Tritex II
Contents
1. Node ID 65 41h Writing PAC sequence ID RTR Data Description Write PAC 0641 00 23 09 21 00 00 00 20 37 Write Pac CommandSystem Post Commands DefineZero 924844032 0x3720 0000 Figure 20 Example PAC Access Tritex CANopen Getting Started v0 9 Page 25 Exlar Corporation 03 05 2013 8 3 User Units example CANopen associates a scale factory to a group of registers for example scale factory 1 is always assigned to Position measurements This conversion is transparent to CANopen interface Name Units Att Description GID Modbus 00 Scale Factor 1 Numerator UINT32 RW Position CANOPEN PARAM CONVERT O MULTIPLIER 7560 2102 1 Scale Factor 1 Denominator UINT32 RW CANOPEN PARAM CONVERT O DIVISOR 7562 2102 2 Scale Factor 2 Numerator UINT32 RW Velocity CANOPEN PARAM CONVERT 1 MULTIPLIER 7564 2103 1 Scale Factor 2 Denominator UINT32 RW CANOPEN PARAM CONVERT 1 DIVISOR 7566 2103 2 Scale Factor 3 Numerator UINT32 RW Weceleretign CANOPEN PARAM CONVERT 2 MULTIPLIER 7568 2104 1 Scale Factor 3 Denominator UINT32 RW CANOPEN PARAM CONVERT 2 DIVISOR 7570 2104 2 Figure 21 User Units CANopen Internal units user value Numerator1 Denominator1 Write operation User value internal units Denominator1 Numerator1 Read operation NOTE Default Numerator and Denominator are 12. 2B 40 60 00 06 00 00 00 Send shutdown transfer to Ready to Switch on 0641 00 2B 40 60 00 O07 00 00 00 Switched on 0641 00 2B 40 60 00 OF 00 00 00 Operation Enable Set to Home Mode 0641 00 2F 60 60 00 06 00 00 00 Set to Profile Home Mode 6060 0h Define Current Position as Zero 0641 00 23 09 21 00 00 00 20 37 Write Pac 7 System Post Commands DefineHome 924942336 0x37218000 Figure 12 Example Home Absolute Position Halt is enabled automatically when a Motion mode becomes active 9 same function as Define Home within Expert Tritex software Home Halt Define Home Figure 13 Drive Software Home Commands Tritex CANopen Getting Started v0 9 Page 19 Exlar Corporation 03 05 2013 7 2 Position Profile Position Mode demonstrates the different move types supported for position control executed via Service Data Objects SDOs Exlar support relative and absolute moves to position Using either relative or absolute moves the user can also select by the control word data if the target position should be reached before another target position is allowed finish first or if the actuator should execute a newly received target position even if still in motion immediate The below example sets typical motion profile commands a system would configure enabling the motor pow
3. Define Reference Current Limit 500 Rated Current S Undefine Refere Homing Method Positive Direction Switch Negative Direction Index nes Current Limit Reverse Halt Status Nea Sw On Off Index x Active fast SW ON slow SW OFF Homed slow INDEX Target Reached Attained Home Offsets Error Home Offset 0000 REVS pard Index Offset 0 000 REYS Final Home Position 0 000 REVS Auto Home on Enable r r 4 2 Jog The Jog Page is used to command jog mode on the Tritex Once jog mode has been enabled the jog inputs can be used to produce motion on the actuator The inputs that will be used as jog inputs are determined by the Jog 4 or Jog command Once the jog inputs have been enabled they will remain enabled until user disable operation The motion profile have several option are configurable by the user Fast slow velocity and acceleration and deceleration rates Jog The velocity and acceleration controls are dynamic changes will be effective immediately when online These changes however will not be permanent until a download is executed Position 20 376 REVS Velocity 0 0 RPM Jog Jog Drive Mode None i Active Current Limit 0 0 Current Mode Profile Position Mode Jogging Jogging Fast Slow Accel Decel 3 Jogging Slow 0 0 00 RPM 1200 1200 RPM S eres rms EET Jog Fast At Target Velocity zl HS ex Ps e t zd lies Following Error Halted Save Parameters Mg ave F t T
4. The following example demonstrates reading writing using User Units for Target Position 607A h Scale Factor 1 Numerator 1 Scale Factor 1 Denominator 2 Internal units 0 0001 Rev Write Target Position 2000 Internal Units 2000 1 2 Read Target Position 1000 2 1 NOTE Thirty two bit conversion is used and rounding error could occur between read and write values Tritex CANopen Getting Started v0 9 Page 26 Exlar Corporation 9 Appendix 9 1 Tips 03 05 2013 Highlighting and right clicking display variable ID and help information RPDO 1 RPDO 2 RPD0 3 RPDO 4 COB4D OF hexadecimal ER eU MR MEE Tansmission Type current value to connected drive Prohibit transmission on RTR Read value from connected drive Disable PDO View Helpfile Set default value Modbus ID 7362 CAN Open Index 1400 2 Figure 22 Expert Software Tips 9 2 Notations 0 001 rated Percentage of Rated GIDZSYSTEM BUS FACTORYPARAM IRATED CANopen 6075 0 Motor Rated Current mrps s Acceleration mrps Velocity 0 0001 rev Distance ms milliseconds Figure 23 Units e When read write from Modbus data length is word while from CANopen it is a byte n CANopen Object is mappable e CANopen Profile Motion DS402 specification name Figure 24 Superscript 10 Additional information Expert Software Manual pdf Tritex CO eds Tritex CANopen pdf Tritex CANopen Getting Started
5. 125 000 Z Changes to Drive ID and Baud Rate will not be written to drive and saved unless the button is pushed Save parameters to drive 3 2 2 CAN Parameters CAN Parameters Communications Setup Node guarding interval 12 ms Node guarding lifetime dl factor COB ID EMCY OF hex EMCY inhibit time Om Heartbeat interval 0 ms COB ID SYNC O80 hey 3 2 3 PDOs Setup The object linker translation tables offers a significant improvement by supporting fully automated mapping linking of PDOs in only a few steps All available objects are sorted according to input and output data A unique COB ID unique with respect to the entire CANopen network not just the node must be assigned to each PDO which will be used over the CAN network It is recommended using the Predefined Connection Set where ever possible It is the system designer s responsibility to ensure that all PDOs have a unique COB ID It is best to assign the COB IDs in a logical order with the most important PDOs assigned to the lowest COB IDs Tritex CANopen Getting Started v0 9 Page 6 Exlar Corporation 03 05 2013 RPDO 1 APDO 2 APDO 3 RPDO 4 COB4D 027F hexadecimal Transmission Type 255 Transmit PDO on RTR or event 2 7 F h 200 h 7 F h Prohibit transmission on RTR Li Disable PDO r Bytes available 2 i e Dove Variables Data to be added to translation table PDO Mapping 1 GIDs CANO pen Command Con
6. Absolute Position I Es Eo O Setpoint Error Accel 3000 RPMS Chanae On Set Point Halted Decel 3000 RPM S ERREUR E Infinite Distance r Smart Continue LI Limit Current a Independent Data LI Current Limit Rated Current Auto Reset NSP a End Velocity 0 0 RPM ResetNSP on Target 7 Max Buffered amp Points NOTE Typical motion profile commands and options could be set each time on power up from host or set using a configuration file and stored to NVM once Options FAULT ON NACK A rising edge of NEW SETPOINT IMMEDIATE and SETPOINT_ACK active will normally generate a warning and raise the SETPOINT NACK event If the PP OPTION FAULT ON NACK is selected a fault will be generated instead SMART CONTINUE When a new SETPOINT is to be buffered not immediately executed and the PP CONTROL CONTINUOUS flag is set the default action is to modify the END VELOCITY of the previous or active set point to its velocity so that it doesn t stop and targets the new SETPOINT s velocity and distance when it completes The PP OPTION SMART CONTINUE overrides this behavior to set the previous or active SETPOINT s END VELOCITY to the lesser of the previous or active SETPOINT velocity and the new SETPOINT velocity INDEPENDENT DATA Doesn t copy profile type acceleration and deceleration values from global profile data when loading a SETPOINT The global are copied into the SETPOINT setup structure only at startup RESET NSP Internally resets CONTROL
7. DJAR worwaxtercom Tritax H Series Product of USA Linear Actuator Rotary Motor Gear Motor C Combo Rotary Linear Actuator Custom User Defined d lev A Final output gear reduction ratio 1 m Input 240 Vac 1 50 60 Hz 8 3 Amps ae Output 0 240 Vac 3 0 400 Hz 6 0 Amps Units Decimal Places Display Text Distance Reve ooo REVS Velocity RevsPeiMindle os z RPM Acceleration RevsPerMinutePeSecond v 0 z RPMs 2 Digital I O The Digital I O screen is used to assign the input and output functions and LED outputs to the hardware 1 0 lines eight discrete inputs and four discrete outputs Refer to Expert software for additional information on configuring Digital I O Tritex CANopen Getting Started v0 9 Page 4 Exlar Corporation 03 05 2013 Digtal 1 0 Inputs Outputs Input Assignments input On unassigned Of unassigned Input2 On Switch2 On Of Swich20f input3 On Switch 3 On Of Switch 30H Input4 On Swich4On Of Switch 4 011 InputS On Switch On Of Switch 1 Off Input6 On unassigned Of unassigned Input On unassigned Of unassigned Input8 On HeltOn ot Hat On 3 Networks 3 1 RS485 Modbus The Tritex uses an RS485 hardware connection with a Modbus RTU protocol The RS485 Modbus page allows the user to set the Tritex communication parameters to best connect with their commu
8. Operation Enable Typical Motion Parameters 0641 00 23 84 60 00 50 C3 00 00 Set deceleration to 3000 RMP S 6084 0h 0641 00 23 83 60 00 50 C3 00 00 Set acceleration to 3000 RMP S 6083 0h Set to Home Mode 0641 00 2F 60 60 00 06 00 00 00 Setto Profile Home Mode 6060 0h Set Homing Method Offset and Speeds 0641 00 23 FF 60 0O 13 00 00 00 Homing method 19 decimal 0641 00 23 7C 60 00 00 00 00 00 Homing Offset value O 0641 00 23 99 60 01 35 82 00 00 Home Speed Fast 2000 RPM 0641 00 23 99 60 02 82 06 00 00 Home Speed Slow 100 RPM Start Homing 0641 00 2B 40 60 00 1F 00 00 00 Start Homing and remove active Halt Stop Homing after home is acquire 0641 00 2B 40 60 00 OF 00 00 00 Stop Homing This will Halt Homing and keep Operational Enable Figure 11 Example Home mode Tritex CANopen Getting Started v0 9 Page 18 Exlar Corporation 03 05 2013 7 1 2 2 Define Home To define current position as home using PAC commands can be accomplish using Tritex Drive software or through CANopen By using accessing drive internal commands through CANopen interface Typical motion profile commands and enabling sequence ID RTR Data Description DSP402 state machine 6040 0h 0641 00
9. up the factory parameter block is validated and copied to its runtime location in RAM where all parameters are available for both reading and writing through their individual MODBUS identifiers Factory parameter include maximum limits and system options Factory Parameters Identification Options Limits Actuator Update Rates Position Feedback Position Table Fault Trip Current Peak Current Continuous Current Board Temp Trip Low Voltage Trip High Voltage Trip Actuator Temp Trip Shunt High 1 2 System Setup System menu allows one time configuration of Power up options Module Control User limits Reaction methods System Setup 250 AMPS 200 AMPS 100 AMPS 800 c 18 VDC 440 VDC 1300 c 383 VDC Filter 6 0 seconds Delay power up state machine sequence etc Which interface CANopen Modbus or Digital I O has control High current warnings and in position window Quick Stop 606Ah Fault reaction 605Eh etc ptions Module Control Limits Reaction Methods Auto switch on and run at startup Auto Enable on Startup Auto Reset Fault Off Require Thermal wamings to clear before enabled Require Current warnings to clear before enabled Require Voltage wamings to clear before enabled Reverse direction polarity Power up delay 0 00 seconds Tritex CANopen Getting Started v0 9 Page 3 Exlar Corporation 03 05 2013 1 3 Factory Calibration F
10. M Target Velocity 1000 0 06 16667 0x411A Typical motion profile commands could be set each time on power up from host or set using a configuration file and stored to NVM once Enabling the motor power only has to be done once on power up Typical motion profile commands and enabling sequence ID RTR Data Description DSP402 state machine 6040 0h 0641 00 2B 40 60 00 06 00 00 00 Send shutdown transfer to Ready to Switch on 0641 00 2B 40 60 00 07 00 00 00 Switched on 0641 00 2B 40 60 00 OF 00 00 00 Operation Enable Typical Motion Parameters 0641 00 23 84 60 00 50 C3 00 00 Set deceleration to 3000 RMP S 6084 0h 0641 00 23 83 60 00 50 C3 00 00 Set acceleration to 3000 RMP S 6083 0h Set to Profile Velocity Mode 0641 00 2F 60 60 00 03 00 00 00 Set to Profile Velocity Mode 6060 0h Motion Mode default condition are loaded Send new Target Velocity 0641 00 23 FF 60 00 1A 41 00 OO Target Velocity 1000 RPM 60FF Oh Figure 15 Example Velocity Halt is enabled automatically when a Motion mode becomes active Tritex CANopen Getting Started v0 9 Page 21 Exlar Corporation 03 05 2013 7 4 Jog Exlar supports the ability to move in Jog mode The below example sets typical motion profile commands a
11. NEW SETPOINT as soon as the drive is able to accept another SETPOINT RESET NSP ON TARGET Internally resets CONTROL NEW_SETPOINT when STATUS TARGET REACHED becomes active MAXIMUM BUFFERS Maximum number of set point buffers maximum allows valve is 8 set point buffer array is load only during mode creation Tritex CANopen Getting Started v0 9 Page 11 Exlar Corporation 03 05 2013 5 Diagnostic The overall system status is displayed on the diagnostic page user can monitor faults warnings position and temperatures Also contain record of satirical information of history of the drive 5 1 Status Log The Status log page displays the log of Faults and Warning of the drive 5 2 Diagnostics The Diagnostic page displays the current Status and history of Faults of the drive 6 Monitor Control 6 1 Status The Status wedge shows an overview the drive status Status None Position 0 000 REVS Fault Velocity 0 0 RPM Warming Current 0 1 Rated Current Reset Faults Diagnostics 6 2 Drive Status The Drive Status wedge indictors show the statusword 6041 0h states while the controlword 6040 0h can be commanded from the Drive Control wedge Tritex CANopen Getting Started v0 9 Page 12 Exlar Corporation IEEE 1171 m Drive Status Run Ready Enabled Fault DC Bus Ready Stop Setup Warni nactive ng Homed Remote Target Reached Internal Limit Active Set Point Acknowledg
12. Tritex Il CANopen Startup Exlar Corporation 03 05 2013 Overview The purpose of this application note is to get a Tritex with CANopen system operational on the bench without a load connected to the motor Some additional comments are added at the end to assist with tuning a loaded motor The application note goes on to explain a basic system layout recommended for Tritex At the end there is a section entitled Where to go from here which provides links to information on more advanced topics Features The Exlar Expert drive software is a GUI developed to interoperate with the Tritex 485 interface by way of USB interface All of the functions Motion profiles of the drive and user parameters are available through this interface It may also be used to configure drive user and CANopen interface parameters The Exlar Expert drive software is required for tuning and configuring digital I O This method establishes communication and uploads all of the parameters from the drive to the PC and the drive stays online Tritex CANopen Getting Started v0 9 Page2 Exlar Corporation 1 System Setup 03 05 2013 System menu allows configuration and viewing of system parameters Parameters are divided into two segments Factory and user parameters 1 1 Factory Parameters Factory parameters are stored as a block in non volatile memory The block contains a CRC Cyclic Redundancy Checksum word to guarantee data integrity At power
13. actory Calibration Bus Voltage Position Calibration RST Calibration Temperature Brake Bus Voltage 17241 V Vbus Scale 440 00 V full scale Vbus Offset 0 mv 1 4 Tuning This page allows user to adjust the tuning of the motor base on their application Tuning Itis recommended that the tuning parameters be read from the drive before changing to avoid sudden and unexpected changes in drive behavior The tuning controls are dynamic changes will be effective immediately when online These changes however will not be permanent until a download is executed or the save button is pushed Inertia Gain 4 Hi Position Feedforward 00000 Hr Position Damping 0 31502 nom jp Seve Tuning Parameters Inertia Gain This controls overall gain Larger inertia loads will require a proportionally larger value to maintiain position and velocity control through a profile Too high of a setling may cause instability Response This controls the response ofthe position loop Larger values increase in position stiffness reduce error while running and the time required to reduce position error ata stop Too high of a setting will cause instability 1 5 User units The user unit page allows user to change the units displayed in the Tritex drive software It does not change data written and stored in the drive User Units Where to find drive information on actuator label
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15. e Following Error Halted The statusword provide the status of the PDS FSA X x Remote Drive Status Statusword 5 Setup Stop DC Bus Fault Enabled Active Ready 03 05 2013 Figure 1 Statusword Drive control bits Description Exlar Ib Run Ready to run Drive is in normal runtime operation mode and is ready to accept the power command Ready Switch on Enabled Operational The drive is enabled and ready to command motion enabled Fault Fault active Fault has occurred in the system and fault reaction has completed DC Bus Voltage enable Tritex voltage is greater than low voltage limits Ready Stop Active Quick stop Indicates the PDS is reacting to deactivate request The actived final state is determined by Quick Stop option register O Quick Stop Active 1 Inactive Setup Switch on Drive is in SETUP mode and not ready for operation disabled Some commands are available only in SETUP mode The SETUP bit is a convenience event bit and is always the inverse of the RUN bit Homed Manufacture Drive is homed defined Remote Remote 0 indicate that the controlword is not processed 1 indicate that the controlword is processed Figure 2 Drive status bits Tritex CANopen Getting Started v0 9 Page 13 Exlar Corporation 03 05 2013 Mode specific bits Mode of Operation Profile position pp Following error Set point Final target acknowledge
16. e e Initialization parameters Jog using current limit Q Saves the current displayed as new Initialization value Fast Slow Velocity Acceleration Declaration and Current limit when entering mode for the first time NOTE Typical motion profile commands and options could be set each time on power up from host or Tritex CANopen Getting Started v0 9 Page 8 Exlar Corporation 03 05 2013 set using a configuration file and stored to NVM once Clicking Jog or changes will automatically generated a enter mode request of Jog 4 3 Profile Velocity Profile Velocity The velocity and acceleration controls are dynamic changes will be effective immediately when online These changes however will not be permanent until a download is executed Command Velocity 0 0 RPM Target Velocity 0 0 RPM Halt Drive Mode None 2i Active Current Limit 0 0 Current Mode Profile Position Mode Active Velocity Accel Decel Epel 00 RPM 300 300 RPM S ey Velocity Zero zs eus eal s Velocity Error Halted JE als alls 1 T Alle SE Save ES Save Parameters itiali i ale ale JE E Initialization parameters Limit current Save current displayed as new Initialization value Acceleration Deceleration Current Limit and Target Velocity when entering mode for the first time NOTE Typical motion profile commands and options could be set each time on power up from host or set usin
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18. ely Profile velocity pv Reserved Halt Reserved Reserved Reserved Profile torque pt Reserved Halt Reserved Reserved Reserved Homing hm Halt Profile jog pj Halt Figure 8 Controlword Mode specific bits Tritex CANopen Getting Started v0 9 Page 16 Exlar Corporation 03 05 2013 7 Motion examples This section contain sample configuration of the drive 7 1 Homing The Tritex drive support many aspects of the homing methods described by DS 402 This includes the use of a switch inputs and or an encoder index pulse to determine the extent of travel limit inputs and a specific acceleration deceleration normal speed and slow speed to use while homing These homing inputs are integrated into the Tritex and are user defined To configure the drive Inputs it is recommended using the Tritex Expert software Below is an example of configuring Home method 19 Homing method 19 POS SW ON OFF Home on positive home switch inactive Refer to Tritex CANopen manual for supported methods 7 1 1 Configure Inputs From the Digital I O page configure the Home Switch to your wired Input 5 See Hardware interface manual for information on connecting switch to Tritex For this example wire the Home Switch to Input 5 Inputs Outputs Input Assignments Input On unassigned Off unassigned Input2 On Switch 2 On Off Switch 2 Off Input3 On unassigned Off unassigned Inp
19. er and the four different move types supported in Profile Position Mode using SDOs with Node ID 65 41h 3000 RMP S Acceleration 3000 0 06 5000 0xC350 2000 RPM Target Velocity 2000 0 06 3333 0x8235 10 000REVs Distance 10000 0 0001 100000 0x0186A0 Enabling the motor power only has to be done once on power up Motion user parameters could be set each time on power up or configure and stored to NVM once The Control Word data selects the move type Typical motion profile commands and enabling sequence ID RTR Data Description DSP402 state machine 6040 0h 0641 00 2B 40 60 00 06 00 00 OO Send shutdown transfer to Ready to Switch on 0641 00 2B 40 60 00 07 00 00 00 Switched on 0641 00 2B 40 60 00 OF 00 00 00 Operation Enable Typical Motion Parameters 0641 00 23 84 60 00 50 C3 00 00 Set deceleration to 3000 RMP S 6084 0h 0641 00 23 83 60 00 50 C3 00 00 Set acceleration to 3000 RMP S 6083 0h 0641 00 23 81 60 00 35 82 00 00 Set max user velocity to 2000 RPM 6081 0h Set to Profile Position Mode 0641 00 2F 60 60 00 01 00 00 00 Set to Profile Velocity Mode 6060 0h Move Absolute finish first 0641 00 23 FF 60 0O AO 86 01 00 Set Target Position to 10 000 REVS 0641 00 2B 40 60 00 1F 00 00 00 Set Cont
20. g a configuration file and stored to NVM once 4 4 Profile Torque Profile Torque The command and mode controls are dynamic changes will be effective immediately when online Changes to the other controls will not be in effect until a download is executed Command Torque 00 z Target Torque 00 x E Halt Drive Mode None o Active Current Mode Profile Position Mode Active Command Slope scudo ooo Rated Current 1000000 sec us nereg Save Parameters eave Initialization parameters save current displayed as new Initialization value Target Torque and Slope when entering mode for the first time Tritex CANopen Getting Started v0 9 Page 9 Exlar Corporation 03 05 2013 NOTE Typical motion profile commands and options could be set each time on power up from host or set using a configuration file and stored to NVM once Tritex CANopen Getting Started v0 9 Page 10 Exlar Corporation 03 05 2013 4 5 Profile Position Profile Position The velocity and acceleration controls are dynamic changes will be effective immediately when online These changes however will not be permanent until a download is executed Command Velocity 3000 0 RPM Command Position 10 000 REVS Drive Mode None P2 Halt Active Current Mode None Setpoint Active At Velocity Setpoint New Set Point F Target Reached Position 10 000 REVS Chanae Set Point Setpoint Acknowledged Velacity 3000 0 RPM
21. lword 6040h Target Position 607Ah TPDO 1 COB ID 1FFh Transmit on Change Statusword 6041h Typical motion profile commands and enabling sequence ID RTR Data Description Typical Motion Parameters 067F 00 23 84 60 00 50 C3 00 00 Set deceleration to 3000 RMP S 6084 0h 067F 00 23 83 60 00 50 C3 00 00 Setacceleration to 3000 RMP S 6083 0h 067F 00 23 81 60 00 35 82 00 00 Set max user velocity to 2000 RPM 6081 0h Configure RPDO 1 067F 00 23 00 14 01 7F 02 00 80 Disable RPDO 1 COB ID 067F 00 2F 00 16 00 00 00 00 00 Write zero to entries 067F 00 23 00 16 01 10 00 40 60 Configure Map1 with 6040 0 Controlword 067F 00 23 00 16 02 20 00 7A 60 Configure Map2 with 607A 0 Target Position 067F 00 2F 00 16 02 FF OO 00 00 Configure Transmission Type 067F 00 2F OO 16 OO 02 OO 00 OO Write 2 to Entry count 067F 00 23 00 14 01 7F 02 00 00 Enable RPDO 1 COB ID Configure TPDO 1 067F 00 23 00 18 01 FF 01 00 80 Disable TPDO 1 COB ID 067F 00 2F 00 1A 0O 00 00 00 00 Write zero to entries 067F 00 23 00 1A 00 10 00 41 60 Configure Map1 with 6041 0 Statusword 067F 00 2F 00 18 02 FF 00 00 00 Co
22. nfigure 1600 5 Transmit on Change 067F 00 2F 00 1A 00 01 00 00 00 Write 1 to Entry count 067F 00 23 00 18 00 FF 01 00 00 Enable TPDO 1 COB ID Mode of Operation Position 067F 00 2F 40 60 00 06 00 00 00 Write 6 to Mode of Operation Enable NMT Operation Mode 000 01 00 Operational Mode DSP402 state machine O1FF 70 02 lt Current Status Switch on Disabled 027F 06 00 00 00 00 00 gt Shutdown O1FF 31 02 lt Drive sends TPDO1 Ready to Switch on 027F 07 00 00 00 00 00 gt Switched on O1FF 33 02 lt Drive send TPDO1 Switch on 027F OF 0O 00 00 00 00 gt Operation Enable O1FF 23 06 lt Drive sends TPDO1 response Enable Command Position 027F OF 00 EO 93 04 00 gt Set Target Position to 30 000 REVS 027F 1F 00 EO 93 04 00 gt Set Control Word bit 4 to 1 New Set Point O1FF 12 B7 lt Drive sends TPDO1 response 027F OF 00 EO 93 04 00 gt Set Control Word bit 4 to 0 O1FF 02 B7 lt Drive sends TPDO1 Set Point ACK O1FF 06 B7 lt Drive sends TPDO1 In Position Figure 18 Example PDO Mapping Position Tritex CANopen Getting Started v0 9 Page 24 Exlar Corporation 03 05 2013 8 Access Drive Internal functions GID or Global Identification is the method used by the Tritex drive to map internal variables These GID s are then cross reference to installed prot
23. nication Therefore an adapter will be required to interface from the RS232 or USB port on the PC to the RS485 port on the actuator see Installation section for details on the RS485 port RS 485 MODBUS RS 485 Drive ID 1 Baud Rate 19200 PX Timeout 0 Rx to TX Delay ms Changes to Drive ID and Baud Rate will not be written to drive and saved unless the button is pushed Save parameters to drive 3 2 CANopen Exlar have implemented a CANopen protocol based on the Communication Profile CiA DS 301 in the Tritex which supports both direct access to device parameters and time critical process data communication These parameters are accusable through the CANopen interface and Drive software Tritex with CANopen incorporates DS402 motor profile with several additional options that enhances the system use in a system These additions add flexibilities to the overall system performance Tritex CANopen Getting Started v0 9 Page 5 Exlar Corporation 03 05 2013 The Tritex support Variable PDO mapping this means the PDOs can only be mapped or re mapped during Pre operational state This can be accomplished through SDO s or using Exlar Drive software The PDO programming sequence of PDOs is handled using our drive software 3 2 1 CAN Open The CAN Open allows a simple method of changing Drive ID and Baud rate Note changes do not take effect until new power cycle CAN Open CAN Open Drive ID 12 Baud Rate
24. ocols For example a GID of 0x3C000000 represents the System warnings and is identify as SYSTEM MOTION EVENTS FAULTS cross reference to Modbus ID 1900 and CANopen ID Index 3384 subindex 0 8 1 GID access The following demonstrates method to access internal registers using GID For example read and write to CANopen ID register Node ID 65 41h GID name CANOPEN PARAM ID GID address 0x82200000 Reading writing Drive GID sequence ID RTR Data Description Reading Drive Parameter 0641 00 23 02 20 01 00 00 20 82 Write GID to System Read Object 2002 1 0641 00 40 02 20 02 00 00 00 00 Read Data Object 2002 2 Write Drive Parameter 0641 00 23 03 20 01 00 00 20 82 Write GID to System Write Object 2003 1 0641 00 2B 03 20 02 01 00 00 00 Write Data ID 1 2 bytes Object 2003 2 Figure 19 Example System Read 8 2 PAC s Access Programmable Access Commands PAC s are functions that perform operations in the system For example the below PAC function will define current absolute position as home while home mode is active Refer to Interface section UI Modbus and CANopen for methods of sending PACs to drive Note if interface does not have control rights command will not execute The following demonstrates method to access internal registers using PAC Programmable Access Commands
25. orporation 03 05 2013 7 5 rorque If a torque that is relative to current of 2 amps is needed and object 0x6075 Motor Rate Current Continuous Current is 3200 mA then Target Torque 6071 0 2000 mA x 1000 3200 mA 625 271h Slope 6087 0 180 0 sec This number means 62 5 of Motor Rate Current Typical motion profile commands and enabling sequence ID RTR Data Description DSP402 state machine 6040 0h 0641 00 2B 40 60 00 06 00 00 00 Send shutdown transfer to Ready to Switch on 0641 00 2B 40 60 00 07 00 00 00 Switched on 0641 00 2B 40 60 00 OF 00 00 00 Operation Enable Typical Motion Parameters 0641 00 2B 87 60 00 50 46 00 00 Setslope 180 0 sec 6087 0h Set to Profile Velocity Mode 0641 00 2F 60 60 00 04 00 00 00 Set to Profile Torque Mode 6060 0h Disable Motion Halt 0641 00 2B 40 60 00 OF 00 00 00 Clear Hat Send new Target Torque 0641 00 2B 71 60 00 71 02 00 00 Target Torque 62 5 6071 0h Figure 17 Example Torque Halt is enabled automatically when a Motion mode becomes active Tritex CANopen Getting Started v0 9 Page 23 Exlar Corporation 03 05 2013 7 6 PDO Mapping The following is an example of mapping PDO for position Profile Device ID 127 7Fh RPDO 1 COB ID 27Fh Contro
26. pdf Expert Drive software manual CANopen EDS file Tritex CANopen user manual Tritex CANopen Getting started manual Tritex CANopen Getting Started v0 9 Page 27 Exlar Corporation 03 05 2013 Tritex CANopen Getting Started v0 9 Page 28 Exlar Corporation 03 05 2013 11 Figures Figure 1 StATUSWOPG 13 Figure 2 Drive status bis aie trn EE PO RES RR EREEXER TIER ES EE KEEN AER MER ERU ERRERR XX RR aE NR ARE AREA EE Mas E eats 13 Figure 3 Statusword Mode specific bits c cceseceeeseeeeeeeeeeeeeeeaeeeeeaeeeeaeeeeaaececaeeecsaeeecsaeeeseeeceeeeseateeseeeeeseneessas 14 Figure 4 DS402 state machine states ccccccccccecceeeeeeeeeeeeneeeneeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeseeeeeeeaaaaeeeeeeeeeeeseeeeenaneneesesees 14 FISUhe S COMEOIW ON Ges EIL 15 Figure 6 Drive COMLFON Por cr 16 Figure 7 Drive control DIES sisccisasissdececenssssscadedloodiveassasensecassssoesyesibtdecaienseensaaniatecsd subs estando Tikao eak Esei i eak eiia a 16 Figure 8 Controlword Mode specific bits ccccccsccccssssececeseeecececssnaeeeceseeeeeeeceeaeeeeeseeeeeeeccssaeeeseceeeeeeessaaeeesseseas 16 Figure 9 Example Home Switches eieeeeieee eroe eerte auia sk eaa kao p sepes rhe o ae ee Ea apa nba Eb abo pese be o eoo een Esa rk abri aea ahis 17 Figure 10 Exlar Input Switches vs DS402 cssscceesssecceeseessneeeeesscceeeeeessneeeeesceeeeeeessaeeeesesaaesenensa
27. reached Profile velocity pv X x Target velocity reached Profile torque pt X x Target torque reached Homing hm See Homing Mode Profile jog pj See Jog Mode Figure 3 Statusword Mode specific bits Exlar B a ord PDS 402 State Internal 6 0 State etup op a e a enable ead sod as oe so rso inion Not Ready to Switch On Not Ready 0 X 0 0 0 0 Switch On Disabled Setup 1 X X 0 0 0 Ready to Switch On Run 0 1 0 0 0 1 Switch On Ready 0 1 0 0 1 1 Operational Enabled Enabled 0 1 0 1 1 1 Quick Stop Active Stop Active 0 0 0 1 1 1 Fault Reaction Active Fault 0 X 1 1 1 1 Reaction Active Fault Fault 0 X 1 0 0 0 Figure 4 DS402 state machine states Tritex CANopen Getting Started v0 9 Page 14 Exlar Corporation 03 05 2013 6 3 Drive Control The Drive control wedge button commands controlword 6040 0h and LED indicators return controlword state In the similar fashion statusword 6040 0h is showed in the Drive Status wedge Basic steps in enable drive for manual control of drive through Exlar Expert Software 1 Switch On 2 Run 3 Enable NOTE Verify appropriate Drive Status is change base on Drive Control commands Drive Control Switch On Run Stop Enable Reset Faults Halt Define Home Define Zero Define Reference Undefine Reference Joa Joa 3 Joq Fast The controlword ha
28. rol Word bit 4 to 1 0641 00 2B 40 60 00 OF 00 00 00 Set Control Word bit 4 to O Move Absolute immediate 0641 00 23 FF 60 00 EO 93 04 00 Set Target Position to 30 000 REVS 0641 00 2B 40 60 00 3F 00 00 00 Set Control Word bit 4 to 1 0641 00 2B 40 60 00 2F 00 00 00 Set Control Word bit 4 to O Move Relative finish first 0641 00 23 FF 60 00 50 C3 00 00 Set Target Position to 50 000 REVS 0641 00 2B 40 60 00 5F 00 00 00 Set Control Word bit 4 to 1 0641 00 2B 40 60 00 4F 00 00 00 Set Control Word bit 4 to O Move Relative immediate 0641 00 23 FF 60 00 AO 86 01 00 Set Target Position to 10 000 REVS 0641 00 2B 40 60 00 7F 00 00 00 Set Control Word bit 4 to 1 0641 00 2B 40 60 00 6F 00 00 00 Set Control Word bit 4 to 0 Figure 14 Example Position Tritex CANopen Getting Started v0 9 Page 20 Exlar Corporation 03 05 2013 7 3 Velocity Exlar supports the ability to move in velocity mode Once in Profile Velocity Mode any new target velocity will be executed immediately The below example sets typical motion profile commands a system would configure enabling the motor power and sending a new target velocity using SDOs with Node ID 65 41h 3000 RMP S Acceleration 3000 0 06 5000 0xC350 1000 RP
29. s a dual purpose controlword the state machine of the drive and command the motion mode 15 12 11 10 9 8 7 6 5 4 3 2 1 0 reserved Break reserved Mode Halt Fault Mode specific Enable Quick Run Switch release specific reset Stop on MSB LSB Figure 5 Controlword Drive Control bits Controlword Tritex CANopen Getting Started v0 9 Page 15 Exlar Corporation 03 05 2013 X X Reset fault Figure 6 Drive control bits Drive Control DS402 Description Switch on Switch on interlock Run Enable The DS402 FSA ready to switch on state is waiting for the drive to be set to enable high voltage level power Since the drive doesn t control its own bus power this state place for controllers that require an extra command interlock before accepting the ENABLE bit Controllers that don t want the extra interlock may elect to force this control bit set at start up Stop Quick stop Command the drive to deactivate base on Stop option To deactivate stop controlword bit 2 must be equal to 1 Refer to Stop Action 0x605A 0 for more information Enable Enable Commands drive into operational enable state operation Reset Faults Fault Reset faults on the rising edge reset Figure 7 Drive control bits Mode of Operation Operation mode specific bits AM 6 5 Profile position pp Change on Halt Abs rel Change set New set Set point Immediat
30. system would configure enabling the motor power and sending a new target velocity using SDOs with Node ID 65 41h 100 RMP Slow Velocity 100 0 06 1666 0x682 5000 RPM S Acceleration 5000 0 06 8333 0x14585 5000 RMP S Deceleration 5000 0 06 8333 0x14585 NOTE CANopen supports Jog directly with the following functions Jog Slow Positive when active Typical motion profile commands could be set each time on power up from host or set using a configuration file and stored to NVM once Enabling the motor power only has to be done once on power up Typical motion profile commands ID RTR Data Description DSP402 state machine 6040 0h 0641 00 2B 40 60 00 06 00 00 00 Send shutdown transfer to Ready to Switch on 0641 00 2B 40 60 00 07 00 00 00 Switched on 0641 00 2B 40 60 00 OF 00 00 00 Operation Enable Typical Motion Parameters 0641 00 23 OB 36 00 86 02 00 00 Set Slow Velocity 100 RMP 0641 00 23 OC 36 00 85 45 01 00 Set Acceleration 5000 RPM S 0641 00 23 OD 36 00 85 45 01 00 Set Deceleration 5000 RPM S 0641 00 23 60 60 00 FE 00 00 00 Jog Mode 2 Jog Function 0641 00 2B 40 60 00 8F 00 00 00 Halt Jog Figure 16 Example Jog Tritex CANopen Getting Started v0 9 Page 22 Exlar C
31. trolword Parameter 2 GIDs System Motion Modes ProfileVelocity Comma GIDs System Motion Modes ProfieT or 3 GIDs System Motion Modes ProfileVelocity Comma jue Command Target res 4 open 5 open E open T open B open Type Access INTIB READ_WRITE Modbus ID 2638 Description CAN Index CAN Subindex 6071 0 Remove lt gt Save PDO smemo r PDOs Predefined Connection Set COB ID s hex Slave nodes 180 NodelD 200 NodelD 280 NodelD 300 NodelD 380 NodelD 400 NodelD 480 NodelD 500 NodelD PRPWWNNP PRP Transmit PDO Receive PDO Transmit PDO Receive PDO Transmit PDO Receive PDO Transmit PDO Receive PDO 4 Motion The device profile for drives and motion control defines the functional behavior of controllers for servo drives frequency inverters and stepper motors The specification includes a finite state automaton FSA The state of the drive determines which commands are accepted and if high power is applied States are changed by a control word received from the host controller can be initiated by internal events The current state is indicated by the statusword 4 1 Home The Home Page configures and commands the Home operation Tritex CANopen Getting Started v0 9 Page 7 Exlar Corporation 03 05 2013 Home Velocity Torque Buttons Fast Velocity 60 RPM Define Home Slow Velocity 0 6 RPM Demerara Acceleration 300 RPM S p
32. ut4 On unassigned Off unassigned Input5 On Switch 1 On Off Switch 1 Off Input6 On unassigned Off unassigned Input On unassigned Ott unassigned Input8 On unassigned Off unassigned Figure 9 Example Home Switches Tritex CANopen Getting Started v0 9 Page 17 Exlar Corporation 03 05 2013 DS402 Description Source of Event Home Switch Configurable Input Event Negative Limit Switch Configurable Input Event Positive Limit Switch Configurable Input Event Index Pulse Index Pulse Figure 10 Exlar Input Switches vs DS402 7 1 2 Home drive 7 1 2 1 CANopen interface Homing Mode demonstrates home method 19 decimal using Service Data Objects SDOs The below example sets typical motion profile commands a system would configure enabling the motor power and executing a homing function using SDOs with Node ID 65 41h Typical configuring I O should be set using Exlar Drive software and stored to NVM once Motion user parameters could be set each time on power up or configure and stored to NVM once Enabling the motor power only has to be done once on power up Typical motion profile commands and enabling sequence ID RTR Data Description DSP402 state machine 6040 0h 0641 00 2B 40 60 00 06 00 00 00 Send shutdown transfer to Ready to Switch on 0641 00 2B 40 60 00 07 00 00 00 Switched on 0641 00 2B 40 60 00 OF 00O 00 00
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