 6060 modes of operation 2 Yes Optional Index Name Byte Mapping 607C home offset 4 6098 homing method 2 6099 homing speeds Array 609A homing acceleration Or MDA specific 2105 Reference operation Array No 3 4 5 4 Operation mode specific bits in the status word Bit Value Meaning Remarks 0 ready to switch on 1 switched on 2 k operation enabled 1 3 0 fault 4 k voltage enabled 5 k quick sto
23. to switch on 1 k switched on 2 k operation enabled 1 3 0 fault 4 k voltage enabled 5 quick stop 6 k switch on disabled 1 A 7 0 warning 8 k halt active 1 9 0 remote 10 target reached 11 k internal limit active 12 k setpoint acknowledge 13 k following error 14 15 reserved 3 4 2 5 Output values Index Name Byte Mapping 6064 _ position actual value 4 Yes 606C velocity actual value 4 Yes 6077 torque actual value 4 Yes GFC AntriebsSysteme GmbH 15 CANopen interface User manual 3 4 3 Speed control operation mode Profile velocity mode The drive executes a speed controlled driving data record DDR The indices are represented via driving data record 0 and the speed position controller controller record 4 index 2603 h 3 4 8 1 Operation mode specific bits in the control word Bit Value Meaning Remarks 1 0 0 switch on 1 t enable voltage 2 quick stop 3 enable operation 4 1 5 0 reserved 6 7 reset fault 8 hrat 0 9 10 11 12 reserved 13 14 15 1 remote request 3 4 3 2 Input values Mandatory Index Name Byte Mapping 6060 modes of operation 2 Yes 60FF target velocity 4 Yes Optional Index Name Byte Mapping 6072 max torque 2 6083 profile acceleration 4 6084 profile deceleration 4 6086
24. zone in combination with personal injuries Please heed all measures marked with the danger sign to prevent injuries or damage Hazardous electrical voltage Danger due to electric shock Hot surfaces Danger of burns phe 1 3 2 Used mandatory signs Mandatory signs call on the user to do something to prevent a danger Layout blue circle and symbol General mandatory sign Heed instruction Caution Disconnect plug before opening 3 GE 1 3 3 Further symbols Information Contains important tips and information In case of non observance no damage is to be expected GFC AntriebsSysteme GmbH 7 CANopen interface User manual 1 4 Commissioning electrical connection NOTE For the Milan Drive Advanced servo drive the motor and the controls are firmly connected as a unit gt Proceed in compliance with the indications in the RS 232 Firmware user manual for assembly installation and commissioning 2 Short description For the Milan Drive Advanced servo drive the motor and the controls are firmly connected as a unit In the standard version the electrical connections are established via standardised signal M12 and power plug socket connectors M23 Motor The MES servo motors are three phase synchronous motors with special permanent magnets Permanent ambient temperatures up to 155 C insulation class F are permitted The motor temperature is monitored by a senso
25. 0 0 switch on 1 5 enable voltage 2 quick stop 3 k enable operation 4 1 5 0 reserved 6 1 7 0 reset fault 8 nat 0 9 10 reserved 11 12 DDR no DDR no from Index 2100 if Value 0 13 DDR no valid if 1 Value 15 Eh 14 1 15 0 remote request 3 4 7 2 Input values Mandatory Index Name Byte Mapping 6060 modes of operation 2 Yes Optional Index Name Byte Mapping 2100 Driving data record number Array No 27xx Driving data records Array No 24 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 7 3 Operation mode specific bits in the status word Bit Value Meaning Remarks 0 k ready to switch on 1 k switched on 2 k operation enabled 1 3 0 fault 4 k voltage enabled 5 quick stop 6 k switch on disabled 1 A 7 0 warning 1 8 0 halt active 1 9 0 remote 10 target reached 11 k internal limit active 1 12 0 Speed 13 14 reserved 15 3 4 7 4 Output values Index Name Byte Mapping 6064 position actual value 4 Yes 606C velocity actual value 4 Yes 6077 torque actual value 4 Yes GFC AntriebsSysteme GmbH 25 CANopen interface User manual 3 5 Communication Communication with the MDA is performed via CANopen communication profile DS 301 The max transmission speed is 1 Mbit s A stand
26. 00h Fault Synchronisation Slave or Fault Bus communication 7510h Connection CAN XC DSP 7520h Connection CAN XC I OBox 9000h Quickstop 4 2 4 1008h manufacturer device name CANopen specific description of the MDA The value to be read out is a string with the contents Milan Drive A 4 2 5 1009h manufacturer hardware name CANopen specific description of the MDA The value to be read out is a string with the contents 2039 652 01 4 2 6 100Ah manufacturer software version CANopen specific description of the MDA The value to be read out is a string The string includes the version of the firmware which is created as follows xx xx Pxx Dxx Exx with x 2 0 9 34 GFC AntriebsSysteme GmbH User manual CANopen interface 4 2 7 1011h store parameters CANopen specific functions of the MDA Use this function to store all parameter settings in the non volatile EEPROM memory The values changed via CANopen are discarded when switching off the MDA or in case of a power failure since they are only stored in the RAM If the changed parameters are to be retained even after the MDA has been switched off use this index to save the values before switching off the mains voltage From a physical point of view EEPROM memories possess a lower number of maximum possible write cycles than RAM memories Therefore parameter changes should only be stored into the EEPROM if this data is to be maintained even after switching off the MDA Conse
27. 01 60 23 7A 60 00 50 C3 00 00 58 60 7A 60 00 00 00 00 00 20 1F 81 18 37 12 20 1F 80 18 27 02 20 OF 81 18 27 07 Define the setpoint transition Start the drive Stop the drive D e OS OS oe oe MNZONZOZOZOZOEZ GFC AntriebsSysteme GmbH 59 CANopen interface User manual 7 5 PDO mapping data data data data data data data COB ID data Sub Deactivating the PDO CB Index index M S 60 2F 00 16 00 oo S M 58 60 00 16 00 oo Setting new Objects M S 60 23 00 16 P 10 00 Bo S M 18 60 00 16 00 Instead of the concerning node address has to be written Instead of the concerning subindex has to be written The objects habe to be mapped into the PDO by starting with subindex 0 of the PDO Instead of the concerning object has to Repeat this step according tot he number Activating the PDO be written of objects that shall be mapped 60 18 M S S M 00 16 00 u 00 2F 40 Instead of the number of objects mapped has to be written 60 GFC AntriebsSysteme GmbH User manual CANopen interface 8 Literature 8 1 MDA user manuals 1 Short instructions Order no Y004 135 2 User manual RS232 Firmware Order no Y003 804 3 Dimension sheet Order no Y003 805 2D and 3D CAD data of the MDA for common CAD systems can be ordered from GFC AntriebsSysteme 4 Technical data Order no Y003 806 5 Interface
28. 0h The current status is shown in index 6061h The following operation modes are currently supported Value hex Operation mode CANopen specific 00 None 01 Position control profile position Speed control profile velocity 04 Torque control profile torque 06 Reference operation homing Manufacturer specific 7 F9 Manual operation 8 F8 Driving data record operation oO P WI IO e W Operations are always performed depending on the driving data records Either a driving data record is generated on the basis of device specific indices this is the case in operation modes 1 to 3 whereas the index contents are mapped and used in driving data record 0 Or a driving data record from the device specific parameter numbers manufacturer profile is directly used in operation mode 8 The driving data record number can be indicated via the control word or the contents of index 2100 h current driving data record number Driving Program Number For a CANopen driving data record the controller settings are transmitted via one of the four speed position controller parameter indices 2600h to 2603 h whereas the values from the indices 60FBh position control 6065h slippage error window and 6067h position window are entered 3 4 4 Changing the operation mode The operation mode is determined by index 6060h The current status is shown in index 6061h Index 6060h can be mapped into the
29. 1010h ARRAY Store parameters No 1011h ARRAY Restore default parameters No 1012h Not used 1013h 1014h VAR COB ID emergency object 4 No 1015 VAR Inhibit time EMCY 2 No 1016h ARRAY Consumer heartbeat time No 1017h VAR Producer heartbeat time 2 No 1018h RECORD Identity object No 1019h Not used 11FFh 1200h Server SDO Parameter No 127Fh 1280h Client SDO Parameter No 13FFh 1400h Receive PDO communication parameters No 15FF 1600h Receive PDO mapping parameters No 17FFh 1800h Transmit PDO communication parameters No 19FFh 1803h Not used 19FFh 1A00h Transmit PDO mapping parameters No 1BFFh GFC AntriebsSysteme GmbH 31 CANopen interface 32 User manual Index Object Description Byte Mapping 2000h ARRAY Actual values No 2001h ARRAY Status Hardware No 2002h ARRAY Fault register No 2003h ARRAY Warning register No 2004h ARRAY Operating data No 2005h reserved 2008h 2009h VAR local warnings functional adaptation to Mi 2 Yes 200Ah VAR local errors functional adaption to Mi 2 Yes 200Bh Not used 200Fh 2010h Event buffer not accessible over CANopen No 20FFh 2100h VAR __ Current driving data record number 2 Yes 2101h ARRAY System parameters No 2102h ARRAY Drive data No 2103h ARRAY Name plate No 2104h ARRAY Hardware inform
30. 3 1 Date year 00 99 0 4 1 Date month 01 12 0 5 1 Date day 01 31 0 6 1 Time hour 00 23 0 7 1 Time minute 00 59 0 8 1 Time second 00 59 0 4 3 7 2100 h Current driving data record number The driving data record number which is processed by the drive at the time of the request is indicated in this index The user has read access only Subindex Byte Parameter Min Max Default Access 0 2 DDR no 0 99 RO GFC AntriebsSysteme GmbH 45 CANopen interface User manual 4 3 8 2101h System parameters For a detailed parameter description refer to the System window section in the RS232 Firmware user manual Sub Byte Parameter List Min Max Default Access index 1 1 System type O Linear Linear RW 1 Round shaft Modulo 2 1 Display unit Time 0 Second Minute RW 1 Minute 3 1 Display unit Position O Turn Increments RW 1 Degree 2 Minute 3 Second 4 Increments 5 m 6 dm 7 cm 8 mm 9 um 4 1 Display unit Temperature 0 C C RW 1 Fahrenheit 5 6 7 Conversion Motor unit O Motor turn Motor turns RW 1 Gear rotation 2 Increments 6 1 Conversion System unit O Turn Turn RW 1 m 2 dm 3 cm 4 mm 5 um 6 Degree 7 Minute 8 Second 7 2 Conversion Motor value 1 65000 1 RW 8 2 Conversion System value 1 65000 1 RW 9 1 Inversion of direction system 0 No No R
31. O Byte 1 2 3 4 5 6 7 8 Rx PDO1 1600h CW CW Rx PDO2 1601h MOO Rx PDO3 1602h VEL VEL VEL VEL Rx PDO4 1603h POS POS POS POS CW control word 6040h MOO operation mode modes of operation 6060h VEL nominal output speed target velocity 60FFh POS nominal position target position 607Ah To change the mapping delete the default settings first This is realised by overwriting the sub index 0 of the object concerned by the value 0 For more detailed information please refer to CiA DS 301 GFC AntriebsSysteme GmbH 27 CANopen interface User manual 3 5 3 1 Changing the PDO mapping To change the presetted mapping the PDO concerned has to be deactivated first The PDO can be deactivated by writing 0 into the subindex 0 of the PDO concerned Thereafter the new objects can be mapped into the PDO For further information refer to the CiA DS 301 For an example of changing the PDO mapping refer to the chapter examples Deactivating the PDO The presetted PDO mapping will be deactivated by writing the value 0 into the Subindex 0 1 Byte of the concerning PDO Setting new Objects Each PDO can contain several objects up to a total length of 8 bytes Each object is described by its index and data length when mapping a new object this information has to be written in the subindex concerned of the PDO Object data lengt
32. O 6 20 Customer designation 2 RO 7 20 Date of final test RO 8 20 Wiring diagram RO 9 20 Terminal plan RO 4 3 11 2104 h Hardware information For a detailed parameter description refer to the Name plate window section in the RS232 Firmware user manual Subindex Byte Parameter Access 1 20 FirmwareVersion XC RO 2 20 FirmwareVersion DSP RO 3 20 Logic variant RO 4 20 Interface variant RO 5 20 Bus module variant RO 6 20 Power supply unit variant RO 7 20 Power board variant RO 8 20 ParameterVersion XC RO 48 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 12 2105h Reference operation For a detailed parameter description refer to the Reference operation window section in the RS232 Firmware user manual The functions Timeout and Next DDR with DDR no are available from firmware version APP 02 01 and operating software version MDAwin 02 01 and higher Sub Byte Parameter List Min Max Default Unit Access index 1 1 Type O None None RW 1 Marker 2 Flank 3 Limit switch positive 4 Limit switch negative 5 Block positive 6 Block negative 2 1 Start O Power up Power RW 1 First start up 2 Manual 3 Input 3 1 Behaviour after reference O No operation None RW 1 Approach limit switch positive 2 Approach limit switch negative 3 Approac
33. W 1 Yes 10 1 Inversion of direction gear O No No RW 1 Yes 11 2 Gear factor input 1 1000 1 RW 12 2 Gear factor output 1 1000 1 RW 13 Reserved 0 14 1 Software limit switch O Not activated Not RW 1 Activated activated 15 4 Software limit switch negative 27 2741 0 RW 16 4 Software limit switch positive E 427 1 0 RW 46 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 9 2102h Drive data For a detailed parameter description refer to the Hardware window section in the RS232 Firmware user manual The functions quick stop ramp and quick stop value are available form firmware version APP 02 01 and operating software MDAwin 02 01 and higher NOTE Modifications of the motor data the motor offset and the UZK correction factor may cause major faults or even a complete failure of the drive gt The values may only be changed by the service department of GFC AntriebsSysteme Sub Byte Parameter List Min Max Default Unit Access index 1 1 Motor type O Not defined Not defined RO 1 MES35 2 MES63 3 MES56 2 1 Number of pole pairs O Not defined 0 6 0 RO 3 6 3 1 Feedback source O Resolver Resolver RO 1 Hyperface 4 1 Brake O Not available Not available RO 1 available 5 1 Fan O Not available Not available RW 1 Continuous 2 Temperature controlled 6 1 Reserved 7 2 Current
34. ardised CANopen cable and an active termination on both sides of the bus cable are imperatively required A CANopen cycle time of 3 ms is implemented in the system which results in a continuous load of a telegram every 3 ms Short peaks 10 telegrams per 3 ms are compensated by a buffer Data is transmitted via telegrams data frames with a maximum of 8 byte data maximum of 4 byte process date and via request telegrams remote frame Larger data quantities are transferred using several telegrams Such a telegram consists of the parts SOM COB ID RTR CTRL Data CRC ACK EOM Start of message COB identifier 11 bit Remote Transmission Request Control Field Data field with 0 to 8 byte Checksum Acknowledge End of message 3 5 1 Structure of the COB ID The module ID bits O to 6 is used to indicate the node number which is shown in the Fieldbus window in the MDAwin operating software The function code bit 7 to 10 is used to indicate the communication object 10 9 8 7 6 5 4 3 2 1 O Function Code Module ID Broadcast objects Object Function Code COB ID NMT 0000 Oh SYNC 0001 80h TIME 0010 100h Peer to Peer objects Object Function Code COB ID communication mapping EMERGENCY 0001 81h FFh TX PDO 1 0011 181h 1FFh 1800h 1A00h RX PDO 1 0100 201h 27Fh
35. ation No 2105h ARRAY Reference operation No 2106h ARRAY Bus interface No 2107h ARRAY Control loop No 2108h ARRAY Manual operation 1 No 2109h ARRAY Manual operation 2 210Ah Not used 21FFh 2200h ARRAY Digital inputs No 2203h 2204h Not used 22FFh 2300h ARRAY Digital outputs No 2303h 2304h Not used 23FFh 2400h ARRAY Analogue input No 2401h Not used 24FFh 2500h analogue output not implemented 2501h Not used 25FFh 2600h ARRAY Speed position controller controller records 1 to 4 No 2603h 2604h Not used 26FFh 2700h ARRAY Driving data records 1 to 99 No 2763h 2764h Not used 27FFh 2900h Soft PLC parameter not implemented 29FFh 3000h Not used 5FFFh 6000h Not used 6006h 6007h VAR Abort connection option code 2 No 6008h Not used 603Fh GFC AntriebsSysteme GmbH User manual CANopen interface Index Object Description Byte Mapping 6040h VAR control word 2 Yes 6041h VAR _ status word 2 Yes 6042h Not used 605Fh 6060h VAR modes_of_operation 1 Yes 6061h VAR modes of operation display 1 Yes 6062h Nicht verwendet 6063 VAR position actual value functional adaption to Mi 4 Yes 6064h VAR position actual value 4 Yes 6065h VAR following error window 4 No 6066h Nicht ver
36. bus window uunuunasnssannnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnannnnnnnennnnnn 55 5 2 Fieldbus monitoring window uunsenneennnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnennnnnnennnnnnnernnnnnnernnsnnnnrnnnnne 56 6 ELECTRICAL CONNECTION 57 6 1 1 PUG WNG Em 57 6 1 2 ee 57 7 EXAMPLES 58 7 1 SDO telegram exchange 58 7 2 PDO telegram exchange e rccteirereix e ko reino aaa anna 58 7 3 State machine for speed control unesussnennnnannnnnannnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnn 59 7 4 State machine for position control uususenssrennnnnannnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnsnnnnnnnnnnnnnnnnnnnn 59 7 5 I Pie OE NG e E ETC EUR cine eee mn op PE 60 8 LITERATURE 61 8 1 MDA user manuals 61 8 2 Further literature pise t ee ae sein 61 GFC AntriebsSysteme GmbH 5 CANopen interface User Manual 1 Safety instructions 1 1 Designated use Milan Drive Advanced servo drives also called MDA in the following are designed as equipment for the use in industrial environments As standard the servo drives are designed for installation in industrial robots pick and place units and many other equipment and devices For other applications please consult us The manufacturer is not liable for any damage resulting from use in other than the designated applications Such risk lies entirely w
37. by the respective node address of the slave state machine COB ID CB Index Subindex data data request remote control 20 00 00 00 00 00 80 18 00 00 00 00 40 02 20 00 00 00 00 06 80 18 00 00 00 00 21 02 20 00 00 00 00 07 80 18 00 00 00 00 23 02 20 00 00 00 00 OF 80 18 00 00 00 00 27 02 start switch on enable operation M S S M M S S M M S S M M S S M 58 GFC AntriebsSysteme GmbH User manual CANopen interface 7 3 State machine for speed control COB ID data data data data data data data data Start node M S 0 01 ki S M 18 40 00 request remote control M S 20 00 80 S M 18 40 02 shutdown M S 20 06 80 S M 18 21 02 switch on M S 20 07 80 S M 18 33 02 enable operation M S 20 OF 80 S M 18 37 02 Activate halt M S 20 OF 81 S M 18 37 07 Define the mode of operation M S 30 03 S M 28 03 Define the setpoint M S 60 23 FF 60 00 B8 OB 00 00 S M 58 60 FF 60 00 00 00 00 00 Start the drive M S 20 OF 80 S M 18 37 02 Stop the drive M S 20 OF 81 S M 18 37 07 7 4 State machine for position control COB ID data data data data data data data data 0 01 li 18 40 00 20 00 80 18 40 02 ZAOZAOZOoOZOZON Som SZ OS OS DS OS Start node request remote control shutdown 20 06 80 18 21 02 switch on 20 07 80 18 33 02 20 OF 80 18 37 02 20 OF 81 18 37 07 enable operation halt aktivieren Define the mode of operation 30 01 28
38. cables at the unassembled end 6 1 1 Plug wiring For a detailed plug wiring description refer to the Electrical connection section in the RS232 Firmware user manual 6 1 2 Cable sets For a detailed cable set description refer to the Electrical connection section in the RS232 Firmware user manual GFC AntriebsSysteme GmbH 57 CANopen interface User manual 7 Examples Below there are two examples for starting up the state machine 7 1 SDO telegram exchange In the task telegrams M S the in the COB ID or the data field has to be replaced by the node address of the slave the in the data field has to be replaced by the respective operation mode network management COB ID CB Index Subindex data data start node M S 0 01 ki S M 18 40 00 state machine COB ID CB Index Subindex data data request remote control M S 60 2B 40 60 00 00 80 S M 58 60 40 60 00 00 00 S M 18 00 00 00 00 40 02 start M S 60 2B 40 60 00 06 80 S M 58 60 40 60 00 00 00 S M 18 00 00 00 00 21 02 switch on M S 60 2B 40 60 00 07 80 S M 58 60 40 60 00 00 00 S M 18 00 00 00 00 23 02 enable operation M S 60 2B 40 60 00 OF 80 S M 58 60 40 60 00 00 00 S M 18 00 00 00 00 27 0 Operation mode COB ID CB Index Subindex data data modes of operation M S 60 2F 60 60 00 00 S M 58 60 60 60 00 00 00 S M 282 00 00 00 00 ooo 7 2 PDO telegram exchange The in the COB ID has to be replaced
39. described whose values have special meanings 4 2 1 1000h device type CANopen specific description of the MDA The value to be read out is 0002 0192h which means servo drive according to CiA DSP 402 4 2 2 1001h error register When an error state occurs the error register object is updated If the bit 3 fault is set in the status word the fault number can be queried in this object 4 2 3 1003h predefined error field In subindex 1 you can find the number of subindices in which faults are stored The other subindices include the fault number as listed under index 1001h Error bits available within the application are translated into CANopen Error codes in accordance with the table below Value Meaning 0000h Without fault 2300h Fault Motor 3210h DC link circuit above 400V 3220h DC link circuit below 180V 3320h Brake supply voltage not in range from 20V to 28V 4210h Electronics temperature above 78 C or Temperature Power electronics 4310h Motor temperature above 140 C 5520h Fault in the Flash CRC 5530h Fault in the EEPROM 6080h Fault during reference operation 6081h Fault in driving data record or No reference bit or Fault Input range of the analogue input or Absolute encoder range exceeded 6082h Run command started during switch on limit 6083h Driving data record end Timeout 6320h Fault in the motor parameters or fault in the system parameters 7112h Excess current Ballast resistor 7121h Drive blocked 75
40. e enne 39 4 3 1 4 Subindex A 17 Into E CN 39 4 3 1 5 Subindex 18 Mal Le Bel EE 39 43 2 2001H Status Hardware EE 40 4 3 2 1 Subindex 8 Status digital inputs eene trt en an ea ua 40 4 3 2 2 Subindex 9 Status digital outputs ANEREN 40 4 3 3 2002Rh FaultTOQISTON ssiru ntc cu arena re anter bak m ek T t k re end ke e Edu Cea dap Le ke APA mn KE 41 4 3 3 1 Subindex 1 Individual fault register 1 voltages sssssssseseseeeeeeeeenennen nenne 41 4 3 3 2 Subindex 2 Individual fault register 2 temperatures 41 4 3 3 3 Subindex 3 Individual fault register 3 motor nennen 41 4 3 3 4 Subindex 4 Individual fault register 4 Local AN 41 4 3 3 5 Subindex 5 Individual fault register 5 fieldbus esssssssseeeeeeneennenennns 42 4 3 3 6 Subindex 6 Individual fault register 6 driving data manager 42 4 3 8 7 Subindex 7 Individual fault register 7 parameters 42 4 3 3 8 Subindex 8 Individual fault register 8 logic hardware ccccceeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeseaeeseneeeseaeessaees 42 4 34 2003h Warning register KEREN 43 4 3 4 1 Subindex 1 Individual warning register 1 voltages 43 4 3 4 2 Subindex 2 Individual warning register 2 temperatures 43 4 3 4 3 Subindex 3 Individual warning register 3 motort nene 43 4 3 4 4 Subindex 4 Individual warning register 4 Local AN 43 4 3 4 5 Subindex 5 Individual warning register 5 ieldbus 43 4 3 4 6 Subindex 6 Individual warning register
41. e operation 2 VAR speed 1 4 Not used 4 2 17 60FBh position control parameter set The controller parameters of the CANopen specific operation modes are set using the position control parameter set object The MDA internally uses controller parameter record 4 which can also be defined by 2603h Subindex Object Name Bytes Meaning 1 VAR velocity kp 2 Proportional factor output speed 2 VAR velocity tn 2 Reset time output speed 3 VAR position kp 2 Proportional factor positioning 36 GFC AntriebsSysteme GmbH User manual CANopen interface 4 2 18 60FDh digital inputs The states of different input functions can be read out as 32 bit double word via the digital inputs object The hardware input used for the function is not relevant but only the set function as such Bit Meaning 00 Hardware limit switch negative 01 Hardware limit switch positive 02 Reference switch 03 15 reserved 16 Synchronisation signal 17 Intermediate stop 18 Single step mode 19 Reference start 20 Stop 21 Quick stop 22 31 reserved GFC AntriebsSysteme GmbH 37 CANopen interface User manual 4 3 Device specific parameter numbers Manufacturer Profile In the following the individual device specific parameter numbers are listed in detail In the access column the abbreviations RO for read only and RW for read write are used 4 3 1 2000h Actual values For a detailed param
42. eter description refer to the Actual values window and Drive information window sections in the RS232 Firmware user manual These parameters are described by the system and may not be changed by the user The user has read access only Subindex Byte Parameters Min Max Unit Access 1 2 Torque Force 10000 10000 mNm RO 2 2 Output speed speed 8000 8000 rpm RO 3 4 Position a 4271 Inc RO 4 2 Error 0 65k Inc RO 5 2 DC link circuit 10 V RO 6 2 24 VDC internal 10 V RO 7 2 24 VDC external 10 V RO 8 2 Brake voltage 10 V RO 9 2 Temperature Electronics 10 C RO 10 2 __ Temperature Motor 10 C RO 11 2 Temperature Motor 10 C RO controls 12 2 Temperature Ballast 10 C RO 13 2 Active DDR 0 99 RO 14 2 Info status 1 RO 15 2 Infocollective fault RO 16 2 Info collective warning RO 17 2 Info status 2 RO 18 2 Info drive RO 19 2 Reserved 20 2 Reserved 4 3 1 4 Subindex 14 Info status 1 Bit Decimal Description O o 1 0 1 JOolectivewanng 1 1 1 1 3 EN Setpoint reached type of setpoint depends on the driving data record type Fieldbus active 6 64 Controleror y O 8 256 _ Single step mode active 1 11 L8 BE 1024 Reference set Reference operation active iT 8 2048 reserved 38 GFC AntriebsSysteme GmbH User manual CANo
43. h Control loop For a detailed parameter description refer to the Control loop window section in the RS232 Firmware user manual These parameters are adapted to the mounted motor in the factory and cannot be changed by the user The user has read access only NOTE Modifications of the controller settings may cause major faults or even a complete failure of the drive gt The values may only be changed by the service department of GFC AntriebsSysteme Sub Byte Parameter Min Max Default Unit Access index 1 2 Field P amplification KP 1 65535 5000 1000th RO 2 2 Field P scaling 1000 1000 1 RO 3 2 Field l reset time TN us 0 65535 5000 10ys RO 4 2 Field l scaling 1000 1000 1 RO 5 2 Torque P amplification KP 1 65535 5000 1000th RO 6 2 Torque P scaling 1000 1000 1 RO 7 2 Torque l reset time TN us 0 65535 5000 10ys RO 8 2 Torque l scaling 1000 1000 1 RO 50 GFC AntriebsSysteme GmbH User manual CANopen interface 4 3 15 2108h 2109h Manual operation 1 and 2 The push to run driving data records 101 and 102 manual operation 1 and 2 enable changing the parameters for manual operation and are described in detail in the Manual operation window section in the User Manual RS232 Firmware The CANopen profile stipulates that the manual operation has only limited options Therefore not all para
44. h Function code 4 Bytes 20 2 Bytes 10 1 Bytes 08 Depending on the data length of the objects the number of objects in the PDO can vary Activating the mapping The new mapping will be activate by writing the number of Subindices used into the Subindex 0 of the concerning PDO Proceed as described in Index 1010h Store Parameters to save the changed PDO mapping permanently 28 GFC AntriebsSysteme GmbH User manual 3 5 4 Service data object SDO A confirmed service is used to access the object directory of the MDA via SDO data exchange An object consists of an index and a subindex The eight data bytes in a CAN telegram are structured as follows CANopen interface Byte 1 2 3 4 5 6 7 8 Meaning command byte index index subindex data data data data The task IDs are transmitted via the command bytes For the present confirmed service the MDA responds with a response ID In case of a negative response ID the process data bytes contain a fault number in case of a positive acknowledgment the process data bytes are empty Task ID command byte master slave 7 6 Bit 5 4 3 2 1 0 Meaning CCS CCS CCS n n e S Table Task IDs master slave hex bin No of data bytes Description 22 0010 0010 not indicated 23h 0010
45. h position 4 1 Reference traverse O positive positive RW 1 negative 5 2 Absolute resolver position 1 4095 1 RW 6 2 Output speed speed 8000 8000 100 rpm RW 7 2 Torque Force 0 10000 500 mNm RW 8 4 Reference offset A 4271 0 Incr RW 9 4 Position after ref operation DU 271 O Incr RW 10 4 _ Manual reference position 271 427 1 0 Incr RW 11 2 Acceleration 100 65535 1000 rpm s RW 12 2 Deceleration 100 65535 1000 rpm s RW 13 1 Acceleration ramp O Linear Linear RW 1 Sinesquare 14 1 Deceleration ramp O Linear Linear RW 1 Sinesquare 15 1 Brake O No Nein RW 1 Yes 16 1 Reserved 17 2 Time out value 0 65535 0 S RW 18 2 DDR no 0 99 0 RW 19 2 Reserved 20 2 Reserved GFC AntriebsSysteme GmbH 49 CANopen interface 4 3 13 2106 h Bus interface User manual For a detailed description of the parameters refer to the MDAwin operating software section in this manual and to the Fieldbus window section in the RS232 Firmware user manual Sub Byte Parameter List Min Max Default Access index 1 1 Type O None None RO 1 Profibus 2 CanOpen 3 DeviceNet 2 1 Bus termination O No No 1 Yes 3 2 Slave address 0 255 2 RW 4 2 Baud rate 0 5 2 Operation mode 0 6 1 Diagnosis 0 Off Off 1 On 7 1 Disable fieldbus 0 No No access 1 Yes 8 1 Rights 0 Read only 0 1 Change DDR 2 Service no bus changes 3 Everything can be changed 9 48 Reserved 4 3 14 2107
46. ing an MDA with CANopen interface the operation modes are set via parameters For more detailed information refer to section 3 CANopen of the present manual Diagnosis This function has not yet been implemented Disable fieldbus access This function has not yet been implemented Rights The CANopen interface of the MDA is definitely set to access level 4 Planner refer to online level 4 for MDAwin Baud rate The setting is based on the baud rate used in the network into which the MDA is to be integrated GFC AntriebsSysteme GmbH 55 CANopen interface 5 2 Fieldbus monitoring window This function is available from firmware version APP 02 04 and operating software version MDAwin 02 04 and higher Sif MDA Windows Interface Module DAC Application Datei Modus Extras MDA Optionen Ansicht Fenster Dc B5s MSs msse amp X EDS Stoppen FDS Nr fi Lesen Schreiben and Schreiben Derec E Feldbus Monitor N chster oxi E Status Istwerte Steuerwort m Zustandswort Antrieb Info C Ein C Einschaltbereit Antrieb St rung C Spannung einschalten C Betriebsbereit Antrieb Warnung Betriebsdaten Schnellstop C Betrieb freigegeben Feldbus Monitor C Betrieb freigeben C St rung Ereignisspeicher c c A Handbetiieb Hochlaufgeber sperren Fahrauftrag verwerfen Spannung eingeschaltet E FDS Programmierung Hochlaufgeber stoppen Zwischenhalt C Schnellstop Edi
47. ith the user Observance of these operation instructions is considered as part of the servo drive s designated use Please read these instructions thoroughly as they are intended for your personal safety and also help enhancing the lifetime of your servo drive 1 2 General notes e During operation parts move or rotate within this unit Important dangers can arise from rotating shaft couplings with keyway and inserted parallel key Remove inserted parallel keys or protect them against loosening by taking suitable measures e During operation surfaces of the drive unit may heat up according to its enclosure protection The surface temperature can rise to above 100 C Before touching the unit measure the temperature for safety reasons if required wait until it has cooled down to 40 C 1 3 Warnings and notes Failure to observe the warnings and notes may lead to serious injuries or damage Qualified personnel must be thoroughly familiar with all warnings and notes in these operation instructions In order to highlight safety relevant procedures in these operation instructions the following safety instructions apply DANGER indicates an imminently hazardous situation which if the warnings and notes are not observed could result in death or serious damage to health or considerable material damage This note is only used in case of danger to life and a high level of hazard Danger sign on the type of danger and or pictograph
48. m Previous setpoint 1000 rpm Reaction The previous setpoint 1 000 rpm is held without error message the new setpoint will not be accepted because it exceeds the limits GFC AntriebsSysteme GmbH CANopen interface User manual 3 4 4 Torque control operation mode Profile torque mode The drive executes a torque controlled driving data record DDR The indices are represented via driving data record 0 and the speed position controller controller record 4 index 2603 h 3 4 4 4 Operation mode specific bits in the control word Bit Value Meaning Remarks 1 0 0 switch on 1 t enable voltage 2 quick stop 3 enable operation 4 1 5 0 reserved 6 7 reset fault 8 hrat 0 9 10 11 12 reserved 13 14 15 1 remote request 3 4 4 2 Input values Mandatory Index Name Byte Mapping 6060 modes of operation 2 Yes 6071 target torque 2 Yes Optional Index Name Byte Mapping 607F max profile velocity 2 6083 profile acceleration 4 6084 profile deceleration 4 6086 motion profile type 2 60FB position control parameter set Array 18 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 4 3 Operation mode specific bits in the status word
49. meters which can be changed via the Manual operation window in the MDAwin software are available via CANopen When starting up the state machine a default setting is made for the manual operation driving data records The Stop with maintain position feature is preset and cannot be changed at a later date Sub Byte Parameter List Min Max Default Unit Access index 1 1 Controller type O None None RW 1 Torque 2 Output speed 3 Absolute position 4 Relative position 5 Modulo position 6 Contouring error 2 4 Nominal value at 21 JO type RW dep 3 2 Max torque 0 10000 500 mNm RW 4 2 Max output speed 0 8000 4000 rpm RW 5 2 Nominal speed for position 0 8000 3000 rpm RW control 6 2 Acceleration value 100 65535_ 1000 rpm s RW 7 2 Deceleration value 100 65535 1000 rpm s RW 8 1 Acceleration ramp O Linear 0 1 Linear RW 1 Sinesquare 9 1 Deceleration ramp O Linear 0 1 Linear RW 1 Sinesquare GFC AntriebsSysteme GmbH 51 CANopen interface User manual 4 3 16 2200h to 2203h Digital inputs For a detailed parameter description refer to the I O drive window section in the RS232 Firmware user manual Sub Byte Parameter List Min Max Default Access index 1 1 Module address O Not assigned Not RW 1 Interface assigned 2 Reserved 2 1 Input number 0 255 Not RW assigned 3 1 Feature Bit00 Active High Low 1 RW Bit01 In combination
50. motion profile type 2 60FB position control parameter set Array 16 GFC AntriebsSysteme GmbH User manual CANopen interface 3 4 3 3 Operation mode specific bits in the status word Bit Value Meaning Remarks 0 k ready to switch on 1 k switched on 2 k operation enabled 1 3 0 fault 4 k voltage enabled 5 quick stop 6 k switch on disabled 1 A 7 0 warning 1 8 0 halt active 1 9 0 remote 10 target reached 11 k internal limit active 1 12 0 Speed 13 k Max slippage error 14 15 reserved 3 4 3 4 Output values Index Name Byte Mapping 6064 position actual value 4 Yes 606C velocity actual value 4 Yes 6077 torque actual value 4 Yes NOTE During operation the setpoints should only be modified within the maximum values If a new setpoint exceeds a maximum value the new setpoint is rejected without fault signal and the previous setpoint is used In turn during start up the setpoint is compared to the maximum values and if applicable the maximum value is specified as setpoint Example Setpoint in the moment of starting 4000 rpm Maximum velocity 3000 rpm Reaction The setpoint is set to the maximum velocity 3000 rpm New setpoint during operation 4000 rpm Maximum velocity 3000 rp
51. n the MDAwin operating software For information on the individual parameters please refer to the DDR editor window section in the User Manual RS232 Firmware Sub Byte Parameter List Min Max Default Unit Access index 1 1 Controller type O None None RW 1 Torque 2 Output speed 3 Absolute position 4 Relative position 5 Modulo position 6 Contouring error 2 1 Feature Bit00 Synchronisation Not RW Bit01 Nominal value active externally allowed No Bit02 Stop with position dwell time No Bit03 Stop with brake No Bit04 Intermediate stop No without current No Bit05 Speed limitation 0 Bit06 07 Reserved 3 4 Nominal value 271 ash JO type RW dep 4 4 Target time o h2 0 ms RW 5 2 Torque 0 10000 1500 mNm RW 6 2 Maximum speed 0 8000 4000 rpm RW 7 2 Nominal speed for 0 8000 3000 rpm RW position control 8 2 Acceleration value 100 65535 1000 rpm s RW 9 2 Deceleration value 100 65535 1000 rpm s RW 10 4 Holding time ms 0 100000 0 ms RW 0 11 1 Acceleration ramp O Linear 0 1 Linear RW 1 Sinesquare 12 1 Deceleration ramp O Linear 0 1 Linear RW 1 Sinesquare 13 1 Driving data record O None 0 99 None RW linking 1 Overhung 2 Maintain position 3 Brake 4 Without power 14 1 Next DDR 0 99 0 RW 15 1 Controller parameter 1 4 1 RW record 16 1 Program identification 0 99 0 RW 4 3 21 2900h to 29FFh Soft PLC This function is not yet available
52. nal RW Bit01 Fault hardware range yes no BitO2 DO7 Reserved 4 1 Function O None None RW 1 Output speed setpoint 2 Torque setpoint 3 Speed limit 4 Torque limit 5 2 Function value min 32k 32k 0 RW 6 2 Function value max 32k 32k 0 RW 7 2 Interface value min 32k 32k 0 RW 8 2 Interface value max 32k 32k 0 RW 9 2 Input type O None None RW 12 10 10V 2 Reserved 4 3 19 2600h to 2603h Speed position controller controller record 1 to 4 For a detailed parameter description refer to the Speed position controller window section in the RS232 Firmware user manual Sub Byte Parameter Min Max Default Unit Access index 1 2 Output speed P amplification KP 1 65535 5000 1000th RW 2 2 Output speed P scaling 1000 1000 1 RO 3 2 Output speed reset time TN us 0 65535 5000 10ys RW 4 2 Output speed l scaling 1000 1000 1 RO 5 2 Position P amplification KP 1 65535 5000 1000th RW 6 2 Pilot control 0 65535 1 RW 7 2 Positioning window 0 30000 10 RW 8 2 Contouring error window 0 30000 10000 RW 9 2 Driving data record end window 0 30000 5 RO GFC AntriebsSysteme GmbH 53 CANopen interface User manual 4 3 20 2700h to 2763h Driving data records Use parameters 2700h to 2763h to program the driving data records in the same way as via the DDR editor window i
53. ndow in the MDAwin operating software 3 6 2 Functional blocks Functional blocks for TwinCAT are available for the bus communication of the MDA with a Beckhoff BX5100 When using these blocks the bus communication does not have to be programmed as the functional blocks may be integrated in existing applications The CANopen PLC functional blocks user manual contains the description of the individual functional blocks 30 GFC AntriebsSysteme GmbH User manual CANopen interface 4 Parameters 4 1 List of the parameter numbers The parameter range of the CANopen interface is divided into three subranges These are as follows 1000h to 1FFFh profile area 2000h to 5FFFh manufacturer specific area 6000h to 8FFFh CANopen device area The fields shaded in grey are reserved for use at a later date and may currently not be called up via CANopen Index Object Description Bytes Mapping 0000h Reserved for CANopen OFFFh 1000h VAR Device type 4 No 1001h VAR Error register 1 Yes 1002h Not used No 1003h ARRAY Predefined error field No 1004h Not used 1005h VAR COB ID Sync 4 No 1006h Not used 1007h 1008h STRING Manufacturer device name No 1009h STRING Manufacturer hardware name No 100Ah STRING Manufacturer software version No 100Bh Not used 100Ch VAR Guard time 2 No 100Dh VAR Life time factor 1 No 100Eh Not used 100Fh
54. p 6 k switch on disabled 1 T 0 warning reserved L remote 0 10 k Homing active 11 k Internal limit active 12 k Homing attained 13 Homing error 14 15 reserved 3 4 5 5 Output values Index Name Byte Mapping 6064 _ position actual value 4 Yes 606C velocity actual value 4 Yes 6077 torque actual value 4 Yes GFC AntriebsSysteme GmbH 21 CANopen interface User manual 3 4 6 Manual operation mode The drive moves in the manual operation to a predefined driving data record Two separate driving data records are available for manual operation index 2108 2109H manual operation driving data record which may be programmed irrespective of the driving program 3 4 6 1 Operation mode specific bits in the control word Bit Value Meaning Remarks 1 0 0 switch on 1 enable voltage 2 quick stop 3 enable operation 4 Manual operation Manual operation driving data record 1 selection Manual operation driving data record 2 5 1 reserved 6 0 7 L reset fault 0 8 Halt 9 10 11 12 reserved 13 14 15 k remote request 3 4 6 2 Input values Mandatory Index Name Byte Mapping 6060 modes of operation 2 Yes Optional Index Name Byte Mapping 2108 Manual operation driving data record 1 Array No 2109 Manual operation driving data record 2 Array No
55. pen interface 4 3 1 2 Subindex 15 Info collective faults Bit Decimal COmment o 1 Collective fault Voltage monitoring Uzk Collective fault Temperature monitoring 3 8 Colective fault LocalCAN monitoring 6 64 JjOolecivefautParameters 4 3 1 3 Subindex 16 Info collective warnings Bit Decimal Meaning tC o 1 Colective warning Voltage monitoring O Z 3 8 Collective warning LocalCAN monitoring Z 1 Collective warning Driving data record processing 6 64 Colective warning Parameters 4 3 1 4 Subindex 17 Info status 2 Bit Decimal Description 000 00 o 1 SIopCOMMandispresent O 3 8 Indication of the synchronisation status for Technological function Electric shaft 4 3 1 5 Subindex 18 Info drive Bit Decimal Description O o 1 Limit switch in direction of increasing increments Limit switch in direction of decreasing increments 2 4 PWMoffon Control status of the brake Control status of the fan GFC AntriebsSysteme GmbH 39 CANopen interface User manual 4 3 2 2001h Status Hardware For a detailed parameter description refer to the Hardware window section in the RS232 Firmware user manual Subindex
56. quently it is recommended to only save data after successful parameterization or prior to disconnecting the voltage Subindex Object Name Bytes Note 1 VAR Save all parameters 4 2 VAR Save Communication parameters 4 3 VAR Save application parameters 4 4 VAR Save manufacturer defined parameters 4 To activate the respective function write the word SAVE in ASCII symbols into the register MSB LSB e V a S 65h 76h 61h 73h 4 2 8 1011h restore default parameters CANopen specific functions of the MDA Subindex Object Name Bytes Note 1 VAR Restore Communication Device Data 4 2 VAR Restore Communication Data 4 3 VAR Restore Device Data 4 4 VAR Restore Manufacturer Data 4 Not implemented To activate the respective function write the word LOAD in ASCII symbols into the register MSB LSB d a o 65h 61h 6Fh 6Ch 4 2 9 1018h identity object CANopen specific description of the MDA Subindex Object Name Bytes Contents 1 VAR Vendor ID 4 00 00 00 04 2 VAR Product Code 4 12 34 56 78 3 VAR Revision no 4 00 01 00 01 4 VAR Serial no 4 00 00 00 01 4 2 10 1600h to 1603h Receive PDO mapping parameter The PDO assignment can be read via sub index 0 Prior to allow new mapping the sub index 0 must be deleted first overwritten by 9h Hereafter
57. r integrated in the motor winding As an option the motor is also available with integral holding brake Electronics The DAC servo controls combine all components necessary for independent electronic controls in one housing These are e aself commutated intermediate circuit including a mains filter for direct connection to the mains e 4quadrant operation integral brake resistor e integral voltage supply for electronics e sequence control and motor control e fieldbus interfaces Profibus DP CANopen option e digital galvanically isolated inputs and outputs e analogue input option e RS232 interface for operation and programming Therefore the Milan Drive Advanced may be operated independently for various drive solutions or may also be integrated in automation systems 8 GFC AntriebsSysteme GmbH User manual CANopen interface 3 CANopen 3 1 Basic information on the CANopen interface of the MDA The Milan Drive Advanced CANopen interface is based on the CANopen communication profile DS 301 and the CANopen Device Profile for Drives and Motion Control CiA Draft Standard Proposal 402 The max transmission speed is 1 Mbit s The MDA interface can be set to the following baud rates 10 20 50 100 125 250 500kBaud 1MBaud DSP 402 profile The DSP 402 profile is standard for all manufacturers building drives with CANopen interface The profile determines how drives are programmed and how the nominal and actual val
58. r to the CANopen Draft Standard Proposal DSP 402 or to the examples in section 7 Examples GFC AntriebsSysteme GmbH 9 CANopen interface User manual 3 3 2 Control and parameter change rights remote For CANopen a priority remote is administered This priority can be assigned to various users To operate and program the MDA via the bus master the bus master must have priority rights Thus priority is automatically taken over from the bus master by correct state machine start up of the drive via the control word If the priority is already with another user at the start up of state machine by the bus master the MDA remains in state not ready for operation The other operator generally MDAwin must first hand over priority before it can be called again via CANopen To enable access to an MDA via the MDAwin operating software the respective priority must be available If applicable the priority must be abandoned by the bus master first If the operating software cannot obtain a priority it will signal each missing priority by opening an information window Message dialogue 1 message The leading priority was not achieved Please close and open the interface if you want to retry 10 GFC AntriebsSysteme GmbH User manual 3 3 3 6040h control word CANopen interface For CANopen the individual bits are assigned to different functions depending on the respective type of duty The generall
59. rd ccccccceesccceeesneeeeseneeeeesenseeeeseaeeeesesaeeeescseeeessseeeeeeaas 18 If PUT VAISS E O 18 Operation mode specific bits in the status word 0 ccccccccssccceessneeceseneeecessnseeeeseaeeeesesaeeeeseseeeessseeeeeeaas 19 OUTPUT VAlU OS a a 19 Reference operation mode Homing Mode eene nnne nnns 20 Reference operation types u2s0uumnnnnannnnnnnnnnnnnnnnnnnnnnnnannennnnannennnnannensnnnnnennnnnnnennnnnnennnnannennnnnnnennenannen 20 Operation mode specific bits in the control word ssssssssssssseeeeeeeeeneeeennnn nennen 20 Inp t VA WO P 21 Operation mode specific bits in the status word sssssssssssssseeeeeeeeneeennen nnne 21 OUTPUT VALU S e are 21 Manual Operation ue ET 22 Operation mode specific bits in the control word ssessssssssssseeeeeeneeeneen nnne nnns 22 ha PWE Tc tty 22 Operation mode specific bits in the status word ccccccccsseccesesneeeeesneeeeecsnseeeesenaeeeescsaeeeeeeseeeesssaeeeessaas 23 lte ITT 23 Driving data record operation mode 24 Operation mode specific bits in the control word sssssssssssssseeeeeennene nennen nnns 24 Duet m 24 Operation mode specific bits in the status word ssss
60. ssssssssseee eene nennen 25 Siem 25 GFC AntriebsSysteme GmbH 3 CANopen interface User manual 3 5 Communication Mec LEE 26 3 5 1 ejes eui qo Rig d010 ap ea 26 3 5 2 Network management object NIMT sssssesessseeeeeeneneeeenneeeennn nennen nennen Ra ERA R A nns 27 9 5 9 P ocess data object PDO raue anne beine 27 3 5 34 Changing ihe PDO MAPPINMO tike tisi vo kot an k a not kn Swa late alu 28 9 5 4 Service data Object SDO TEE 29 3 6 Programming the master sub assembly eeeeseeeeeeee eese eene nnn nena nnn ennnen nna 30 3 6 1 Configuration of the controls 20u4s40nsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 30 3 6 2 Fu nctional bl ck8 u 30 4 PARAMETERS 31 4 1 List of the parameter numbers eese eese enne nennen nnne rins nnn n ansehen ansehen snae ennnen nna 31 4 2 Profile parameter numbers Device Profile uuu200224000000000nn00nannnn nun nnnnnnnnnnnnnnnnnnnnnnnnannnnennn 34 4 2 1 TOOON device ie 34 4 2 2 DOE ege ET c 34 4 2 3 1003h predefined error field EE 34 4 2 4 1008h manufacturer device name ne een 34 4 2 5 1009h manufacturer hardware name u244unnnnnnnnnennnnnnnnnnnnonnennnnonnennnnnnnensnnnnnennnnsnnensnnnnennnnsnnennennnn 34 4 2 6 100Ah manufacturer software version
61. ters RO 8 2 Warnings Logic hardware RO 9 16 2 Warning registers O9t0 16 4 3 4 1 Subindex 1 Individual warning register 1 voltages Bit Decimal Description O O 0 1 o 1 Voltage monitoring DC circuit link UZK Voltage monitoring Brake 4 3 4 2 Subindex 2 Individual warning register 2 temperatures Decimal Description 1 1 1 10 O 2 3 8 Temperature monitringBalastresistor reserved AN reserved 4 3 4 3 Subindex 3 Individual warning register 3 motor Bit Decimal Description 0 0 0 O 4 3 4 A Subindex 4 Individual warning register 4 LocalCAN Bit Decimal Descripion amp amp O0 1 ConnecionCAN XCDSP n 4 3 4 5 Subindex 5 Individual warning register 5 fieldbus Bit Decimal Description O o 1 Connection monitoring via bus GFC AntriebsSysteme GmbH 43 CANopen interface User manual 4 3 4 6 Subindex 6 Individual warning register 6 driving data manager The warning limit switch reached is available from firmware version APP 02 01 and operating software version MDAwin 02 01 and higher Bit Decimal Description amp gt O 0 1 Contouring error available Global torque limit reached 3 8 Switch on limit active Range overflow of absolute encoder APP02 00 and MDAwin02 00
62. tor FDS A i c Parameter Sollwert freigeben Fahrauftrag aktivieren Einschaltsperre E Antrieb St rung quittieren C Wamung Typenschid C Tippen 1 im Toleranzbereich kein Schleppfehler Hardware L Stromregler Tippen 2 Drehzahl Lageregler C F hrung Sollwert erreicht System c M c 1 0 Antrieb Start Referenzieren Referenz gesetzt Feldbus C Drehzahl Position C Sollwert Quittierung en e Referenz setzen Antrieb steht El Technologiefunktionen Fliegendes Referenzieren Sollwert aktivieren C Frei Elektrische Welle C Frei C Frei User manual This window displays the control and state word of a drive equipped with fieldbus interface For this there must be an active connection to the drive The update is carried out at the same frequency as the update of other displays like speed or position No indication can be made on transient procedures via the fieldbus monitor This window is used to commission a drive with fieldbus interface 56 GFC AntriebsSysteme GmbH User manual CANopen interface 6 Electrical connection Hazardous voltages at the control and power connections even if the drive is ata standstill Electric shock risk gt Disconnect all wires of the connected control and power cables also those which are not required at the respective terminals in the control cabinet and protect them against direct contact gt It is not permitted by any means to just to cut the connecting
63. ues are transmitted This makes it possible to interchange drives of different manufacturers The profile contains specifications for the operation mode Speed control and Positioning It determines the basic drive functions and leaves room for user specific expansions and developments 3 2 Functions of the CANopen interface of the MDA e Reading and programming the parameters and driving data records e Executing drive tasks e Reference operation e Reading actual values faults and warnings e Logging parameter and driving data record changes 3 3 Description of the state machine The CANopen state machine see section 10 of the DSP 402 Device Profile for Drives and Motion Control is started up depending on the bit changes in the control word and status changes in the application Control and parameter change rights are controlled by bit 15 of the control word Level 4 Planner is set for the write access to parameters One of the following operation modes can be selected in the Switch On Disabled Ready To Switch On Switched On and Operation Enable states The run commands are executed in the Operation Enable state within this operation mode 3 3 1 Function diagram for basic controller power disabled switch on disabled ready to switch on power enabled operation enabled The illustration above shows the outlines of the state machine For the signal sequence required to control the state machine refe
64. wendet 6067h VAR position window 4 No 6068h Not used 606Bh 606Ch VAR velocity actual value 4 Yes 606Dh Not used 6070h Not used 6071h VAR target torque 2 Yes 6072h VAR max torque 2 No 6073h VAR functional adaption to Mi 2 No 6074h Not used 6075h VAR functional adaption to Mi 4 No 6076h VAR motor rated torque 4 No 6077h VAR torque actual value 2 Yes 6078h Not used 6079h VAR DC link circuit voltage 4 No 607Ah VAR target position 4 Yes 607Bh Not used 607Ch VAR home offset 4 No 607Dh ARRAY software position limit No 607Eh ARRAY Polarity functional adaption to Mi No 607Fh VAR max profile velocity 4 Yes 6080h VAR max motor speed 2 No 6081h VAR profile velocity 4 Yes 6082h Not used 6083h VAR profile acceleration 4 No 6084h VAR profile deceleration 4 No 6085h Not used 6086h VAR motion profile type 2 No 6087h Not used 6090h 6091h VAR functional adaption to Mi 1 No 6098h VAR homing method 1 No 6099h ARRAY homing_speeds No 609Ah ARRAY homing acceleration No 609Bh Not used 60F9h 60FBh ARRAY position control parameter set No 60FDh VAR digital inputs 4 Yes 60FEh VAR digital outputs functional adaption to Mi 1 No 60FFh VAR target velocity 4 Yes 6100h Not used 650Fh 6510h VAR functional adaption to Mi 1 No 6511h Not used 8FFFh GFC AntriebsSysteme GmbH 33 CANopen interface User manual 4 2 Profile parameter numbers Device Profile In the following those device specific parameters are
65. y valid functions are shown hereafter Please refer to the respective operation mode chapter for the significations of the various operation modes Bit Meaning 0 switch on 1 enable voltage 2 quick stop 3 enable operation 4 5 operation mode specific 6 7 reset fault 8 stop reserved 10 11 12 T 13 operation mode specific 14 15 Remote request 3 3 4 6041h status word For CANopen the individual bits are assigned to different functions depending on the respective type of duty The generally valid functions are shown hereafter Please refer to the respective operation mode chapter for the significations of the various operation modes Bit Meaning 0 ready to switch on 1 switched on 2 operation enabled 3 fault 4 voltage enabled 5 quick stop 6 switch on disabled 7 warning 8 halt active not on reference operation 9 remote 10 target reached not on reference operation 11 internal limit active 12 a 13 operation mode specific 14 reserved 15 GFC AntriebsSysteme GmbH CANopen interface User manual 3 4 Operation modes The MDA allows selection between several types of control They are included within the driving data records DDR To perform these control types predefined operation modes have to be used in accordance with CANopen DSP 402 The operation mode is determined by index 606

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