CANopen user`s manua..
Contents
1. Sub Index 05 h Description event_time_tpdo1 Data Type UINT16 Access RW PDO Mapping NO Units 1ms Value Range Default Value 10 Index 1A00 n Name transmit pdo mapping tpdo1 Object Code RECORD No of Elements 2 Sub Index 00 n Description number of mapped objects tpdo1 Data Type UINT8 Access RW PDO Mapping NO Units Value Range 0 4 Default Value 2 Sub Index 01 Description first mapped object tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value See table Sub Index 02n Description second mapped object tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range ESTUN 3 3 PDO 18 3 3 PDO Default Value See table Sub Index 03 h Description third_mapped_object_tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value See table Sub Index 04 n Description fourth mapped object tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value See table ESTUN 19 19 1 T PDO1 Index 1800 _00 h 1800 n 0115 1800 024 1800 03h 1800 054 1A00n 00 1100 011 1400 h 02 1700 h 03h 1400 n_04 2 T PDO2 Index 1801 004 18012. 54 7 2 4 Homing sequences ii ai 57 PROFILE VELOCITY 59 7 3 1 Control word of profile velocity 59 7 3 2 Status word of velocity MOdE nennen nnne nennen 59 7 3 3 Objects of profile velocity MOdE nnne nnne 59 ESTUN 7 i Canopen User s Manual TAPROFILE POSITION MODE 64 7 4 1 Control word of profile position mode 64 7 4 2 Status word of profile position mode 64 7 4 3 Objects of profile position MOdE i 65 7 4 4 Functional DescriptionN i 68 8 Parameters of the CAN interface enne tnter e Ea i iaia 71 Appendbcobject dIctiOnialy aaa 72 ESTUN i 1 1 CAN main files 1 General introduction 1 1 CAN main files Document Name Source CIA DS 301 V 4 01 CANopen Communication Profile for Industrial Systems based on CAL CIA DSP 402 V 2 0 CANopen Device Profile 1 2 Terms and abbreviations used in this manual CAN COB EDS LMT NMT OD Parameter PDO RO Controller Area Network CAN in Automation International Users and Manufacturers Group Communication Object a unit of transportation on a CAN network Data is sent across a network inside a COB The COB itself is part of tte CAN message
3. Index 605A Name quick_stop_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 2 5 6 Default Value 0 value Description 0 Power stage will be switched off Motor is freely rotatable Switch off the power stage after the motor stops deceleration ESTUN ESTUN Power stage will be shut down after the motor decelerates to still urgently QuickStop is alive after the motor decelerates to still QuickStop 4A QuickStop is alive after the motor decelerates urgently to still 48 6 2 controlword 48 6 2 controlword 6 2 6 halt_option_code Halt_option_code determines how to stop when bit 8 halt of controlword is set to 1 Index 605D Name halt_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 1 2 Default Value 0 Value Description 1 The motor decelerates to still 2 The motor decelerates urgently to still 6 2 7 fault_reaction_option_code When an error is occurred fault_reation_option_code determines how to stop Index 6050 n fault_reaction_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 Default Value 0 Value Description 0 Power stage will be switched off Motor is freely ESTUN rotatable 49 49 7 1 Relevant
4. Bit Control mode profile position mode profile velocity mode homing mode 12 Set point acknowledge Speed Homing attained 13 Following error Max slippage error Homing error Other bits All reserved 6 2 3 shutdown_option_code The object shutdown_option_code determines the behaviour if the state transition 8 from OPERATION ENABLE to READY TO SWITCH ON will be executed Index 605B Name shutdown_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 Default Value 0 ESTUN n Value ESTUN Name Power stage will be switched off Motor is freely rotatable Switch off the power stage after the motor stops deceleration 46 6 2 controlword 46 6 2 controlword 6 2 4 disable_operation_option_code The object disable operation option code determines the behaviour if the state transition 5 from OPERATION ENABLE to SWITCHED ON will be executed Index 605C n Name disable operation option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 Default Value 0 value Desciption 0 Power stage will be switched off Motor is freely rotatable Switch off the power stage after the motor stops deceleration 6 2 5 quick_stop_option_code The object quick_stop_option_code determines the behaviour if a Quick Stop will be executed
5. speed units velocity factor 0 lrpm 10min Acceleration acceleration units acceleration factor 0 1rpm s The default setting of the Factor Group is as follows Value Name Unit Remark Length position units Increments Increments per revolution Velocity speed units 1R 10min 0 1 Acceleration 1R 10min s 0 1rpm s Acceleration m Common incremental encoder 10000P R Resolver 65536P R 17 bit incremental encoder 131072P R 17 bit absolute encoder 131072P R ESTUN BE 4 1 Objects treated in this chapter 4 1 Objects treated in this chapter Index Object Name Type Attr 6093 n ARRAY _ position factor UINT32 RW 6094 n ARRAY velocity factor UINT32 RW 6097 n ARRAY acceleration factor UINT32 RW 4 1 1 position factor The object position factor converts all values of length of the application from Position units into the internal unit increments 65536 Increments equals 1 Revolution It consists of numerator and divisor Index 6093 n Name position factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01h Description numerator Access RW PDO Mapping YES Units Value Range Default Value When power on this value will be initiated to parameter Pn201 Sub Index 02 h Description division Access RW PDO Mapping YES Units Value Range Default Value ESTUN When power on this value will
6. VAR shutdown option code Tis RW NO esc VAR disable operation option code esp VAR sepoponcde _ mme RW No VAR fault reaction option code RW No 6060 VAR modesot operation RW ves VAR modes of operation display ita 602 VAR position demand RO YES positionunits exs VAR positonecwaivawe Ro vs ic 64 VAR position actual RO YES e positionunits _ mereces mw ves poston nts _ following error time out wA poston si mv ves pao ai Les wm pion window ine uwre mv ves me VAR velocity sensor_actual_value UINTI6 Rw YES spegus 6068 VAR velocity demand value _ 2 RO YES speedunis exc VAR velocity actual ves speedunits _ VAR unne Rw ves speedunis Lee we veci wncoume unre m vs fep fe velocity threshold speed units Lem Ww velo esime umre ves VAR wr Fw
7. send receive is observed by slave CAN 2 Our drive s CANopen protocol currently supports 2 transimit PDO and 2 receive ESTUN 10 10165 1017h 10 3 2 SDO 3 2 SDO SDO is used to visit the object dictionary of a device Visitor is called client The CANopen device whose object dictionary is visited and required to supply the asked service is called server CANopen messages from a client and servo all contain 8 bits Not all of them are meaningful A request from a client must be confirmed by a server There are 2 method of convey for SDO Expedited transfer contains 4 bytes at maximum Segmented transfer contains more than 4 bytes Basic structure of SDO Byte0 Byte1 2 Byte3 4 7 00 Object reference Sub object reference data SDO read write command structure Read commands Write commands Low Byte of main index hex High Byte of main index hex ni oken for 8 Bi UINT8 oU hex lt Command 40 IX1 SU 2F IXO IX1 SU DO Answer 4F IXO IX1 SU DO 60 IXO IX1 SU T aa Token for 16 Bit Command 40 IX0 IX1 SU 2B IX0 IX1 SU DO 01 Answer 4B IXO IX1 SU DO 01 60 IXO IX1 SU UINT32 INT32 E deli for 16 Bit Token for DA Command 40 IX0 IX1 SU 23 IXO IX1 SU DO 01 02 Answer 43 IXO IX1 SU DO 01 02 D3 60 IXO IX1 SU Token for 32 Bit For example ESTUN Reading of Obj 6061 00 UINT8 INT8 Returning data 01 Command 4
8. speed during search for switch RW ves speed during search for zero UNT32 RW ves speedunits VAR homing accelerato UINTa2 Fw ves acceleration uis var emus ves l exc VAR positon demand value wr Ro vs lw sore VAR tergetveiociy Fw ves ESTUN 2 80
9. ves posiionun s ESTUN dia 78 postion rangelimt numberot enties _____ uns RW 607B Lo ARRAY min positon range imt INT32 RW no VA home offset ves postion range imit INT32 RW NO VAR pro tevelociy RW ves 6082 VAR endveiociy RW YES VAR profile acceleraion RW YES 64 VAR profile deceleration UINTa2 RW YES 6085 VAR quick stop decsieraion UINT32 6086 VAR meto pofle type INTIG_ position fato divisor velocity encoder fasor w 7 4 PROFILE POSITION MODE NN e position units speed units speed units acceleration unis craton units acceleration unis wan x aa Cesi divisor unta RW NO Jj jacceleration factor gt mumberof entries UINT32 RW NO 270 mw RW NO divisor UINT32 VAR wmmgmend re xs ESTUN 79 79 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support Unit A PP PV ee ewe sees o sem _ 9 6099 ARRAY number ot ene vite xs e
10. 240 253 Reserved 254 Asynchronous If content of has changed TPDO PDO transmit will be triggered Asynchronous 255 The content of PDO will be periodically updated and TPDO RPDO transmitted ESTUN 14 14 3 3 PDO One PDO could set a frozen time which is the shortest interval time between 2 continuous PDO It could prevent the bus from being occupied by amount of data with high priority Frozen time is defined by 16 bit unsigned integer number and its unit is 100us One PDO could set a timing period When the regulated time is violated a PDO transmit could be triggered without a trigger bit Object timing period is defined as 16 bit unsigned integer and its unit is 1ms ESTUN 3 3 PDO PDO mapping case Map the 3 objects to PDO1 transmit PDO1 transmit is required to be asynchronous periodic type with period time as much as 10ms and frozen time as much as 2ms Object Index Sub index Description statusword 6041n 00 n Status word modes of operation display 60615 00 n E mode Position Acture Value 6064h 00 n Practical position 1 Clear number of mapped objects number of mapped objects 10A0 n 00 0 2 Setthe parameter for mapping objects Index 26041 n Subin 00h Length 10n 1 mapped object 10A0 n 01 60410010 n Index 6061 n Subin 00h Length 08 2st mapped object 10A0 n 02 60610008 n Index 60FDp Subin 00h Lengt
11. 0115 1801 _02 1801 _0 1801 n_05n 1A01n_00n 1401 01 1401 02 1401 n 035 1401 _04 3 T PDO3 Index 1802 n_00 h 18025 01 1802 02 h 1802 03h 1802 055 1402 00 1402 _01 1402 h_02 1402 03 1402 04 ESTUN Comment number of entries COB ID used by PDO transmission type inhibit time 100 ps event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object 20 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Acc RO RW RW RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW RW RW 3 3 PDO Default Value 04 h 00000181 n FFn 64 n OA n 02 n 60410010 n 60640020 n 00 n 00 n Default Val
12. 1 In principle the calculation of the velocity factor is composed of two parts A conversion factor from internal units of length into position_units and a conversion factor from internal time units into user defined time units e g from seconds to minutes The first part equals the calculation of the position factor For the second part another factor is necessary for the calculation time_factor_v Ratio between internal and user defined time units z B 1 min 1 10 10 gear_ratio Ratio between revolutions on the driving side Rin and revolutions on the driven side Rout feed_constant Ratio between revolutions on the driven side Rout and equivalent motion in position units e g 1 R 360 The calculation of the velocity factor is done with the following equation ESTUN ii 4 1 Objects treated in this chapter numerator gear_ratio time_factor_v velocity factor z division feed constant ESTUN Ru 4 1 Objects treated in this chapter 4 1 3 acceleration factor The object acceleration_factor converts all acceleration values of the application from acceleration_units into the internal unit 0 1rpm It consists of numerator and divisor Index 6094 h Name acceleration factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01h Description numerator Access RW PDO Mapping YES Units Value Range
13. 5 DGND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal e The layout of CN4 terminal Pin number Name Function 1 Reserved 2 Reserved 3 485 RS 485 communication terminal 4 DGND Grounding 5 DGND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal CN3 is always the input terminal of communication cable and CN4 is always the output terminal of communication cable If connection to another communication node is necessary the cable will connect CN4 to next communication node If not a terminal resistor could be applied at CN4 When multiple ProNet devices are connected it is forbidden to connect the CN3 terminals of different drives directly For example a network is composed of one PLC three ProNet drives called A B and C The cabling network is as below PLC CNS3 of drive A of driveA of drive of drive B of drive C of drive 120 resistor The two ends of the CAN cable have to be terminated by a resistor of 120 5 as below pac CAN SHIELD aes CAN SHIELD CAN SHIELD _____ GND lt gt lt o GND K gt lt lt gt GND CAN L pee a L Lc _ CAN L CAN H gt lt lt gg 1200 1200 Please select the bus cable with double twisted pair cables
14. Default Value 00000080 ESTUN 3 5 Emergency message 3 5 Emergency message When an alarm occurs to drive CANopen will initiate an Emergency message to inform the current drive type and error code to clients The structure of Emergency message Identifier 80h error_code node number error register Obj 1001p 81 8 colet 0 0 o A Number of data bytes Alarm code error_code Description 2310 Over current 3100 Instantaneous power failure 3110 Over voltage 3120 Under voltage 5080 RAM exception 5210 AD sampling error 5420 Regenerative resistor error 5421 Regenerative resistor exception 5581 Parameter checksum exception 5582 electric gear error 5583 Motor type or drive type error 6100 Illegal error code 6120 PDO mapping error 6300 CAN communication error Address or communication baud rate error 7303 serial encoder error 7305 Incremental encoder error 7380 Resolver error 8100 CAN communication exception 8110 CAN bus overflow 8120 PASSIVE CAN bus turn to PASSIVE 8130 Heartbeat error 8140 CAN BUS OFF 8200 Length of CAN messages error 8210 Length of receiving PDO error 8311 Overload alarm 8480 Over speed alarm ESTUN ni 24 HRS Index 1003 n pre_defined_error_ field Object Co
15. PDO Mapping YES Units Value Range Default Value Explanation of statusword bit is as below bit name Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Not used now Target reached Internal limit active 13 12 Operation mode specific 15 14 Not used now Bit0 3 BIt5 The combination of these bit indicates the status of drives ESTUN Value iam e 44 6 2 controlword 44 6 2 controlword Bit4 Voltage enabled Main power is on when this bit is 1 Bit5 Quick stop Driver will follow setting 605A quick stop option code to halt when this bit is 0 Warning Driver detects alarm when this bit is 1 Bit10 Target reached In different control modes the meaning of this bit is different In profile position mode when set position is reached this bit is set When Halt is booted speed is reduced to 0 and this bit will be set When new position is set this bit will be cleared In profile Velocity Mode when the speed reaches the targeted speed this bit will be set When Halt is booted and speed is reduced to 0 this bit is set Internal limit active When this bit is 1 it indicates that internal torque has surpassed the set value Bit12 13 These 2 bits mean different in different control mode
16. and shielding layer one pair for connecting CAN L and CAN H another pair for grounding ESTUN hi 1 3 Brief introduction of CANopen ESTUN n i 1 3 Brief introduction of CANopen 3 CANopen Commuinication CaL supplies all network management service and message transferring protocol with defining the content of object or type of object for communication It defines how instead of what which is the strength of CANopen CANopen is developed based on CAL It applies CAL protocol subsets for communication and service and creates a solution to DCS CANopen could freely extend the node function to simplicity or complex while the network nodes are accessible and available to each other The key concept of CANopen is object dictionary This way of object description is also applied to other fieldbus system like Probis and Interbus S CANopen communication could access to all the parameter of drivers through object dictionary Please notice object dictionary is not one part of CAL instead of which it is realized in CANopne CANopen communication defines several types of objects as below Abbreviation Full Spell Description SDO Service Data Object Used for normal parameterization of the servo controller PDO Process Data Object Fast exchange of process data e g velocity actual value possible SYNC Synchronization Synchronization of several CAN nodes Message EMCY Emergency Message Used to transmit error messages of the servo contro
17. be initiated to parameter Pn202 31 4 1 Objects treated in this chapter N x in position_units e g degree or in position_units e g mm To calculate the position factor the following values are necessary gear_ratio Ratio between revolutions on the driving side Rin and revolutions on the driven side Rout feed_constant Ratio between revolutions on the driven side Rout and equivalent motion in position_units e g 1 rev 360 The calculation of the position_factor is done with the following equation numerator X gear ratio encoder resolution position factor division feed_constant encoder resolution Unit Encoder type Inc Common incremental encoder 10000 Resolver 65535 17 bit incremental encoder 131072 17 bit absolute encoder 131072P R 131072 ESTUN ui 4 1 Objects treated in this chapter 4 1 2 Velocity factor The object velocity factor converts all speed values of the application from speed_units into the internal unit revolutions per 4096 minutes It consists of numerator and divisor Index 6094 h Name velocity factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01 Description numerator Access RW PDO Mapping YES Units Value Range Default Value 1 Sub Index 02 Description division Access RW PDO Mapping YES Units Value Range Default Value
18. code INT16 RW 605D n VAR halt option code INT16 RW 605E n VAR fault reaction option code INT16 RW ESTUN 6 2 controlword 6 2 1 controlword Index 6040 n controlword Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units Value Range Default Value 0 Controlword bit description is as below 15 11 10 9 8 7 6 4 3 2 1 0 manufacturer dali Fault Operation Enable Quick Enable Switch specific reset mode specific operation stop voltage on Bit0 3 Bit7 Transmit of status machine is triggered by 5 bits coordinated control code as below operation voltage s s x mm x x s x rena use Device control list Notice X means this bit could be ignored Bit4 5 6 8 The definition of this 4 bit is different in different control mode Bit Control Mode profile position mode profile velocity mode homing mode 4 new_set point reserved start_homeing_operation 5 change_set_immediatly reserved reserved 6 abs rel reserved reserved 8 Halt Halt Halt Other bits all reserved ESTUN CU i 6 2 2 statusword Index 6041 h Name statusword Object Code VAR Data Type UINT16 Access RO
19. frame Electronic Data Sheet a node specific ASCII format file required when configuring the CAN network The EDS file contains general information on the node and its dictionary objects parameters Layer Management one of the service elements of the CAN Application Layer in the CAN Reference Model It serves to configure parameters for each layer in the CAN Reference Model Network Management one of the service elements of the CAN Application Layer in the CAN Reference Model It performs initialization configuration and error handling on a CAN network A local storage of all Communication Objects COB recognized by a device A parameter is an operating instruction for the drive Parameters can be read and programmed with the drive control panel or through the NCAN 02 Module Process Data Object a type of COB Used for transmitting time critical data such as control commands references and actual values Denotes read only access ESTUN 7 1 3 Brief introduction of CANopen RW Denotes read write access SDO Service Data Object a type of Used for transmitting non time critical data such as parameters 1 3 Brief introduction of CANopen CANopen is a higher layer protocol based on the CAN Control Area Network serial bus system and the CAL CAN Application Layer CANopen assumes that the hardware of the connected device has a CAN transceiver and a CAN controller as specified in ISO 11898 The CANopen Communica
20. from one state to another e g to reset an error These state transitions will be either executed by the host by setting bits in the controlword or by the servo controller itself if an error occurs for instance Command To initiate a state transition defined bit combinations have to be set in the controlword Such bit combination are called command Example Enable Operation State diagram All the states and all state transitions together form the so called state diagram A survey of all states and the possible transitions between two states ESTUN 6 1 State diagram State machine Fault Reaction Active Not Ready to Switch On Switch On Disabled Power Enabled Operation Enable Activ State diagram of the servo controller The state diagram can be divided into three main parts Power Disabled means the power stage is switched off and Power Enabled the power stage is live The area Fault contains all states necessary to handle errors of the controller The most important states have been highlighted in the Figure After switching on the servo controller initializes itself and reaches the state SWITCH_ON_DISABLED after all In this state CAN communication is possible and the servo controller can be parameterized e g the mode of operation can be set to velocity control The power stage remains switched off and the motor shaft is freely rotatable Through the state transitions 2 3 a
21. the angle encoder resolver incremental encoder etc The behaviour of the position controller can be influenced by parameters It is possible to limit the output quantity control effort in order to keep the position control system stable The output quantity is supplied to the speed controller as desired speed value In the Factor Group all input and output quantities are converted from the application specific units to the respective internal units of the controller The following subfunctions are defined in this chapter 1 Trailing error Following Error position difference position demand value 6062 position actual value 6064 following error window 6065 0 following error window 6065 time following_error_time_out t statusword Bit 13 6041 Trailing error Following Error Function Survey The deviation of the actual position value position actual value from the desired position value position demand value is named trailing error If for a certain period of time this trailing error is bigger than specified in the trailing error window following_error_window bit 13 following_error of the object statusword will be set to 1 X Position x Xx Trailing error following error ESTUN 7 4 1 Objects treated in this chapter The permissible time can be defined via the object following_error_time_out Figure above shows how the window function is d
22. 0 61 60 00 Answer 4F 61 60 00 01 Reading of Obj 6041 00 Returning data 1234 40 41 60 00 4B 41 60 00 34 12 UINT16 INT16 Command Answer Reading of Obj 6093_01 UINT32 INT32 Returning data 12345678 40 93 60 01 43 93 60 01 78 56 34 12h Command Answer ESTUN 3 2 SDO Writing of Obj 1401 02 Data EF 2Fn 01 14 02 EF 60 01 14 02 Writing of Obj 6040_00 Data 03E8 2B 40 60 00 58 03 60 40 60 00 Writing of Obj 6093 01 Data 12345678 23 60 01 78 56 34 12 60 93 60 01 12 3 2 SDO SDO error messages Command Answer Error code F3 F2 F1 FO 05 03 00 00 05 04 00 01 06 01 00 00 06 01 00 01 06 01 00 02 06 02 00 00 06 04 00 415 06 04 00 42 06 04 00 47 06 07 00 10 06 07 00 12 06 07 00 13 06 09 00 11 06 04 00 43 06 06 00 00 06 09 00 30 06 09 00 31 06 09 00 32 06 09 00 36 08 00 00 20 08 00 00 21 08 00 00 22 08 00 00 23 ESTUN 80 IXO IX1 SU FO F1 F2 F3 A Error token t um code 4 Byte Description Toggle bit not alternated Client server command specifier not valid or unknown Unsupported access to an object Attempt to read a write only object Attempt to write a read only object Object does not exist in the object dictionary Object cannot be mapped to the PDO The number and length of the objects to be mapped would exceed PDO length Ge
23. 04 number of entries UINT8 RO 02 h 20034 014 tpdo 2 transmit mask low UINT32 RW FFFFFFFF n 2003 024 tpdo 2 transmit mask high UINT32 RW FFFFFFFF n ESTLII1 d 1 R PDO1 Index 1400 n_00 h 1400 01 1400 02 h 1600 001g 1600 014 1600 n_02 h 1600 n_03 h 1600 n_04 2 R PDO2 Index 1401 00 4 1401 01 14015 02 1601 0015 16014 011g 16014 02g 16014 0315 1601 04 3 R PDO3 Index 1402 n_00 1402 01 1402 02 1602 00 h 1602 h_01 h 1602 02n 16024 03h 1602 044 4 R PDO4 Index 1403 n_00 1403 01 1403 02 1603 00 h 1603 011 1603 02 1603 1603 04 ESTUN Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object 22 Type UINT8 UINT32 UINT8 UINT8
24. Canopen User s Manual Pronet Series Servo Drive Canopen User s Manual CANopen Estun Limited Warranty This manual does not entitle you to any rights Estun reserves the right to change this manual without prior notice All rights reserved The copyright is held by Estun No part of this publication may be copied or reproduced without written permission from Estun ESTUN i Canopen User s Manual content Canopen User s Manual aaa 1 1 generali IMMODUCHON te 4 LOI 4 1 2 Terms and abbreviations used in this manual 4 1 3 Brief introduction of tet terere I REG EE REQUE 5 3 CANopen Communicati Os crece etie a EAE iii 8 SIEGE N EE 10 3 2 500 umaq hava ve 11 3 3 Ms 14 9 9 1 PDO parameter uuu usu a RI UE EEEE E EORR 17 ORTI EE 23 3 5 Emergency message sha to ete tpe Pese ied 24 3 6 HEARTBEAT message ern mt a e a o PO SR CREE ROO 26 3 7 Network management service nnne 27 4 Conversion factors CFactor Group uite tette aaa aa 30 4 1 Objects treated in this chapter l tert teet ae
25. DE Index Subindex Object Name Type Attr Support Unit PV receive mapping number ot enties RECORD st mapped object redo mw second mapped object RW No n mapped oec m umm No J Hout mapped object c mr RW No receive pao mapping RECORD 2 number ot enttes Um Ro J Pr mapped_object rpdod umm No second mapped object rpdo4 cob id used by UINT32 RO NO ESTUN 7 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support Unit PV 41 mmber of emes RECORD copia 1991 by pdo p No transmission type todo ums No eventtimer fpdo2 UINTI6 Rw NO e wansmit parameter_ipdo RECORD inhibit time unte Rw NO number_of enties_todod Ro No J cob used pao Ro No first mapped object tpdo1 UINT32 second mapped object 1 ESTUN ve 75 Index Subindex Object ESTUN RECORD RECORD 7 4 PROFILE POSITIO
26. Default Value 1 Sub Index 02 Description division Access RW PDO Mapping YES Units Value Range Default Value 1 The calculation of the acceleration factor is also composed of two parts A conversion factor from internal units of length into position units and a conversion factor from internal time units squared into user defined time units squared e g from seconds to minutes The first part equals the calculation of the position factor For the second part another factor is necessary for the calculation time factor a Ratio between internal time units squared and user defined time units squared 2 1 1min min 60s 1min 260 10 10min s gear ratio Ratio between revolutions on the driving side RiN and revolutions on the driven side Rour feed constant Ratio between revolutions on the driven side Rour and equivalent motion in position units e g 1 R 360 The calculation of the acceleration factor is done with the following equation numerator gear time factor a acceleration factor division feed_constant ESTUN i 4 1 Objects treated in this chapter 5 Position Control Function This chapter describes all parameters which are required for the position controller The desired position value position demand value of the trajectory generator is the input of the position controller Besides this the actual position value position actual value is supplied by
27. N MODE LA transmit_pdo_mapping_tpdo3 a number_of_entries first_mapped_object_tpdo3 second_mapped_object_tpdo3 third_mapped_object_tpdo3 fourth mapped object tpdo3 transmit pdo mapping tpdo4 number of entries second mapped object tpdo4 UINT32 third mapped object tpdo4 UINT32 fourth mapped object tpdo4 UINT32 76 76 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr PDO Wu Support Unit PP masktpdot gt gt 1el 2000 92 tumberofentries Uinta RO NO maski UNT322 RW NO y RW NO 25 maktipo2 J gt 1el sos number ofenties umn w No casi masc3 Te sono O number ofenties um masa No BESE meme gt 1 mos CO econo umber otis Ro No L 1 mask1 tpdo4 UINT32 RW ms ______ Rw No T S ESTUN die 77 7 4 PROFILE POSITION MODE e dee 6041 VAR ves VAR quick stop opi cde ris RW No
28. NT32 UINT32 Z s Z s Z s Z s 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support unit PP PV receive pdo parameter p _ m RECORD wmberetenres pot Um Ro No S cob_id used by UNT2 no 2 Transmission RW No SSS sti recewe_pdo parameter Tel aoa Co leor entries pda UNS Ro No cb M used by pdo pao2 uINTs2 Ro No transmission_iype_rdo2_ umne RW no SSS Es receive pao parameter Tel TTT RECORD wmberetenres pos umre No S cob id used by pdo UINT3 NO e transmission_iype_rpdos RW No SSS pdo parameter TTT RECORD dos umre Ro No S cob id used by pdo rpdo4 RO NO transmission_iype_rpdot umne RW no Cei receive pdomapig dot number ot enr _____ vinta NO S RECORD fst manped_object No SSS second mapped object No SSS third mapped object rpdot No SSS fourth mapped object umrs2 RW No ESTUN di 73 7 4 PROFILE POSITION MO
29. UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW 3 3 PDO Default Value 02 h 00000201 n FFn 02 n 60400010 n 60FF0020 n 00 n 00 n Default Value 02 n 00000301 n FFn 02 n 60FF0020 n 60600010 00 n 00 n Default Value 02 n 00000301 n FFn 02 n 60FF0020 n 60600010 n 00 n 00 n Default Value 02 n 00000301 n FFn 02 n 60FF0020 n 60600010 n 00 n 00 n 22 3 4 SYNC message 3 4 SYNC message Network synchronization The current input will be preserved and transmitted if necessary in the whole network Output value will be updated by previous SYNC message Client server mode CANopen suggests a COB ID with highest priority to ensure that synchronized signal could be transmitted properly Without transferring data SYNC message could be as short as possible The identifier the servo controller receives SYNC messages is fixed to 080n The identifier can be read via the object cob_id_sync Index 1005 h Name cob_id_sync Object Code VAR Data Type UINT32 Access RW PDO Mapping NO Units Value Range 80000080 n 00000080 n
30. ation ESTUN 7 2 HOMING MODE 7 2 HOMING MODE PRONET servo drive currently supports multiple homing mode and users could choose the suitable homing mode For example if an incremental encoder is applied in servomotor then homing mode of Zero impulse could be chosen and if serial encoder or resolver is applied in servomotor then Zero impulse homing mode couldn t be selected The user can determine the velocity acceleration and the kind of homing operation After the servo controller has found its reference the zero position can be moved to the desired point via the object home offset 607 n 7 2 1 Control word of homing mode 15 9 8 7 5 4 3 0 ii Halt i home start operation referred to previous chapters Name Value Description Homing Homing mode inactive operation ES Start homing mode Homing mode active Interrupt homing mode Halt zw Execute the instruction of bit 4 Stop axle with homing acceleration 7 2 2 Status word of homing mode 15 14 13 12 11 10 9 0 homing_error homing_attained target reached referred to previous chapters ESTUN CU 7 2 HOMING MODE Name value Desorption CS Target Halt 0 Home position not reached reached Halt 1 Axle decelerates 1 Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing Homing mode not yet completed attained Homing mode carried o
31. ct profile_velocity specifies the speed that usually is reached during a positioning motion at the end of the acceleration ramp The object profile_velocity is specified in speed_units Index 6081 n profile_velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 ESTUN CU 7 4 PROFILE POSITION MODE end_velocity The object end velocity defines the speed at the target position target position Usually this object has to be set to zero so that the controller stops when it reaches the target position For gapless sequences of positionings a value unequal zero can be set The object end velocity is specified in speed units like the object profile velocity Index 6082 n Name end velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 profile_acceleration The object profile_acceleration determines the maximum acceleration used during a positioning motion It is specified in user specific acceleration units acceleration_units Index 6083 n Name profile_acceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 100000 R 10min s profile_deceleration The object profile_deceleration specifies the maximum decele
32. de ARRAY No of Elements 4 Data Type UINT32 Sub Index 01 h Description standard error field O Access RO PDO Mapping NO Units Value Range Default Value Sub Index 02 Description standard_error_field_1 Access RO PDO Mapping NO Units Value Range Default Value Sub Index 03 n Description standard error field 2 Access RO PDO Mapping NO Units Value Range Default Value Sub Index 04 h Description standard_error_field_3 Access RO PDO Mapping NO Units Value Range Default Value ESTUN 25 3 5 Emergency message 25 3 6 HEARTBEAT message Structure of the heartbeat message Identifier 700h NMT state node number 3 6 HEARTBEAT message Relevant parameter A Message length Index 1017 n Name producer_heartbeat_time Object Code VAR Data Type UINT16 Access RW PDO Mapping NO Units ms Value Range 0 65535 Default Value 0 ESTUN 26 26 3 7 Network management NMT service 3 7 Network management NMT service Structure of the message Identifier 000h Command Node ID 2 t Data length NMT State machine ESTUN sa d CS 01 02 80 81 82 12 Meaning Start Remote Node Stop Remote Node Enter Pre Operational Reset Application Reset Communication ESTUN 3 7 Netwo
33. efined for the message following error The range between xi x0 and xi x0 is defined symmetrically around the desired position position demand value xi For example the positions xt2 and xt3 are outside this window following_error_window If the drive leaves this window and does not return to the window within the time defined in the object following_error_time_out then bit 13 following_error in the statusword will be set to 1 2 Position Reached This function offers the chance to define a position window around the target position target_position If the actual position of the drive is within this range for a certain period of time the position window time bit 10 target reached will be set to 1 in the statusword position_difference position demand value 6062 position actual value 6064 position window 6067 0 position window 6067 position window time 6068 Position reached function description Figure below shows how the window function is defined for the message position reached The position range between xi x0 and xi x0 is defined symmetrically around the target position target position xi For example the positions xtO and xt1 are inside this position window position_window If the drive is within this window a timer is started If this timer reaches the time defined in the object position_window_time and the drive uninterruptedly was within the valid range between xi x0 and x
34. eshold determines the velocity below the axis is regarded as stationary Its unit is ms As soon as the velocity actual value exceeds the velocity threshold longer than the velocity threshold time bit 12 is cleared in the statusword Index 6070 n Name velocity threshold time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 target_velocity The object target_velocity is the setpoint for the ramp generator Index 60FF n Name target velocity Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 ESTUN 7 4 PROFILE POSITION MODE 7 4 PROFILE POSITION MODE 7 4 1 Control word of profile position mode 15 9 8 7 6 5 4 3 0 Ch t N i Halt abs e wi ni i immediately set point referred to previous chapter C ame esi New RN Does not assume target position set point Assume target position Change set ED Finish the actual positioning and then start the next positioning immediatel NE TC i Interrupt the actual positioning and start the next positioning abs rel Target position is absolute value Target position is a relative value Halt Wa Execute positioning Stop axle with profile deceleration if not supported with profile acceleration 7 4 2 Status word of pro
35. file position mode 15 14 13 12 11 10 9 0 Set_point Following error Target reached acknowledge referred to previous chapter __ vane essi Target Halt 0 Target position not reached reached Halt 1 Axle decelerates 1 Halt 0 Target position reached Halt 1 Velocity of axle is 0 Set point Trajectory generator has not assumed the positioning values yet acknowledge 9 Trajectory generator has assumed the positioning values Following No following error error i Following error ESTUN bid 7 4 PROFILE POSITION MODE 7 4 3 Objects of profile position mode Index Object Name Type Attr 607A n VAR target_position INT32 RW 6081 n VAR profile velocity UINT32 RW 6082 n VAR end velocity UINT32 RW 6083 VAR profile acceleration UINT32 RW 6084 n VAR profile deceleration UINT32 RW 6085 h VAR quick_stop_deceleration UINT32 RW 6086 h VAR motion_profile_type INT16 RW target_position The object target_position determines the destination the servo controller moves to The target position target_position is interpreted either as an absolute or relative position This depends on bit 6 relative of the object control word Index 607A n Name target position Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Default Value 0 profile_velocity The obje
36. h 20 3st mapped object 10A0 n 03 n 60FD0020 n 3 Set number of mapped objects number of mapped objects 10A0 n 00 3 4 Set PDO communication parameter PDO1 transmit is asynchronous periodical type transmission type 1800 n 02 FF n Frozen time 2ms 20x100us inhibit time 1040 n 03 14 n Period time 10ms 10x1ms event time 1800 n 05 n OA n 5 PDO mapping complete ESTUN P 3 3 PDO 3 3 1 PDO parameter PRONET drive contains 4 transmit PDOs and 4 receive PDOs The detailed communication parameter and mapping parameter of the first transmit receive PDO is as below and those of the rest 3 transmit receive PDO are the same as the first PDO Index 1800 n transmit pdo parameter tpdo1 Object Code RECORD No of Elements 4 Sub Index 01h Description cob id used by pdo tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range 181 n 1FF Bit 31 may be set Default Value 181 n Sub Index 02 Description transmission type tpdo1 Data Type UINT8 Access RW PDO Mapping NO Units Value Range 1 240 254 255 Default Value 255 Sub Index O3 n Description inhibit time tpdo1 Data Type UINT16 Access RW PDO Mapping NO Units 100us Value Range Default Value 100 ESTUN zT 17
37. h Zero impulse NOT NOT POT POT Reference switch Reference switch Reference switch Reference switch homing_speeds 17 18 19 20 7 2 HOMING MODE There are two kinds of speeds required to find reference point speed during search for switch and speed during search for zero Index 6099 h Name homing_speeds Object Code ARRAY No of Elements 2 Data Type INT32 Sub Index 01 speed_during_search_for_switch Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 Sub Index 02 h Name speed_during_search_for_zero Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 homing_acceleration The objects homing_acceleration determine the acceleration which is used for all acceleration and deceleration operations during the search for reference Index 609A Name homing_acceleration Object Code VAR Data Type INT32 Access RW ESTUN 55 55 7 2 HOMING MODE PDO Mapping YES Units acceleration units Value Range Default Value 0 ESTUN 56 56 7 2 HOMING MODE 7 2 4 Homing sequences Method 1 Negative limit switch using zero impulse evaluation If this method is used the drive first moves relatively quick into the negative direct
38. i x0 bit 10 target reached will be set in the statusword As far as the drive leaves the permissible range bit 10 is cleared and the timer is set to zero Position x X bx 1 1 Position reached ESTUN UU 5 1 Objects treated in this chapter 5 1 Objects treated in this chapter Type INT32 INT32 INT32 UINT32 UINT16 UINT32 UINT16 INT32 Attr RO RO RO RW RW RW RW RO Index Object Name 6062 n VAR position demand value 6063 n VAR position actual value 6064 n VAR position actual value 6065 n VAR following error window 6066 n VAR following error time out 6067 n VAR position window 6068 n VAR position time 60FA n VAR control effort Index 6062 n Name position demand value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units position units Value Range Default Value Index 6064 n Name position actual value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units position units Value Range Default Value Index 6065 n Name following error window Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units position units Value Range 0 7FFFFFFF n Default Value 256 ESTUN 38 38 Inde
39. ime ESTUN ki 7 4 PROFILE POSITION MODE 8 Parameters of the CAN interface Available Reboot for which Parameter MT require Functions and content discription d control method Pn006 Hexadecimal required Pn703 0 CANopen baud rate 0 50Kbps 1 100Kbps 2 125Kbps 3 250Kbps 4 500Kbps Pn703 Hexadecimal required ALL 5 1Mbps Pn703 1 Reserved for extension Pn703 2 Reserved for extension Pn703 3 Reserved for extension Axis Pn704 required ALL CANopen axis address address ESTUN UU 7 4 PROFILE POSITION MODE Appendix object dictionary Index Subindex Object Name Type Attr Support VAR device_type VAR error_register VAR pre_defined_error_field VAR cob id sync VAR communication cycle period VAR synchronous window length R manufacturer device name R ST R manufacturer_software_version ST VAR cob id emergency message UINT32 consumer heartbeat time 1 1017 error behaviour 1029 0 ARRAY number of entries communication error server sdo parameter 1200 0 RECORD noms cob_id_client_server cob_id_server_client ESTUN 72 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 T z Z Z Z 2 gt 0 20 2 s pu Z s manufacturer hardware version A zz 2 s number of entries UINT8 consumer heartbeat time1 UINT16 VAR producer heartbeat time RW Z 5 UINT8 UINT8 UINT8 UI
40. ime UINT16 RW 606F n VAR velocity threshold UINT16 RW 6070 n VAR velocity threshold time UINT16 RW 60FF n VAR target velocity INT32 RW ESTUN 59 59 7 3 PROFILE VELOCITY MODE velocity sensor actual value The speed encoder is read via the object velocity sensor actual value The value is normalised in internal units The velocity demand value can be read via this object Index 6069 n Name velocity sensor actual value Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units O 1rmps 1R 10min Value Range Default Value velocity_demand_value The velocity demand value can be read via this object The unit of this object is the unit of user s speed unit The velocity demand value can be read via this object Index 606B n Name velocity demand value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value velocity_actual_value The actual velocity value can be read via the object velocity_actual_value The velocity demand value can be read via this object Index 606C n Name velocity_actual_value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value ESTUN 7 3 PROFILE VELOCITY MODE velocity_window With the object velocity_window a tolerance window for the veloc
41. ion until it reaches the negative limit switch This is displayed in the diagram by the rising edge Afterwards the drive slowly returns and searches for the exact position of the limit switch The zero position refers to the first zero impulse of the angle encoder in positive direction from the limit switch Index Pulse Negative Limit swieh TT Method 2 Positive limit switch using zero impulse evaluation If this method is used the drive first moves relatively quick into the positive direction until it reaches the positive limit switch This is displayed in the diagram by the rising edge Afterwards the drive slowly returns and searches for the exact position of the limit switch The zero position refers to the first zero impulse of the angle encoder in negative direction from the limit switch Index Puse Positive Limit Switch up ESTUN De 7 2 HOMING MODE Methods 3 and 4 Reference switch and zero impulse evaluation These two methods use the reference switch which is only active over parts of the distance These reference methods are particularly useful for round axis applications where the reference switch is activated once per revolution In case of method 3 the drive first moves into positive and in case of method 4 into negative direction Depending on the direction of the motion the zero position refers to the first zero impulse in negative or positive direction from the reference switch This can be seen in the two follo
42. ity actual value will be defined for comparing the velocity actual value 606C n with the target velocity target velocity object 60FFh If the difference is smaller than the velocity window 606D n longer time than specified by the object velocity window time 606E n bit 10 target reached will be set in the object statusword Index 606D Name velocity_window Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 20 R 10min velocity_window_time The object velocity_window_time serves besides the object 606Dn velocity_window to adjust the window comparator Index 606E Name velocity_window_time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 velocity_threshold The object velocity_threshold determines the velocity underneath the axis is regarded as stationary As soon as the velocity_actual_value exceeds the velocity_threshold longer than the velocity_threshold_time bit 12 is cleared in the statusword Index 606F n Name velocity threshold Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 10 R 10min ESTUN 7 3 PROFILE VELOCITY MODE ESTUN id 7 3 PROFILE VELOCITY MODE velocity_threshold_time The object velocity_thr
43. ller Network Management Used for network services For example the user can act on all controllers at the same time via this object type Heartbeat Error Control Protocol Used for observing all nodes by cyclic messages CAN employs data frames for transferring data between the host controller and the nodes on the bus The following figure presents the structure of the data frame Start ARBITRATION FIELD CYCLICAL of Control Date REDUNDANCY Acknowledged COB ID Field Field CHECK frame 1BIT 11 OR 29 BITS 1BIT 6BITS 0 8BYTES 16BITS 2BITS 7BITS Our drivers doesn t support remote frame currently The details of COB ID is as below ESTUN 7 ESTUN 1 3 Brief introduction of CANopen FUNCTION CODE NODE ID 10 9 8 7 4 3 2 3 1 CAN identifier list Object COB ID bit10 7 binary COB ID hex 3 1 CAN identifier list Index in OD NMT 0000 000n SYNC 0001 080n 1005n 1006n 1007 TIME STAMP 0010 1004 1012n 1013n EMCY PDO1 transimit 0001 0815 OFFn 181n 1FFh 1024n 1015n 1800n PDO1 receive 201n 27Fn 1400n PDO2 transimit 281 2FFn 1801h PDO2 receive 301h 37Fh 1401n SDO transimit 5811 5FFn 1200h SDO receive 601 67Fh 1200h Heartbeat Y ER 701 77Fn 1 PDO SDO
44. n before starting a move to the next setpoint Set of setpoints After reaching the target position the servo controller immediately processes the next target position which results in a move where the velocity of the drive normally is not reduced to zero after reaching a setpoint These Two methods are controlled by the bit4 and bit5 in the object controlword and set_point_acknowledge in the object statusword These bits are in a request response relationship So it is possible to prepare one positioning job while another job is still running ESTUN 7 4 PROFILE POSITION MODE Simple job positioning At first set NMT as Operational and control mode parameter 6061h as 1 1 At first the positioning data target position 607A n profile velocity end velocity and profile acceleration are transferred to the servo controller 2 The host can start the positioning motion by setting the bit4 new set point in the controlword as 1 bit5 change set immediately as 0 and bit6 as absolute or referential type according to target position type absolute or referential 3 This will be acknowledged by the servo controller by setting the bit set point acknowledge in the statusword when the positioning data has been copied into the internal buffer Motion could be started now When the target is reached drive will be acknowledged by bit 10 target reached in status word And then it will run gapless according to program or accept a new target po
45. nd 4 principally like the controller enable under CANopen the state OPERATION_ENABLE will be reached In this state the power stage is live and the servo controller controls the motor according to the parameterized mode of operation Therefore previously ensure that the servo controller has been parameterized correctly and the according demand value is zero The state transition 9 complies with disabling the power stage i e the motor is freely rotatable Status Description Not Ready to Switch servo controller executes its self test The CAN communication is not working On Switch On Disabled The self test has been completed The CAN communication is activated Servo driver is waiting for the state of Switch and servo motor is not at power Ready to Switch On p stage Switched On The power stage is alive Operation Enable The motor is under voltage and is controlled according to operational mode ESTUN i 6 2 controlword Quick Stop Active Servo driver will be stopped through its fixed way Servo driver tests error and will be stopped through its fixed way with motor s power stage alive Fault Reaction Active Fault An error has occurred The power stage has been switched off 6 2 controlword Index Object Name Type Attr 6040 n VAR controlword UINT16 RW 6041 n VAR statusword UINT16 RO 605A n VAR quick stop option code INT16 RW 605B n VAR shutdown option code INT16 RW 605C n VAR disabled operation option
46. neral internal incompatibility in the device Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Sub index does not exist General parameter incompatibility Access failed due to an hardware error Value range of parameter exceeded Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value Data cannot be transferred or stored to the application Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state No Obiect Dictionary is present lt a9 13 3 3 PDO 3 3 PDO PDO is applied to transferring real time data which will be conveyed from a producer to one or multiple clients Data transferring will be limited to 1 to 8 bytes There is no hand shake restriction in PDO communication which means data has been redefined so clients could process the received data for vary short time PDO content will be only defined by its CAN ID assuming producers and clients know PDO content from its CAN ID 2 objects in object dictionary are used for each PDO communication parameter It contains COB ID transferring type restriction time and cycle of timer used by PDO PDO mapping parameter It contains a list of objects in
47. parameter of control mode 7 Control mode PRONET drive currently supports 3 control modes in CANopen DSP402 HOMING MODE PROFILE VELOCITY MODE PROFILE POSITION MODE This chapter mainly describes three control mode as above 7 1 Relevant parameter of control mode Index Object Name Type 6060 VAR modes_of operation INT8 6061 n VAR modes_of_operation_display INT8 7 1 1 modes of operation Drive control mode will be determined by parameters in modes of operation Index 6060 n Name modes of operation Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 3 6 Default Value 0 Value Description 0 NOP MODE 1 PROFILE POSITION MODE 3 PROFILE VELOCITY MODE 6 HOMING MODE ESTUN Attr RW RO 50 7 1 Relevant parameter of control mode 7 1 2 modes_of_operation_display Drive current control mode could be read from parameters in modes_of_operation_display Index 6061 n modes of operation display Object Code VAR Data Type INT8 Access RO PDO Mapping YES Units Value Range 1 3 6 Default Value 0 Notice 1 The current control mode could be only known from parameters in modes of operation display 2 Only when it is at the status of TargetReached drive control mode could be switched form current mode to set control mode and then modes of operation dsiplay could be identical to modes of oper
48. ration used during a positioning motion This object is specified in the same units as the object profile_acceleration Index 6084 n profile_deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 100000 R 10min s ESTUN 7 4 PROFILE POSITION MODE ESTUN 7 4 PROFILE POSITION MODE quick_stop_deceleration The object quick_stop_deceleration determines the deceleration if a Quick Stop will be executed Index 6085 Name quick_stop_deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 200000 R 10min s motion_profile_type The object motion_profile_type is used to select the kind of positioning profile At present only a linear profile is available Index 6086 n Name motion_profile_type Object Code VAR Data Type INT16 Access RW PDO Mapping YES Units Value Range 0 Default Value 0 7 4 4 Functional Description Two different ways to apply target positions to the servo controller are supported Single setpoints After reaching the target_position the servo controller signals this status to the host by the bit target_reached Bit 10 of controlword and then receives a new setpoint The servo controller stops at the target_positio
49. rk management NMT service Initialisation Application Operational 5 7 Stopped 6 78 Operational Transition Target state 3 6 Operational 5 8 Stopped 4 7 Pre Operational 12 13 14 Reset Application 9 310 41 Reset Communication 28 28 3 7 Network management NMT service Name Meaning SDO PDO NMT Reset Application No communication All CAN objects are set to their reset values application parameter set Reset No communication Communication The CAN controller will be re initialised Initialising State after Hardware Reset Reset of the CAN node sending of the Bootup message Pre Operational Communication via SDOs possible X _ x PDOs inactive No sending receiving Operational Communication via SDOs possible X X PDOs active sending receiving Stopped No communication except heartbeat NMT ESTUN d 3 7 Network management NMT service 4 Conversion factors Factor Group Servo controllers will be used in a huge number of applications As direct drive with gear or for linear drives To allow an easy parameterization for all kinds of applications the servo controller can be parameterized in such a way that all values like the demand velocity refer to the driven side of the plant The necessary calculation is done by the servo controller Position User units Internal units position units position factor Increments Velocity
50. s 31 41 1 position factor eee obere eee mte e E G RERO Re ERE Hae 31 4 12 velocity faglop u u S u a 33 4 1 3 acceleration factor i 35 5 Position Control u 36 5 1 Objects treated 1n this 38 6 Device e uS 40 6 1 State diagram State a 40 re ii 42 6 2 1 COMMOIWON Anei EEE EE E E EEE E a 43 6 2 2 lt m 7 44 6 2 3 shutdown option code 45 6 2 4 disable_operation_option_code 47 6 2 5 quick stop option Cod rer ia 47 6 2 6 halt Option 6006 eee e eet ette N e a E i 49 0 2 7 fault reaction option code eee ee tate aa 49 7 COMMON 5 dde 50 7 1 Relevant parameter of control mode rer oa 50 414 modes of operation cite 50 7 1 2 modes of operation display i 51 7 2 HOMING MODE PPP 52 7 2 1 Control word of homing mode entente nennen nnne nnns 52 7 2 2 Status word of homing 52 7 2 3 Relevant parameter of homing MOdE
51. sition to t t t Time Gapless sequence of Positioning job At first set NMT as Operational and control mode parameter 6061h as 1 1 At first the positioning data target position 607An profile velocity end velocity and profile acceleration are transferred to the servo controller 2 The host can start the positioning motion by setting the bit4 new set point the controlword as 1 bit5 change set immediately as 0 and bit6 as absolute or referential type according to target position type absolute or referential 3 This will be acknowledged by the servo controller by setting the bit set point acknowledge in the statusword when the positioning data has been copied into the internal buffer Motion could be started now 4 Second positioning data target position 607A profile velocity end velocity profile acceleration are transferred to the servo controller 5 The host can start the positioning motion by setting the bit4 new set point the controlword as 1 bit5 change set immediately as 0 and bit6 as absolute or referential type according to target position type absolute or referential 6 When the 1 target is reached driver will move forward to second target position When the second target position is reached drive will be acknowledged by bit10 target reached in status word And then it will be executed by program or accept another new target position ESTUN C 7 4 PROFILE POSITION MODE t t t T
52. the object dictionary This objects are mapped into PDO includes their data length in bits Producers and clients must know this mapping to explain the content of PDO The content of PDO s message is predefined or configured when the network initializes Mapping application object into PDO is described in object dictionary If a device producer and client support dynamic ways SDO could be used to configure PDO s mapping parameter Our servo drive supports dynamic PDO mapping There are 2 rules for PDO mapping to follow 1 Each PDO could be mapped into 4 objects 2 The length of each PDO will be no more than 64 bits PDO mapping process 1 Set sub index of PDO coordinated mapping parameter 1600 1601 p 1A00 or 1401 as 2 Revise the sub index from 1 to 4 of PDO coordinated mapping parameter 1600 n 1601 n 1A00 h OF 1A01 h 3 Set sub index 0 of PDO coordinated mapping parameter 1600 1601 p 1A00 or 1 01 as legal number number of PDO s mapping objects 4 PDO mapping completing There are multiple ways to transmit PDO Synchronous Synchronization by receiving SYNC object Cycle Transmit triggered after every 1 to 240 SYNC messages Asynchronous Transmit triggered by special object event regulated in sub object protocol Transmit type of PDO Transmit Type Description PDO 0 Reserved i 1 240 SYNC represents the number of SYNC objects TPDO RPDO between 2 PDOs
53. tion Profile CIA DS 301 includes both cyclic and event driven communication which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times High communication performance can be achieved at relatively low baud rates thus reducing EMC problems and cable costs CANopen device profiles define both direct access to drive parameter and time critical process data communication The NCAN 02 fulfils CiA CAN in Automation standard DSP 402 Drives and Motion Control supporting the Manufacturer Specific operating mode only The physical medium of CANopen is a differentially driven two wire bus line with common return according to ISO 11898 The maximum length of the bus is limited by the communication speed as follows Baud Rate Max Bus Length 1M bit s 25m 500k bit s 100 250k bit s 250 125k bit s 500 m 100k bit s 600 m 50k bit s 1000 m The maximum theoretical number of nodes is 127 However in practice the maximum number depends on the capabilities of the CAN transceivers used Further information can be obtained from the CAN in Automation International Users and Manufacturers Group www can cia de ESTUN i 1 3 Brief introduction of CANopen 2 Cabling and Wiring eThe layout of CN3 terminal Pin number Name Function 1 5V 5VDC power supply 2 5V 3 485 RS 485 communication terminal 4 DGND Grounding
54. ue 04 n 00000281 n FFn 64 n OA n 02 n 60640020 n 60610010 n 00 n 00 n Default Value 04 n 00000281 n FFn 64 n OA n 02 n 60640020 n 60610010 n 00 n 00 n 3 3 PDO 4 T PDO4 Index Comment Type Acc Default Value 1803 n_00n number of entries UINT8 RO 04 h 1803 014 used by PDO UINT32 RW 00000281 n 1803 024 transmission type UINT8 RW FF h 1803 n_03 inhibit time 100 us UINT16 RW 64 n 1803 n_05 n event time 1ms UINT16 RW OA n 1A03 00 number of mapped objects UINT8 RW 02 h 1403 01 n first mapped object UINT32 RW 60640020 h 1A03 _02 second mapped object UINT32 RW 60610010 n 1403 03 third mapped object UINT32 RW 00 n 1403 _04 fourth mapped object UINT32 RW 00 n tpdo_1_transmit_mask Index Comment Type Acc Default Value 2000 n_00n number of entries UINT8 RO 02 h 2000 n 014 tpdo 1 transmit mask low UINT32 RW FFFFFFFF n 2000 n_02 n tpdo 1 transmit mask high UINT32 RW FFFFFFFF n tpdo 2 transmit mask Index Comment Type Acc Default Value 2001 004 number of entries UINT8 RO 02 n 2001 014 tpdo 2 transmit mask low UINT32 RW FFFFFFFF n 2001 024 tpdo 2 transmit mask high UINT32 RW FFFFFFFF n tpdo 3 transmit mask Index Comment Type Acc Default Value 2002 004 number of entries UINT8 RO 02n 2002 014 tpdo 1 transmit mask low UINT32 RW FFFFFFFF n 2002 024 tpdo 1 transmit mask high UINT32 RW FFFFFFFF n tpdo 4 transmit mask Index Comment Type Acc Default Value 2003 0
55. ut successfully Homing we No homing error error 1 Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code ESTUN Li 7 2 3 Relevant parameter of homing mode Index 607C h 6098 n 6099 n 609A n home offset Object Name VAR home offset VAR homing method ARRAY speeds VAR homing acceleration Type INT32 INT8 UINT32 INT32 7 2 HOMING MODE Attr RW RW RW RW The object home offset determines the displacement of the zero position to the limit resp reference switch position Home Position home offset gt Index 607C n Name home offset Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Default Value 0 homing_method The negative and positive limit switch the reference switch and the periodic zero impulse of the angle encoder Index 6098 n Name homing method Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 2 3 4 17 18 19 20 Default Value 1 Homing method value description Reference point Value Direction Target for Home DS402 position 1 Negative NOT Zero impulse 1 ESTUN CU 2 3 4 17 18 19 20 Positive Negative Positive Negative Positive Negative Positive POT Zero impulse Reference switch Zero impulse Reference switc
56. wing diagrams Index Pulse Home Switch Method 17 20 Homing operation to the negative limit switch If this method is used the drive first moves relatively quick into the negative direction until it reaches the negative limit switch This is displayed the diagram by the rising edge Afterwards the drive slowly returns and searches for the exact position of the limit switch The zero position refers to the descending edge from the negative limit switch Home Switch ESTUN i 7 3 PROFILE VELOCITY MODE 7 3 PROFILE VELOCITY MODE 7 3 1 Control word of profile velocity mode 15 9 8 7 4 3 0 Halt referred to previous chapters Name Halt uW Execute the motion Stop axle 7 3 2 Status word of velocity mode 15 14 13 12 11 10 9 0 MaxSlippageError Speed f Target reached 2 Referred to previous chapters Name Target Halt 0 Target velocity not yet reached reached Halt 1 Axle decelerates 1 Halt 0 Target velocity reached Halt 1 Axle has velocity 0 1 Speedisequal0 Max 0 Maximum slippage not reached tia 7 3 3 Objects of profile velocity mode Index Object Name Type Attr 6069 h VAR velocity sensor actual value INT32 RO 606B n VAR velocity demand value INT32 RO 606C n VAR velocity actual value INT32 RO 609D n VAR velocity window UINT16 RW 606E n VAR velocity window t
57. x 6066 Name following_error_time_out Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range 0 65535 Default Value 0 Index 60FA Name control_effort Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value Index 6067 n Name position window Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units position units Value Range Default Value 400 Index 6068 Name position_ time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range 0 65535 Default Value 0 ESTUN 39 5 1 Objects treated in this chapter 39 6 1 State diagram State machine 6 Device Control The following chapter describes how to control the servo controller using CANopen i e how to switch on the power stage or to reset an error 6 1 State diagram State machine Using CANopen the complete control of the servo is done by two objects Via the controlword the host is able to control the servo as the status of the servo can be read out of the statusword The following items will be used in this chapter State The servo controller is in different states dependent on for instance if the power stage is alive or if an error has occurred States defined under CANopen will be explained in this chapter Example SWITCH_ON_DISABLED State Transition Just as the states it is defined as well how to move
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