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SilverLode™ CANopen® User Manual

1. All 5 signals are also connected to the RJ12 connectors on the bottom of the unit These connectors provide for easy daisy chaining of the QCI D2 IG8 units via untwisted RJ12 patch cords These are available from QCI This unit also has CAN status LEDs and CAN address and Baud Rate switches See QCI DS 018 for details BP2 CAN Daisy Chain Interface Pinout 1 CAN SHIELD 2 CAN V 3 CAN H 4 CAN L 5 CAN GND 6 CAN SHIELD 5 The CAN signals for the QCI D2 IGB and the QCI D2 IG8 are galvanicly isolated from the other controller signals The CAN signals for the QCI D2 MG C are NOT isolated rather the CAN transceiver is powered from the local 5V supply The CAN transceivers used are internally protected to 80v This configuration allows deployment of CAN within smaller systems at minimal cost CANopen User Manual Rev 1 5 Page 8 of 121 Chapter 1 Getting Started 6 The QCI D2 MG provides only three non isolated CAN connections CAN_L CAN_H and GND These signals may be connected to isolated CAN signals or to other non isolated CAN signals if the Ground signals are common with in the system The power for the CAN is derived from the loca
2. i Ly Low Byte High Byte ACK is supplied by One RO Reserved Bit 00 10 29h 52h or more Other Nodes i ps Stuff bit Dat Length ACK Delimiter Must be Recessive Count DLC or start of Error Frame CANopen User Manual Rev 1 5 Page 28 of 121 Chapter 3 CANopen Protocol Chapter 3 CANopen Protocol Introduction to CANopen Communications CANopen provides communications between sensors controllers drives I O and other devices This communication provides e Access to device and communication parameters Cyclical and event based process data communications Synchronization between devices Configuration Fault detection Four Communication Objects COB each with its own characteristics are defined e Network Management NMT Heartbeat e Service Data Objects SDO e Process Data Objects PDO e Pre defined objects SYNC EMCY TIME CAN in Automation CiA is responsible for the standards and profiles that define the CANopen standard www CAN CiA org All of the Node Data and Configuration available to and through the CAN bus is defined in a data structured called the Data Dictionary Each entry in the Data Dictionary is called a Data Dictionary Object and is referenced by an Index These Objects may be simple such as bytes words long words strings etc or may be complex such as arrays or data structures A Sub Index is used to ref
3. CANopen User Manual Rev 1 5 Page 90 of 121 2001 EMCY Report Mask The EMCY Report Mask determines which errors will be reported via EMCY and through 1001h Errors 1003h Predefined Errors as well as 603fh most recent error code These errors will only be reported via EMCY and register 1003h if EMCY is enabled via Object 1014h Chapter 7 CANopen Data Dictionary The mask must be initialized before any error sources will be reported via EMCY CH Error Code Error Cause Driver Over Temperature Driver Over Voltage Driver Under Voltage Motor Over Temp Encoder Analog Error Motor Commutation Realign Non Volatile Memory Error PDO data out of range COIN JOT BA JO R Position Error Motion Error Command error Heartbeat Error Error Passive Protocol Error Extended IO power missing Drive Disabled Velocity Limit Exercised PDO Data Too Short PDO Data Too Long Processor Over Temp Recovered from Bus Off Bus Overload new data can not be sent HeartBeat changed to non operational or timed out CAN Error Warning Against CW CCW limits Negative Limit Switch Active Positive Limit Switch Active Reserved Driver Interlock Inactive Disabled Reserved Reserved CANopen User Manual Rev 1 5 Reserved Page 91 of 121 Chapter 7 CANopen Data Dictionary
4. Objects 2100h to 21FCh Purpose Index Reg Access High Word Low Word Notes 100h 0 RW Target Position Make only slight gradual adjustments 101h 1 RW Actual Position to prevent rapid motions 102h 2 RW Last Index Position 103h 3 RO Internal Status Word Reserved 104h 4 RW Last Trig Position 105h 5 RW Delay Counter 106h 6 RW Max Position Error Current Position Error 107h 7 RO Velocity 1 Velocity 2 108h 8 RO Integrator Value 109h 9 RO Reserved Torque 10Ah 10 RW User Register 10 Thread 1 Register 10 10Bh 11 RW User Register 11 10Ch 12 RW User Register 12 10Dh 13 RW User Register 13 10Eh 14 RW User Register 14 10Fh 15 RW User Register 15 110h 16 RW User Register 16 11ih 17 RW User Register 17 112h 18 RW User Register 18 113h 19 RW User Register 19 114h 20 RW User Register 20 115h 21 RW User Register 21 116h 22 RW User Register 22 117h 23 RW User Register 23 118h 24 RW User Register 24 119h 25 RW User Register 25 11Ah 26 RW User Register 26 11Bh 27 RW User Register 27 11Ch 28 RW User Register 28 11Dh 29 RW User Register 29 11Eh 30 RW User Register 30 11Fh 31 RW User Register 31 120h 32 RW User Register 32 121h 33 RW User Register 33 122h 34 RW User Register 34 123h 35 RW User Register 35 124h 36 RW User Register 36 125h 37 RW User Register 37 126h 38 RW User Register 38 127h 39 RW User Register 39 128h 40 RW User Register 40 129h 41 RW User Register 41 12Ah
5. 1016 1 0011 000Fh Node 17 15ms 1016 2 0012 000Fh Node 18 15ms The status of these nodes is indicated in the contents of Object 2005h 2005 01 for Node 17 and 2005 02 for Node 18 Immediately following configuring the heartbeat monitoring the pending bit Bit 14 in object 2005 with the corresponding Sub Index is set and the heartbeat timed out Bit 15 is cleared The pending bit stays high until the first heartbeat is detected until the first heartbeat is detected the heartbeat will not time out The pending bit may be checked to see if the unit being monitored has started up if it is self configured to produce a heartbeat prior to initiating other configuration With each heartbeat the current NMT state is sent as well as the CAN ID Bit 13 in the corresponding Sub Index of Object 2005 is set if the NMT state has changed since configuring object 1016 or since clearing this bit by writing a 1 to it Bit 12 is set if the node has changed from Operational to either Pre Operational or Stopped State CANopen User Manual Rev 1 5 Page 64 of 121 Chapter 6 CANopen Configuration A logical OR of all monitored heartbeat errors is reported in CAN_Errors reflected in Objects 2002h and 2007h CAN Errors is also used by 2000h and 2001h to generate the CAN Error Status bit Bit 10 in IS2 as well as to report EMCY frames respectively The same is true of Changed to non operational status via Bit 22 of CAN_Errors This provides rapid
6. Sub Index 0 is an error counter taking values in the range of 0 to 4 This error counter may be cleared by writing a zero 0 to Sub Index 0 Any other value will produce an error Clearing the error counter also clears any errors stored at Sub Indexs 1 through 4 Sub Indexes 1 through 4 hold the error information Bits 31 16 are Manufacturer specific currently reserved set to 0 but subject to change Bits 15 0 are the respective Error Codes Access Purpose Default Predefined Error Object 301v04 Number of Errors in Array Most recent Error Next most recent error Next to oldest error Oldest error CANopen User Manual Rev 1 5 Page 72 of 121 Chapter 7 CANopen Data Dictionary Driver over temp 0 4310h Driver Over Temp Digital output HC drive Thermistor Driver over voltage 1 0 2 3210h Ae set by OVT command Driver under voltage 0 2 3120h As set by LVP LVT Motor over temp 3 0 3 4000h Ae configured via upper word of Register 241 Encoder Analog Error d 0 7 7305h Encoder voltages indicate open or short Phasing error 5 0 7 7122h Apparently lost encoder counts Encoder re phrased via Index N V Memory error 6 0 7 5530h EEPROM read failure PDO data out of range 7 0 4 6320h PDO data out of range for Object Position error 8 0 7 18611h Ae configured by the ERL command Motion error
7. l lt 16 Data lt 16 Data lt 16 Data lt 16 Data gt 1 16 17 Transmitting In Peer To Peer each unit will locally configure itself to either transmit or receive In this example unit 16 is configured to transmit its register onto the bus Once configured any unit on the bus may receive the data This is done using the CAN Transmit Register Local CTRL Combo Command Each device has four independent Edit CTRL CAN Transmit Register Local zl communication channels to transmit data Us i es to transmit selected register over i l Once configured the data register will NOTE Accumulator Register 10 modified by this SE transmit data continuously onto the bus command Transmit Channel Advanced In CANopen terminology this is called a i l al Transmit Process Data Object TPDO Gin a 2m See TPDO section for more details 4 CANopen User Manual Rev 1 5 Page 12 of 121 Chapter 1 Getting Started Once data transmission is configured use the on zi CAN Set NMT State Local CNL command to set 338 CAN Network Management NMT the Network Management NMT state to Cancel Operational This allows the unit to start Description transmitting data Example Program Unit 16 transmits its actual position onto the bus See Diagram above pes emt 1 REM Broadcast the Actual Position CTRL CAN Transmit Register i Local 2CTAL Tx Channel 1 Register Actual
8. 187 RW User Register 187 1BCh 188 RW User Register 188 1BDh 189 RW User Register 189 1BEh 190 RW User Register 190 1BFh 191 RW User Register 191 1COh 192 RW User Register 192 1C1h 193 RW User Register 193 1C2h 194 RW User Register 194 1C3h 195 RW User Register 195 1C4h 196 RW User Register 196 1C5h 197 RW User Register 197 1C6h 198 RW User Register 198 1C7h 199 RW User Register 199 1C8h 200 RW External Encoder Position 1C9h 201 RW External Index Position 1CAh 202 RO Reserved 1CBh 203 RO Reserved 1CCh 204 RO Target Acceleration 1CDh 205 RO Target Velocity 1CEh 206 RW Closed Loop Torque Hold Closed Loop Torque Move 1CFh 207 RW Open Loop Torque Hold Open Loop Torque Move 1DOh 208 RW Error Limit Moving Error Limit Holding 1Dih 209 RO Sense Mask IO Status Word 1D2h 210 RO Program Buffer Size Program Buffer Start 1D3h 211 RW Kill Motor Conditions ISW Kill Motor States ISW Cause of KMR 1D4h 212 RO Analog Input 1 Analog Input 2 A D from 104 and 105 respectively 1D5h 213 RO Analog Input 3 Analog Input 4 A D from 106 and 107 respectively 1D6h 214 RO Driver Volt Processor Temp 1D7h 215 RO N2 N3 Process Volt N2 N3 Analog Driver Temp 1D8h 216 RO Max Driver Volt Driver Cal 1D9h 217 RO Max HC Driver Temp HC Processor Volt Cal 1DAh 218 RW Reserved 1DBh 219 RW Group ID Unit ID 1DCh 220 RW DIF lO Line 1 Filter Constant DIF IO Line 1 Filter Count 1DDh
9. Index Sub TypelaccessPurpose Default Ref oo pooanpo ug RO CAN SwitchData kel Bit 15 Input from 103 of Ethernet Interface Bit 14 Input from 102 of Ethernet Interface Bit 13 Reserved Bit 12 Reserved Bit 11 SSI MISO Input Bit 10 SSI CS Z Input Bit 9 SSI CLK B Input Bit 8 SSI MOSI A Input Bit 7 High switch 8 Bit 6 High switch 4 Bit 5 High switch 2 Bit 4 High switch 1 Bit 3 Low switch 8 Bit 2 Low switch 4 Bit 1 Low switch 2 Bit 0 Low switch 1 Default IG8 configuration uses these switches to set unit ID 1 16 for positions 1 15 0 and CAN baud rate Valid CAN baud rates 1Mb sec for invalid selections CANopen User Manual Rev 1 5 Page 99 of 121 Chapter 7 CANopen Data Dictionary User Register Mapping to CAN Data Dictionary The SilverLode Registers are mapped in multiple fashions to the Data Dictionary to allow them to be accessed as 8 16 24 or 32 bit numbers either signed or unsigned The User Register space is mapped to values 0 to 255 see User Manual not all 255 are implemented are mapped as objects 2100h through 21FFh The Access RO RW etc for each register is as it is defined for the corresponding register Attempted access to non existent registers will produce the corresponding errors The register may be accesses as a 32 bit number by referencing Sub Index 1 of the User Register Object The upper word of the register may be accessed by referencing Sub Index 2 etc See Table Purpose Access
10. RO Position Demand Value hkovoalyes CANopen User Manual Rev 1 5 Page 112 of 121 Chapter 7 CANopen Data Dictionary 6063h Position Actual Value Displays the current Actual Position Value Actual Position This is the same data as User Register 1 Index Sub TypelAccess Purpose Default bet PDO beau 32 RO Position Actual Value koavoelves 6064h Position Actual Value This Register displays the same information as 6063h Displays the current Actual Position Value Actual Position This is the same data as Register 1 Index Sub TypelAccess Purpose Default Pet 6064hjoo 32 RO Position Actual Value 40202 g Oo n 607Ah New Target Position Defines the new Target Position It may be either absolute or relative according to the state of the ABS REL bit in the Control Word New Target Position is mapped to Register 124 The user program is responsible for updating the trajectory generator from this value Index Sub Type AccessPurpose Default Ref PDO j607An 00 32 Rw Men Target Position kozvog ves 607Ch Home Offset Home Offset is the difference between the zero position for the application and the machine home position found during homing in encoder counts During the homing motion the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position User program is responsible to implement this function
11. because the Dominant State is present on the bus when both Dominant and Recessive states are asserted by different nodes the Node transmitting the message with the lowest COB ID arbitration field wins the arbitration cycle This is repeated for all 11 or 29 bits of the COB ID The node that was sending the lowest numbered COB ID remains active and continues to transmit the balance of the frame except for the ACK bit The ACK bit must be provided by a different Node to indicate that the frame was CANopen User Manual Rev 1 5 Page 25 of 121 Chapter 2 Introduction to CAN received properly If any error active Node detects a problem with the frame it asserts an Error Frame which causes the sending Node to stop sending and to retry There are several error recovery mechanisms built into CAN not described here to simplify the description To restate the highest priority messages need to be assigned the lowest COB ID values while the lower priority messages are assigned the higher COB ID values Upon receipt of a valid frame each node other than the node that originated the Frame then examines the COB ID transmitted during the Arbitration Frame to see if it needs to act upon the frame or whether it may discard the frame Note It is important that all COB ID values are unique to prevent more than one node from winning arbitration only to have mismatching data collide This will result in resending of data until nodes go offline
12. sync time in microseconds CANopen User Manual Rev 1 5 Page 54 of 121 Chapter 5 CANopen Commands Command Info Command Command Parameters Parameter Range Name Type Num CAN Program Tx Channel 1 to4 Transmit Class lowest numbered channel Register COMBO D has highest priority for Local Code node For the same CTRL channel lowest 72 words numbered node has highest priority Data Register Selects the Data register to transmit Advanced options See description above for 279 transmit channel details Transmit type inhibit time event timer starting sync QuickControl Example Edit CTRL CAN Transmit Register Local xi Use selected channel to transmit selected register over OK the CANOpen bus oa NOTE Accumulator Register 10 modified by this command cce Transmit Channel 1 e Advanced it Description Register to T CANopen User Manual Rev 1 5 Page 55 of 121 Chapter 5 CANopen Commands CAN Transmit Register Remote CTRR Description The CAN Transmit Register Remote CTRR combo command is used to configure a remote node to transmit data via a PDO object This combo command performs a function very similar to the CAN Register Map Local CRML except that instead of configuring the local node a remote node is being configured to transmit data The configuration is done via the CAN bus using SDO operations PDO data streams may be used to dynamically share a register content
13. 2000h sets local CAN Error triggers which cause the CAN Error Bit 10 in IS2 to be set able to trigger a Kill Motor Extended KMX condition if KMX has been configured to include a trigger on the CAN Error bit The EMCY object includes the ID implicitly via the COB ID defaulting to 80h NodelD unless modified via Object 1014h Object 1015h sets the inhibit time for EMCY messages so that they do not overload the communications Each time a qualified see Object 2001h error occurs the contents of the Error register data Object 1001h as well as a specific error code is transmitted The error code information is also saved to the Predefined Error Field Object 1003h with Sub Index 0 indicating how many errors 0 to 4 are queued in the FIFO buffer of 1003h with the most recent error stored at Sub Index 1 and the oldest at Sub Index 4 The FIFO buffer implementation allows up to four errors before discarding the oldest The error storage may be cleared by writing a zero 0 to Sub Index 0 When a qualified error that has already been reported has cleared then an Error Cleared frame is sent indicating any error conditions Object 1001h that may still be pending Transient errors such as a short PDO frame will produce an Error frame followed by an Error Cleared frame as these errors are transient by nature If the error repeats it will only be reported after the Error Cleared frame associated with that error has been sent the multiple
14. Actual Value fo2vo2 ves 60FCh Position Demand Value This is a duplicate of 60F2h Index Sub TypelAccess Purpose_ Default Bet PDO brtron 82 RO Position Demand Value v02 Yes 60FDh Digital Inputs Provides links to the various IO The Negative Positive and Home Switches are user definable via 2004H defaulting to IO 1 2 and 3 respectively The interlock is the Driver Enable input forming both a hardware and software interlock Bit 0 Negative Limit Switch Bit 1 Positive Limit Switch Bit 2 Home Switch Bit 3 Interlock Bits 16 31 Extended IO bits 101 through 116 copy from G_16_BITS each cycle Index Sub Type Access Purpose Default Ref PDO born u32 RO Digital inputWord kozvozfves CANopen User Manual Rev 1 5 Page 118 of 121 Chapter 7 CANopen Data Dictionary 60FEh Digital Outputs Provides link to Digital Outputs 101 through 116 Sub Index 01 allows reading and writing the IO bits once Sub Index 02 and 03 have been configured 10101 through 10116 are mapped to bits 16 through 31 respectively Bits 0 through 15 are reserved They are not acted upon Sub Index 02 is a gating mask to enable output bits to be altered via the Digital Output command preventing non gated bits from being altered This allows a division between IO which is locally controlled and that which may be controlled through the CAN bus Setting a 1 in the mask allows the corresponding IO to be updated when Sub Index 01 is w
15. Bit 31 high Next the Objects to be mapped onto the selected PDO must be selected and configured The Object Mapping may not be updated while the Number of Objects Mapped is non zero The Number of Objects Mapped may not be changed while the associated COB Id is enabled At reset the COB IDs are disabled and the Number of Objects Mapped are set to zero for all objects so the next step is to map the Data Dictionary Objects onto the PDO The PDO is capable of carrying up to eight bytes of information The purpose of mapping is determining which data if any is sent in each of those bytes The first object mapped starts in Byte 0 and consumes as many bytes as are needed for its data type The smallest increment of data supported in this implementation is eight bits byte so 1 2 3 4 byte 8 16 24 and 32 bit data fields are supported The Index and Sub Index of the Data Dictionary Object as well as the number of bits for that object form the map The object corresponding to the next set of data is mapped next Up to four objects may be mapped to each PDO in this implementation The data type of the object is compared with the number of bits and an error will result if the two are not CANopen User Manual Rev 1 5 Page 61 of 121 Chapter 6 CANopen Configuration consistent After all objects for a given PDO have been mapped the Number of Objects Mapped parameter may be written If fewer objects have been mapped than are indicated by Numbe
16. CAN Data Dictionary Description Index 2101h Sub Index 00h 4 8ms rer r Sg Se timeout using Client 1 Results are written to Register 30 General Remote Output Remote Register Access gt Remote Register Target Position 0 16 80 0 30 0x2101 0 4 40 1 CR a or Mode Local Register l l 16 80 0 30 8449 0 4 40 1 CR Pee ped Gee See Write Constant to Remote Register Response User 30 ACK only CANopen User Manual Rev 1 5 Page 45 of 121 Chapter 5 CANopen Commands CAN Identity CID Description CAN Identity for the first time sets the CANopen CAN ID and starts up CAN frame processing it also results in an initialization of the COB ID s including those previously configured This command cannot be processed will produce a command error if the CAN NMT state is Operational or Stopped it will only work in Pre Operational or prior to configuring CAN CAN initialization state Setting the CAN ID after it has been previously set only changes the current CAN CAN ID to force a re initialization of the COB ID s it is necessary to negate the ID value i e 1 to 127 The CAN CAN ID may be set explicitly 1 to 127 or it may be set to the lower 7 bits Node s Serial ID by setting the ID to zero 0 If using the lower 7 bits of the Serial ID do not use Serial ID 128 as this would result in an invalid CAN CAN ID of 0 which is reserved for broadcast will produce a command erro
17. COB ID enumeration their COB Id fields are not configurable the paired nodes must be mapped to the fixed nodes enumeration EMCY Configuration 1014h COB ID EMCY 80h COB ID set by default no need to modify 1015h EMCY Inhibit 30 1Eh Example value don t update EMCY messages more Than once every 3 milliseconds 100uS increments Optional 2001h EMCY Report 11FF FFFFh report all errors except limit switches via EMCY Emergency Communications frames EMCY provide means to notify other nodes of error problems These nodes must support EMCY consumer not currently implemented The selected errors also are indicated via objects 1001h 1003h and in raw bit form in 2002h and 2007h Heartbeat Configuration Each SilverLode node is capable of both producing and consuming monitoring Heartbeat messages Each node to be monitored by any other node or nodes must be configured via Object 1017h Heartbeat Producer Time in milliseconds To have a node report its continued operation as well as its current NMT state every 10 milliseconds configure 1017h 10 OAh To configure a node to monitor other node s Heartbeats configure Object 1016h Consumer Heartbeat Time For example to monitor Node 17 11h and Node 18 12h with each producing a heartbeat every 10ms the heartbeat consumer should be configured for a slightly larger value such as 15ms OFh to allow for a busy bus transmitting higher priority frames
18. Error Bit 10 to be set in Internal Status Word 2 IS2 Sub Index 1 provides a RW operation while Sub Index 2 provides a WO set bit operation and Sub Index 3 provides a WO clear bit operation Enabling the CAN Error bit in the Kill Motor Extended KMX command will cause a critical error to force a Kill Motor Recovery The mask must be initialized before any error sources will be reported via the CAN STATUS bit Bit Error Cause Driver Over Temperature Driver Over Voltage Driver Under Voltage Motor Over Temp Encoder Analog Error Motor Commutation Realign Non Volatile Memory Error PDO data out of range Position Error Motion Error Command error Heartbeat Error Error Passive Protocol Error Extended IO power missing Drive Disabled Velocity Limit Exercised PDO Data Too Short PDO Data Too Long Processor Over Temp Recovered from Bus Off Bus Overload new data can not be sent HeartBeat changed to non operational CAN Error Warning Against CW CCW limits Negative Limit Switch Active Positive Limit Switch Active Reserved Driver Interlock Inactive Reserved Reserved Reserved CH OD IVS JOT A JOD CANopen User Manual Rev 1 5 Page 89 of 121 Chapter 7 CANopen Data Dictionary Purpose Default Max Array Size RW Critical Error Mask Set bits Critical Error Mask Clear Bits Critical Error Mask
19. Home offset is mapped to register 100 Index Sub TypelaccessPurpose Default Ret PDO 607ch00 182 Rw Home Offset 0koevoalves CANopen User Manual Rev 1 5 Page 113 of 121 Chapter 7 CANopen Data Dictionary 607Dh Position Limits Array The Position Limits Array defines the Lower and Upper software limits Distance is in encoder counts relative to the home zero point If both values are equal or the upper is less than the lower limit then the limits are not engaged The limits must be configured via user code Lower Limit is mapped to Register 128 Upper Limit is mapped to Register 129 Access Purpose Default Homing Speeds Array 402v03 Highest Sub Index supported Lower Software Position Limit Upper Software Position Limit CANopen User Manual Rev 1 5 Page 114 of 121 Chapter 7 CANopen Data Dictionary 607Fh Maximum Profile Velocity Maximum Profile Velocity is the maximum slowed speed magnitude during a profiled move It has the same units as Profile Velocity The user code is responsible for implementing this limiting function Maximum Profile Velocity is mapped to Register 125 Index Sub TypelAccess Purpose Default bet PDO l607Fh00 U32 RW Maximum Profile Velocity o2vo2 ves 6081h Profile Velocity Profile Velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move The units are in SilverLode units unless converted by user pro
20. ID used for the Emergency EMCY frames The sources for the EMCY frames are configured via Object 2001h The default COB ID is 128 CAN ID 80h NodelD with EMCY enabled See Object 1003h for a description of Error Codes and their causes Bit 31 is set low to enable the EMCY producer Bit 30 is reserved and must be set to 0 Bits 29 0 are the standard COB ID format Bit 29 set 1 indicates an extended frame 29 bit ID with bits 28 0 holding the extended frame COB ID Bit 29 cleared 0 indicates a standard frame with bits 10 0 holding the standard frame COB ID Index Sub TypelAccessPurpose Detaut Bei mann U32 bw EMCYCOBID 80h NodelDjB01vo4iNo 1015h EMCY Inhibit Time EMCY Inhibit time sets the minimum time in 100uS increments between successive EMCY messages to prevent overloading the bus due to repeated intermittent errors A value of 0 disables the inhibit time Index Sub TypelaccessPurpose Default Ref Pool guung u32 bm EMCY Inhibit Time 10048 D 801voalno 1016h Consumer Heartbeat Time This array may be used to denote the CAN ID and the respective HeartBeat timeout time in 1millisecond increments for up to 8 CANopen devices Bits 31 24 are reserved Set to 0 Bits 23 16 contain the CAN ID to monitor Bits 15 0 contain the related Heartbeat time in 1mS increments 0 disabled Attempting to configure the same CAN ID at different Sub Indexes will produce an error Reconfiguring the same CAN ID at the same Sub Index wi
21. Off Bus Overload new data can not be sent HeartBeat changed to non operational CAN Error Warning Against CW CCW limits Negative Limit Switch Active Positive Limit Switch Active Reserved Driver Interlock Inactive Disabled Reserved Reserved Reserved CH COIN JOT BATON CANopen User Manual Rev 1 5 Page 93 of 121 Chapter 7 CANopen Data Dictionary Purpose Default Max Array Size R W Reported Errors Set bits Reported Errors Simulate or errors Clear Bits Reported Errors 2003h Trigger Event Driven PDO 2003h Sub Index 1 to 4 corresponds to Transmit PDO1 through Transmit PDO4 Downloading writing any value value ignored to the object will trigger the corresponding Transmit PDO This corresponds to triggered PDO types 0 Fen Fifth 0 Fen may be triggered by a time elapse or this trigger event mechanism type Fifth is also triggered by a change in value of any of the mapped objects This auxiliary trigger may originate within the node or may be sent via CAN These 4 objects are write only WO Index Sub Type Access Purpose Default Ref PDO 003h Trigger TPDO No 003h 00 U8 RO Highest Sub Index supported 4 003h 01 U8 WO Trigger TPDO 1 003h02 U8 WO Trigger TPDO 2 003h 03 U8 WO Trigger TPDO 3 003h04 U8 WO Trigger TPDO A 2004h Limit Swit
22. On the CAN enabled SilverLode controllers the CAN bus signals CAN_H and CAN_L should be twisted pair wiring preferably shielded The signals may be connected via the topside terminal strips or via the 9 pin D Sub connectors It is common practice to feed the CAN power from approximately the center of the network along with the CAN signals Use only one connection from the power source to the CAN power bus to prevent ground loops which may degrade signals and increase EMI emissions and susceptibility WARNING The 9 pin CAN COMM connectors carry both Communications and CAN signals and do not follow the standard CANopen signal pin out convention See the documentation before connecting anything to these connectors CANopen User Manual Rev 1 5 Page 23 of 121 Chapter 2 Introduction to CAN CANopen Bus Length versus Baud Rate Maximum cable length is dependent upon the baud rate and upon the number of nodes and wire gauge See DR303 V 1 3 CANopen defines the following rates versus bus lengths we also support 100kbps Baud Rate Max Bus length 1 Mbps 25m 800 kbps 50 m 500 kbps 100 m 250 kbps 250 m 125 kbps 500 m 50 kbps 1000 m 20 kbps 2500 m 10 kbps 5000 m The above Maximum bus length should include the length of all stubs on the bus due to their loading of the bus These individual stub lengths should be kept to less than 2 of the maximum bus length with the sum of all of the stubs
23. PDO Mapping Parameter Record 0022h 00 W8 Highest Sub Index supported 0022h 01 U32 COB ID Client gt Server 0022h 02 U32 COB ID Server gt Client 0022h 03 Up CAN ID of Client Index Sub Type Purpose 0023h PDO Mapping Parameter Record 0023h 00 U8 Highest Sub Index supported 0023h 01 U32 Vendor ID 0023h 02 U32 Product Code 0023h 03 U32 Revision Number 0023h 04 U32 Serial Number CANopen User Manual Rev 1 5 Page 68 of 121 Chapter 7 CANopen Data Dictionary Purpose User Register Access Type Mapping Number of Access types 32 bit access to User Register 16 bit access to upper User Register 16 bit access to lower User Register U24 access to User Register no sign extension 124 access to User Register sign extension to 32 bits 8 bit access to lowest byte of register 32 bit OR the bits into the register 16 bit OR the bits into upper User Register 16 bit OR the bits into lower User Register 8 bit OR the bits into lowest byte of register 32 bit Clear the indicated bits 16 bit Clear the bits upper User Register 16 bit Clear the bits lower User Register 8 bit Clear the bits lowest byte of register 0 1 2 3 4 5 6 7 8 9 gt 5 DI gt CH gt UD I m Sep Note Sub index 7 through E are Write Only operations and will produce an error if attempting to modify a Read Only RO register These accesses provide the abi
24. Parameters ssvvovnnvnnvvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 80 1280h SDO CLIENT 1 Param ters suarssasgsastmnikmatdansdanddjens 80 12811800 Bern En 81 1400h 17 Receive PDO Communications Record ccccceccececssesesescsseseetessecsees 81 1401h 2nd Receive PDO Communications Record rnnnnnnvrrvvnnvvnnnvrnnnnnrrrrnnnnnnnennn 81 1402h 3rd Receive PDO Communications Record ccccceeeeeeeeeeeteeeeeeeeeeeeeee 82 1403h 4th Receive PDO Communications Record rrrrrrnnvnnnnnvvnnnnnrrrnnnnnnnnrrrrnnnnn 82 1600h First Receive PDO Mappimg EEN 83 1601h Second Receive PDO Mappimg n 84 1602h Third Receive PDO Mappimg EE 84 1603h Fourth Receive PDO Mapping AEN 84 1800h 1803h Transmit PDO Communications Parameters rrrrnnnnnrrrrnnnnnnnnrrn 85 1800h First Transmit PDO Communications Parameters ssssseeeeeeeseessereerreeeee 86 1801h Second Transmit PDO Communications Parameters sesssseessseeeeeeeee 86 1802h Third Transmit PDO Communications Parameters rerrnrnrrnnnnnvrrrnnnnnnnnnrn 86 1803h Fourth Transmit PDO Communications Parameters wrrrrrnnnnnrrrrnnnnnnnnnrn 87 1A00h First Transmit PDO Mapping isc kes cess ey ies stent eliee dese dee 87 1A01h Second Transmit PDO Mapping rrrrrrvrvvvnnnnnnnnrnnnnnrrrrnnnnnnnnrrrnnnnrrrnnnnennnennn 87 1A02h Third Transmit PDO Mapping ebessi 88 1A03h Fourth Transmit PDO Mapping sorrnnnvvrrvenennnnnrrnnnnnrrrrnnnnnnnnrrnnnnnrrrnn
25. Purpose Default Max Array Size R W_EMCY Report Mask Set bits EMCY Report Mask Clear Bits EMCY Report Mask CANopen User Manual Rev 1 5 Page 92 of 121 Chapter 7 CANopen Data Dictionary 2002 CAN Errors Reported Register This register contains all Errors that have been reported whether or not they have been enabled to produce a CAN_ERROR or whether or not they have been enabled to be reported via EMCY frames These bits may be set high for test purposes and may be cleared to remove backed up error reporting while unit was in a NMT STOPPED state or EMCY disabled state Bits so cleared may not be reported The sending of the EMCY message with a cleared error for the related error bit also clears the bit in this register Note bits 27 29 and 30 are reserved Bit 31 is User meaning the user may trigger an error that is uniquely reported by setting via Sub Index 2 bit 31 The resulting actions are defined via the bit configurations of objects 2000h and 2001h Bit Error Cause Driver Over Temperature Driver Over Voltage Driver Under Voltage Motor Over Temp Encoder Analog Error Motor Commutation Realign Non Volatile Memory Error PDO data out of range Position Error Motion Error Command error Heartbeat Error Error Passive Protocol Error Extended IO power missing Drive Disabled Velocity Limit Exercised PDO Data Too Short PDO Data Too Long Processor Over Temp Recovered from Bus
26. Sub TypelaccessPurpose Default bet PDO 605ENOO 16 Rw Eau Reaction Operation 2402vo2no CANopen User Manual Rev 1 5 Page 111 of 121 Chapter 7 CANopen Data Dictionary 6060h Modes of Operation Modes of Operation Register is used to select the wanted mode of operation 1 to 128 manufacturer specific user defined 0 reserved 1 Profile Position Mode pp 2 Not supported Velocity Mode 3 Profile Velocity Mode pv 4 Torque Profile mode tq 5 reserved 6 Homing Mode 7 Not yet supported Interpolated Position Mode 8 to 127 reserved Mode of Operation is mapped to Register 107 lowest byte Both Default value and the interpretation of the mode are implemented in the user program Index Sub TypelaccessPurpose Default Rei PDO 606000 e Rw Operation moas 1k4ovoalyes 6061h Modes of Operation Display Displays the current Mode of Operation Data values correspond to 6060h Modes of Operation The new mode is not accepted until the previous mode has completed Mode of Operation Display is mapped to Register 108 lowest byte Update of this values representing the current mode is implemented in the user program Index Sub TypelaccessPurpose Default et PDO eos1njoo e RO Operation Mode Display 1 o2voz ves 6062h Position Demand Value Displays the current Position Demand Value Target Position This is the same data as User Register 0 Index Sub TypelaccessPurpose Default Ref PDO eos2njoo 182
27. User Manual Rev 1 5 Page 77 of 121 Chapter 7 CANopen Data Dictionary 1018h Identity Object The identity object array contains four 32 bit data entries Sub Index 01 contains the unique vendor code assigned to each vendor Sub Index 02 contains a vendor unique product code Sub Index 03 contains the software revision number information The high word contains the major revision number which changes if CANopen functionality has changed the low word contains minor revision number which is used to track minor code revisions Sub Index 04 contains the product serial number These must be unique for all CANopen devices Access Purpose Default PDO Mapping Parameter Record 301v04 Highest Sub Index supported 4 Vendor ID 0000 01CCh Product Code Varies Revision Number Varies Serial Number Varies 1019h Synchronous Counter The SYNC message may carry no data or may carry an 8 bit synchronous cycle counter value The cycle counter allows easy triggering of different CANopen nodes to synchronize up to specific cycles or groups of cycles for their various TPDO operations An example would be to have one node send its data on odd cycles and another on even cycles to balance the communications load Setting the Synchronous Counter to 0 default transmits the Sync message with no data The setting of 1 is reserved as is 241 through 255 Setting the Sync message to 2 through 240 will cause a count to be include
28. User Register Access Type Mapping Number of Access types RO 32 bit access to User Register See User Manual 16 bit access to upper User Register See User Manual 16 bit access to lower User Register See User Manual U24 access to User Register no sign extension See User Manual 124 access to User Register sign extension to 32 bits See User Manual 8 bit access to lowest byte of register See User Manual 32 bit OR to User Register WO 16 bit OR to upper User Register WO 16 bit OR to lower User Register WO 8 bit OR to lowest byte of register WO 32 bit Clear bits of User Register WO 16 bit Clear bits of upper User Register WO 16 bit Clear bits of lower User Register WO 8 bit Clear bits of lowest byte of register WC M U O0O W gt P o misN o A IM 0o Only avaliable if base register is RW 032 016 08 C32 C16 and C8 are special manufacturer data types which perform the set bits OR and clear bits functions They are Write Only The OR functions are used to set one or more bits in the destination register without modifying unselected bits The Clear function is used to clear one or more bits in the destination register without modifying unselected bits CANopen User Manual Rev 1 5 Page 100 of 121 Chapter 7 CANopen Data Dictionary
29. addition termination should only apply at the end of the bus In this case there are only two units on the bus so the terminations are on both of the units 2 The second option is wiring all the connections through the green terminals There are four physical connections on the QCI D2 IGB QuickSilver recommends using CAT 5 twisted pair cables commonly referred to as Ethernet cable CAT 5 cables are inexpensive rugged reliable and are available in almost every local electronic store They also are twisted pairs with controlled impedances and relatively low capacitances 3 A 5 pin is provided to connect a CAN termination This is jumpered to CAL_L only at the far ends of the run CANopen User Manual Rev 1 5 Page 7 of 121 Chapter 1 Getting Started 4 QCI D2 IG8 controllers have three physical connections for CAN Wires may be landed on the 5 pin screw terminal connectors on the front panel These pins are labeled as SHLD Shield V 12 24v L CAN_L H CAN_H V Ov wie Im Only L H and V are verDus ETHER CAN CAN needed for the IG8 as rage an isolated 485 TERM e m E CAN power is derived de from the S processor driver power input The Shield and V signals are provided to power Controls ine the RJ12 connectors but are not otherwise used in the IG8
30. and CiA are registered community trade marks of CAN in Automation e V Copyright The SilverLode servo family s embedded software electronic circuit board designs embedded CPLD logic and this User Manual are Copyright 1996 2006 by QuickSilver Controls Inc CANopen User Manual Rev 1 5 Page 6 of 121 Chapter 1 Getting Started Chapter 1 Getting Started This chapter will get take you through the basics of using CAN on the SilverDust controller driver including register and I O sharing Hardware Setup There are four physical connections for the CAN bus CAN V Power in DC 7V 24V CAN V Power Ground OV CAN H CAN High CANL CAN Low See Note M A III Qe BRN BEND gt DEED MON LO oo In E O MAE A SISK N m 1 If all QCI D2 IGB units are within a few feet of each other or on the same DIN rail connect the two DB 9 together to form the CAN bus Please note that power 24V max must be provided to at least one unit through the green terminal block In
31. are asynchronous triggered They may be triggered by the elapse of the time counter if not zero or manually triggered by writing to Object 2003H in the CAN Dictionary Type FFh may also be triggered by a change in data value for any of the mapped values since the last transmission The Inhibit time is the minimum time in increments of 100uS required between successive transmissions of the TPDO This prevents a change driven TPDO from consuming excessive bus bandwidth A value of 0 disables the inhibit time function The Event Timer is the time in milliseconds between triggering of the TPDO transmission A value of 0 disables the time trigger function The starting Sync Number may be used to delay the given number of sync cycles before transmitting for synchronous TPDOs If the Synchronous Counter Parameter 1017h has been configured on the SYNC master the event will be triggered when SYNC Cycle Starting Sync Number Type has a remainder of 0 for Types 1 through 240 In this mode Type should be greater than or equal to the Starting Sync Number For example to have two TPDOs transmit on alternate cycles the Synchronous Counter Parameter 1017h on the SYNC producer node should be set to 2 The Event Timer on both TPDOs should be configured for 2 and the Starting Sync Number of the first TPDO should be 1 and the Starting Sync Number of the second TPDO should be 2 The Event Timer should be set to 0 disabled CANopen User Manual
32. data does NOT need to be mapped to the same Data Dictionary Object as was the PDO producer and in practice is usually not mapped to the same Object The data sizes of the producer and consumer should be compliant however o The Consumer does NOT need to map all of the data sent by the producer but will produce an optional error is the more data is mapped than sent by the producer e Synchronous or Asynchronous operation Synchronous updates the local object at the next SYNC event Asynchronous updates the object immediately e COB ID of the given PDO Once these objects have been configured and the nodes are in the Operational NMT state the PDO producers automatically produce the PDO data frames and the PDO consumers automatically consume them Common uses for PDO objects would be to allow one node to send an operation state to one or more other nodes to convey UO status from one node to one or more other nodes to broadcast the position of a master axis to one or more CAM following axes or to use a CAN open encoder to provide position feedback information to close a dual loop control operation CANopen User Manual Rev 1 5 Page 32 of 121 Chapter 3 CANopen Protocol Predefined Objects CANopen also defines certain other objects to be used by the nodes These include the SYNC object the EMCY object and the TIME object SYNC The SYNC object with a default COB ID of 128 80H is broadcast by the designated node in the system
33. due to excessive errors Non Destructive Message Arbitration Process COB ID Arbitration field Start Bit 11010001011 Node 1 COB ID 68B 111 XXXXXXXKX Node 2 lt COB ID 723 Node 2 loses arbitration 1101001XXKXX Node 3 lt COB ID 692 Node 3 loses arbitration 11010001011 Bus CANopen User Manual Rev 1 5 Page 26 of 121 Chapter 2 Introduction to CAN CAN Bus Frame Fields The basic message frame including inter frame intermission consists of the following bits excluding data and bit stuffing 3 Intermission 1 Start of Frame SOF 11 Identifiers COB ID 1 Remote Transmit Request 2 RO R1 reserved bits 4 Data Length Count DLC of bytes 0 Data 0 to 8 bytes 16 Cyclic Redundancy Code CRC 2 __ Acknowledge slot ACK 7 End of Frame EOF 47 Total This represents the minimum frame size with no data payload Eight bits of data are added for each byte of data payload However the CAN specification prevents more than 5 consecutive bits of the same value with in a packet excluding the EOF and intermission time in the case of 5 consecutive bits of the same value a stuff bit of the opposite state is automatically inserted at the transmitter and removed by the receiver The Acknowledge slot must also have a fixed Passive Guard Active Ack Passive Guard timing This leaves 34 of t
34. e Start of Frame synchronizes multiple devices to arbitrate the bus e Arbitration Field contains the Communication Object Identifier or COB ID of the Frame Control Field defines frame type and number of data bytes Data Field 0 to 8 bytes of data CRC Field 16 bit CRC to check for errors ACK Field Response that at least one other CAN device properly decoded the frame e End of Frame Quiet time at end of frame so new Start of Frame may be detected A new CAN frame is permitted following a BUS IDLE period The BUS IDLE period consists of a sufficiently long period of Recessive state to indicate that no active frame is present Following a valid BUS IDLE all nodes having messages to transmit assert a Start of Frame As the bus is wire OR all nodes will read the bus as Dominate State The falling edge of Start of Frame is used to synchronize all of the nodes for the Arbitration Field COB ID Priority Arbitration During the Arbitration Field each node drives the bus the COB ID of the message it is sending starting with the Most Significant Bit Each node monitors the bus to determine the resulting state of the CAN BUS If the Node sees the same state on the BUS as it was asserting it is allowed to continue the arbitration the following bit cycle If the node sees a different state of the bus it has lost the arbitration and must wait until the next Interframe space to try again Because the Dominant State represents a 0 level and
35. environment it has multiple error detection and correction methods built in to provide predictable robust and virtually error free communications for industrial control The network allows multi master multi destination communications with communication speeds up to 1Mbit per second Each frame of data sent includes a message identifier this is used by all of the receiving nodes to determine if they are configured to react to the frame This allows data to be sent from one to many nodes with all nodes receiving the message at the same point in time CAN uses a message arbitration scheme rather than a message collision scheme to decide which node on the network is allowed to transmit its data in a particular time slot The message assigned the highest priority goes first with no impact on its sending time even if other nodes are attempting to send lower priority messages The lower priority messages then follow highest priority to lowest priority Using the CAN framework for communications nodes may share registers with any change in the shared register automatically reflected in multiple other nodes A master node may control other nodes even resetting them Error conditions may be conveyed between nodes on occurrence rather then requiring constant polling to determine error conditions Register read and write operations are allowed between nodes Data may be exchanged based on update times synchronous events upon changes in data or
36. further enhanced by configuring Data Dictionary Object 1019h for the least common factor of the various Synchronous transmission times See 1019h and Synchronous Communications sections for more details Under the SDO Client Parameters tab of the Advanced panel the SDO Client number may be selected as well as the SDO timeout period for each CDR commana The transmit channel combined with the node number determine the priority of the data frame The lower 7 bits of the frame address by default are the transmitting CAN ID while the upper 5 bits grow in value as the transmit channel is increased The frame identifier for Tx channel 1 is 180h CAN ID Tx channel 2 is 280h CAN ID Tx CANopen User Manual Rev 1 5 Page 56 of 121 Chapter 5 CANopen Commands channel 3 is 380h CAN ID Tx channel 4 is 480h CAN ID The frame with the lowest identifier has the highest transmission priority over the CAN bus Internally the CCTR combo command consists of 11 CDR commands one CLD command and one JMP command which configure data dictionary objects 1800h and 1A00h for Tx channel 1 objects 1801h and 1A01h for Tx channel 2 objects 1802h and 1A02h for Tx channel 3 or objects 1803h and 1A03h for Tx channel 4 The Jump command repeats the sequence in the case of errors or timeouts The jump may be manually modified to vector to an error recovery routine Note transmissions will not begin until the transmitting unit is in NMT state Operational
37. kill motor recovery if the normal travel should never reach the limit switch Limit and Home Switch Mapping CANopen Profile 402 uses limit switches for homing and other operations To take advantage of the advanced motion stop conditions which allow compound stop conditions on motions without having to do multiple motions These make it easy to implement a homing routine such as move until off of limit switch and stop when first index pulse is found see advanced stop conditions These options were previously only able to use IO 1 2 and 3 plus index for their operation These inputs to the advanced stop conditions are now mappable to any IO including remotely mapped IO CANopen User Manual Rev 1 5 Page 37 of 121 Chapter 4 QuickControl And CANopen and other status conditions as are available to the Jump command This mapping is done via object 2004h Advanced Stop condition lO1 or Positive limit switch is mapped via 2004 1 102 or Negative limit switch is mapped via 2004 2 and IO3 or Home switch is mapped via 2004 3 External Drive Enable reported via the profile 402 registers is configured via 2004 4 Positive limit switch Negative Limit Switch and Home switch default to 101 102 and 103 by default for back compatibility Profile 402 Objects Profile 402 is a CAN open profile for servo drives It describes a standard set of registers used to control the motions of a remote drive Registers 100 through 126 a
38. nodes it wishes to monitor as well as the expected heartbeat time As the heartbeat message is sent as a very low priority message the expected heartbeat time should typically be set to some 50 greater than the producer heartbeat to allow for delay caused by higher priority traffic The monitoring node is notified if the heartbeat stops or is late as well as if the remote Node has changed its NMT state due to an error condition These conditions may be configured to produce errors EMCY messages or to trigger a Kill Motor Recovery if the error is considered critical Critical error detection is enabled via Object 2000h the entire mask word may be written to Sub Index 1 bits may be Set via Sub Index 2 or Cleared via Sub Index 3 A critical error sets bit 10 in the IS2 word If this bit is enabled in the kill motor recovery extended KMX word a kill motor recovery operation will result Many different error sources are available See object 2000h Emergency EMCY errors generate EMCY messages and log the errors to object 1003h if EMCY is enabled via object 1014h The specific error sources that generate EMCY messages are selected via object 2001h These conditions may change over the operation of a system A limit switch may be used in homing While homing the tripping of the limit switch should not result in an error However following the homing routine the limit switches may be configured to generate EMCY messages and or to cause a
39. not correspond to the resulting NMT State See table below See Network Management NMT Objects in the CAN Data Dictionary Document for more details Command Info Name Type Num Type CAN Set Program 0 Broadcast All Nodes NMT State Class D 1 127 Nodes 1 to 127 Remote 81 0x51 1 transition to Operational CNR 3 words NMT State 5 2 transition to Stopped NMT State 4 128 Go Pre Operational NMT NMT State State 127 Transition 129 Reset Node when done Request transition to Pre Operational NMT State 127 130 Reset Communications Parameters when done transition to Pre Operational NMT State 127 Example QuickControl Example Transition Node 16 to NMT state Edit CNR CAN Set NMT State Remote x Operational Select CAN Network M MT p GE Ee SEH era Cancel 16 81 16 1 CR pen Remote ID fi Description Response NMT State rona sl ACK only CANopen User Manual Rev 1 5 Page 49 of 121 Chapter 5 CANopen Commands CAN Register Map Local CRML Description This combo command configures CAN to receive the selected Producer Data Object PDO into a user register or registers Multiple nodes may be configured to simultaneously consume the PDO data produced by any remote node PDO data streams may be used to dynamically share a register contents from a producer sending node to zero or more consumers receiving nodes The PDO identifier is selected by choosing the Node number and transmi
40. of CDR commands a Jump on Negative would detect any disallowed operations such as attempting to write to a read only object and a Jump on Positive would indicate if there were any timeouts as would be caused by a busy bus an improperly wired bus or a remote module not powered up initialized for CAN If neither of these bits were set then all of the series of CDR commands succeeded In QuickControl this is edited using the Advanced button See Service Data Objects SDO section in the CAN Data Dictionary CANopen User Manual Rev 1 5 Page 44 of 121 Chapter 5 CANopen Commands Command Info Command Command Parameters Param Parameter Range Name TypelNum Ci ype _ ___________________ CAN Dictionary Program Mode U16 Dictionary refers to Access Remote Class D Remote Dictionary CDR 80 0x50 0 Read Dictionary gt 9 words Register 1 Write Register gt Dictionary 2 Write Constant gt Dictionary Setting Bit 2 i e 4 5 6 does same function but LI accumulates status bits Data Register S32 Register Actions 0 or 1 Register Register Actions 0 or 1 or Constant 32 bit constant Mode 2 Sub Index Remote Node Sub Index Bye Count U16 NumberorBytesto Timeout U16 Number of 120uS ticks before Timeout occurs Client Local SDO client to use for2 Example QuickControl Example Upload remote unit Actual Position Dialog Register 1 via Data Dictionary Object Access remote
41. parameters their initialization state The local Node NMT state may be set via the CAN Set NMT State Local CNL command If the SilverLode is operating as the master other nodes NMT state may be set via the CAN Set NMT State Remote CNR command See Starting up CAN for details Monitoring NMT State Status Each node upon completion of Initialization transmits a Boot Up Frame and then transitions to PreOperational state This Boot Up frame is of the same COB ID and form as the HeartBeat frame described below having a COB ID of 1792 700h CAN ID and having one byte of data to convey the NMT State The NMT State field is zero to indicate boot up Each node may be configured to produce a Heartbeat message The combination of the COB ID and the data indicates the current state of the given node The presence of the message being repeated updated within the expected time frame indicates the node is still alive and well The NMT states expected in the heartbeat are 0 boot up 4 Stopped 5 Operational 127 Pre Operational The Heartbeat protocol allows each node to produce a Heartbeat frame at the selected interval in milliseconds The Heartbeat Producer time is configured by setting the CAN Dictionary Object 1017 0 to the desired time in milliseconds A value of zero disables the heartbeat Each node may also be configured to monitor one or more SilverLode units allow up to 8 heartbeats associated
42. synchronous mode The starting SYNC is used to delay the given number of sync cycles before transmitting This may be further enhanced by configuring Data Dictionary Object 1019h for the least common factor of the various Synchronous transmission times See Object 1019h and Synchronous Communications sections for more details The transmit channel combined with the node number determine the priority of the data frame The lower 7 bits of the frame address by default are the transmitting CAN ID while the upper 5 bits grow in value as the transmit channel is increased The frame identifier for Tx channel 1 is 180h CAN ID Tx channel 2 is 280h CAN ID Tx channel 3 is 380h CAN ID Tx channel 4 is 480h CAN ID The frame with the lowest identifier has the highest transmission priority over the CAN bus Internally the CCTR combo command consists of 11 CDL commands and one CLD command which configure data dictionary objects 1800h and 1A00h for Tx channel 1 objects 1801h and 1A01h for Tx channel 2 objects 1802h and 1A02h for Tx channel 3 or objects 1803h and 1A03h for Tx channel 4 Note transmissions will not begin until the transmitting unit is in NMT state Operational Units configured to receive data will not react to PDO data until they are set to NMT state Operational If synchronous mode is configured one of the nodes must be configured to produce a SYNC signal by configuring objects 0x1005 bit 30 must be set on producer and 1006h
43. the last SYNC signal The Synchronous transmissions may be sent every SYNC signal or may be sent every N sync signals The user may also CANopen User Manual Rev 1 5 Page 60 of 121 Chapter 6 CANopen Configuration select every N sync cycle starting with sync cycle M where N and M are between 1 and 240 A synchronous TPDO may also be configured as triggered or Remote Transmit Request RTR based In the case of a synchronous triggered or RTR based TPDO following their trigger change in data or the receipt of an RTR frame the PDO is marked as transmit pending Data will be sent following the next SYNC signal Asynchronous PDO Operation x Am x bd lt n 8a 8 8 8 a aa D D D D 1 m GE aed Wi A Type FFh Inhibit 13 Transmits every data change But not faster than every 1 3 milliseconds B Type FEh Event Timer 3 Transmits every 3 milliseconds Asynchronous TPDOs may be configured as triggered due to data change and or time based They may also be configured to be RTR triggered and or time based This allows a data set to be produced every N milliseconds or when the data changes whichever happens first An inhibit time may also be specified which sets the minimum time between transmissions to prevent constantly changing data from overloading the CAN bus The Type Inhibit Time Event Timer and Sync Start value must be configured while the COB Ids associated with the PDO are disabled
44. turned on load energized output low 0 output transistor off load not energized output passively pulled high Register 238 may be transmitted using either the CTRL or CTRR commands The consumer node need merely map this to register 199 default register for mapped UO may be changed via Object 2008h Jump wait and motion completion may be selected by use of the Remote Input Enable Codes 1 through 32 corresponding to bits 0 through 31 In the given example the unit will wait for a 0 to 1 transition on unit 16 s 10116 Too share inputs from two remote devices map the first to the lower word of register 199 and the second to the upper word The first remote unit s inputs will be accessible via Enable Codes Remote Input 1 16 and the second via Remote Input 17 382 Remote Output Control Individual or multiple extended UO outputs may be set and cleared using an SDO similar to the Configure I O CIO command The remote unit must first be connected to using the CAN Connect to Remote CCTR command stays connected to the given client until changed The outputs may then be set or cleared via the SDO command CAN Dictionary Access Remote CDR Sub Index 9 is used to set bits in the lower word while Sub Index D is used to clear bits in the lower word Index 21EEh corresponding to register 244 the XIO register Note the CCTR command allows a connection to be established using one of two SDO clients This means that two remote
45. units can be connected at the same time If your application only needs to access the outputs of one or two remote units you only need to establish the connection s at the beginning of the program The CDR command defaults to using SDO Client 1 SDO Client 2 can be selected from the CDR Advanced button as follows CAN Dictionary Access Advanced x Edit SD0 Communications Parameters x Cancel SDO Client Number E 1 default or 2 A x 120uSec SDO Timeout bon 333 sec Defaut CANopen User Manual Rev 1 5 Page 35 of 121 Chapter 4 QuickControl And CANopen Advanced CANopen Configuration CANopen provides many advanced capabilities through the configuration of the CAN Data Dictionary Additional information about the node status is also available via the CAN dictionary For example the ISW and IS2 status words of any node are available via Object 1002h of that node These may be shared via register sharing using the advanced addressing or via the CAN Dictionary Access Remote to see a snapshot Various error status sources are available via objects 1001h and 1003h with 1001h holding the present state and 1003h holding up to 4 previous error states The particular errors that are serious enough to generate emergency frames EMCY and to be logged to 1003 are selected via Object 2001h The SYNC communications cycle may be configured via objects 1005h and 1006h For example to set the local node as the SYNC producer The CAN Dicti
46. with other nodes via object 1018h The user program may be configured to react to the absence of a heartbeat as well as to the change in state of another node to determine its own actions The detecting nodes software qcp must be programmed to determine whether to shut down and or disable itself and or other drives in the system or to take other corrective or reporting action if any The Heartbeat Consumer time should be configured to be somewhat longer than the monitored node s Heartbeat Producer Time to allow for bus loading delaying the heartbeat packet as it is a low priority message Note that the various NMT objects are Unconfirmed services meaning the frame is sent but no response confirmation is produced to the frame Zero or more nodes may be consumers of the given frame CANopen User Manual Rev 1 5 Page 30 of 121 Chapter 3 CANopen Protocol Service Data Objects SDO Service Data Objects provide communications between nodes to allow the uploading reading or downloading writing of Data Dictionary Objects of other nodes These services allow wide access to the various Data Dictionaries but are slower typically using lower priority COB lds and requiring a response as the SDO services are all Confirmed The SDO services also require a one to one mapping from the SDO Client requestor of the read or write to the SDO Server node being read or written Only one Client should be mapped to each Server at a time a
47. 198h 152 RW User Register 152 199h 153 RW User Register 153 19Ah 154 RW User Register 154 19Bh 155 RW User Register 155 19Ch 156 RW User Register 156 19Dh 157 RW User Register 157 19Eh 158 RW User Register 158 19Fh 159 RW User Register 159 1A0h 160 RW User Register 160 1Aih 161 RW User Register 161 1A2h 162 RW User Register 162 1A3h 163 RW User Register 163 1A4h 164 RW User Register 164 1A5h 165 RW User Register 165 1A6h 166 RW User Register 166 1A7h 167 RW User Register 167 1A8h 168 RW User Register 168 1A9h 169 RW User Register 169 1AAh 170 RW User Register 170 1ABh 171 RW User Register 171 1ACh 172 RW User Register 172 1ADh 173 RW User Register 173 1AEh 174 RW User Register 174 1AFh 175 RW User Register 175 1BOh 176 RW User Register 176 1Bih 177 RW User Register 177 1B2h 178 RW User Register 178 1B3h 179 RW User Register 179 1B4h 180 RW User Register 180 CANopen User Manual Rev 1 5 Page 104 of 121 Chapter 7 CANopen Data Dictionary Purpose Index Reg Access High Word Low Word Notes 1B5h 181 RW User Register 181 1B6h 182 RW User Register 182 1B7h 183 RW User Register 183 1B8h 184 RW User Register 184 1B9h 185 RW User Register 185 1BAh 186 RW User Register 186 1BBh
48. 221 RW DIF IO Line 2 Filter Constant DIF IO Line 2 Filter Count 1DEh 222 RW DIF IO Line 3 Filter Constant DIF IO Line 3 Filter Count 1DFh 223 RW DIF IO Line 4 Filter Constant DIF IO Line 4 Filter Count 1E0h 224 RW DIF IO Line 5 Filter Constant DIF IO Line 5 Filter Count 1E1h 225 RW DIF IO Line 6 Filter Constant DIF IO Line 6 Filter Count 1E2h 226 RW DIF IO Line 7 Filter Constant DIF IO Line 7 Filter Count 1E3h 227 RO Reserved CANopen User Manual Rev 1 5 Page 105 of 121 Chapter 7 CANopen Data Dictionary Purpose Reg Access High Word Low Word 1E4h 228 RW Reserved 1E5h 229 RO Reserved 1E6h 230 RO Reserved 1E7h 231 RO Reserved 1E8h 232 RO Reserved 1E9h 233 RO Reserved 1EAh 234 RO Encoder CPR Encoder Modulo Position Locked in once index has been found 1EBh 235 RO Reserved 1ECh 236 RO IS2 Reserved 1EDh 237 RW Reserved 1EEh 238 RW XIO In XIO Output Only write to lower word 1EFh 239 RW Reserved 1FOh 240 RW Reserved 1Fih 241 RW Motor Max Temp Motor Temp Available on IP65 motors 1F2h 242 RO Reserved 1F3h 243 RW Reserved 1F4h 244 RW Millisecond Free running Count Up Timer 1F5h 245 RW Millisecond Count Down timer 1F6h 246 RO CAN Error Register CAN State 1F7h 247 RC CANESR CANGSR Read Clear not all bits are clearable 1F8h 248 RW Thread 2 local copy o
49. 42 RW User Register 42 CANopen User Manual Rev 1 5 Page 101 of 121 Chapter 7 CANopen Data Dictionary Purpose Index Reg Access High Word Low Word Notes 12Bh 43 RW User Register 43 12Ch 44 RW User Register 44 12Dh 45 RW User Register 45 12Eh 46 RW User Register 46 12Fh 47 RW User Register 47 130h 48 RW User Register 48 131h 49 RW User Register 49 132h 50 RW User Register 50 133h 51 RW User Register 51 134h 52 RW User Register 52 135h 53 RW User Register 53 136h 54 RW User Register 54 137h 55 RW User Register 55 138h 56 RW User Register 56 139h 57 RW User Register 57 13Ah 58 RW User Register 58 13Bh 59 RW User Register 59 13Ch 60 RW User Register 60 13Dh 61 RW User Register 61 13Eh 62 RW User Register 62 13Fh 63 RW User Register 63 140h 64 RW User Register 64 141h 65 RW User Register 65 142h 66 RW User Register 66 143h 67 RW User Register 67 144h 68 RW User Register 68 145h 69 RW User Register 69 146h 70 RW User Register 70 147h 71 RW User Register 71 148h 72 RW User Register 72 149h 73 RW User Register 73 14Ah 74 RW User Register 74 14Bh 75 RW User Register 75 14Ch 76 RW User Register 76 14Dh 77 RW User Register 77 14Eh 78 RW User Register 78 14Fh 79 RW User Register 79 150h 80 RW User Register 80 151h 81 RW
50. 9 0 7 18612h As configured by the ERL command Command error 10 0 7 6200h Command error command parameters not valid at processing time Heartbeat Error 11 0 4 8130h One of the nodes monitored via Object 1016h timed out Error passive 12 0 4 8120h Excessive Error responses from this node no longer signaling errors Protocol Error 13 0 4 8200h Not sufficient data for Time of Day message Extended IO power off 14 0 2 3000h Extended I O not functioning usually power not applied Drive disabled 15 0 7 5440h Drive Enable signal not present Velocity limit exercised 16 0 7 8400h Closed loop velocity loop limit VLL command restricting motion PDO data too short 17 0 4 8210h Received PDO not processed because of insufficient data in frame PDO data too long 18 0 4 8211h Received PDO had excess data PDO was still processed Processor over temp 119 0 3 4110h As set by the MTT command Recovered from bus off 20 0 4 8140h CAN experienced a Bus Off condition Sync Late 21 0 4 0F001h Sync not sent by time of next sync bus overload Heartbeat NMT 22 0 4 0F002h Received Heartbeat changed to non operational CAN Error Warning 23 0 4 0F003h Almost at Error Passive due to error count Against CW CCW limitsj24 0 7 0F004h Either soft limits SSL or hard limits LCW amp LCC Negative Limit Switch 25 0 7 5441h Negative Limit Switch Active Positive Limit Switch 26 0 7 5442h Positive Limit Switch Active Reserved 27 0 7 5443h Reserved Drive
51. Control determines this automatically when using the Remote Output and Remote Register Access tabs CANopen User Manual Rev 1 5 Page 43 of 121 Chapter 5 CANopen Commands Timeout This parameter specifies the number of cycles to wait for the remote node to complete the SDO transfer before the local node times out This is needed to prevent the user program from hanging on a remote node not present excessive bus usage etc This value is dependent upon the bus loading as well as the baud rate and the size of the transfer At 1Mb sec a value of 40 4 8 ms should normally be sufficient if the bus is not overly loaded and the transfer is up to four bytes You may need to experiment to determine the setting for your configuration In QuickControl this is edited using the Advanced button Client This parameter specifies which local SDO client to use The use of more than one client allows access to more than one node without reconfiguring the SDO client communication parameters Each Node has at least one SDO server the SilverLode CANopen code provides two to service SDO client requests Each server client connection is a one to one mapping that is each client may only access one server and each server may only service one client In QuickControl this is edited using the Advanced button Error Bits A time out may occur with this command if the remote node does not respond within the specified time period If a timeout occurs the command
52. D for TPDO 4 C000 0480h ID Tx Type 0 Inhibit Time 0 Reserved 0 0 0 Event Timer Starting Sync Number 1A00h First Transmit PDO Mapping The Transmit PDO mapping is identical to the Receive PDO mapping 1600h except the transmit PDO mapping is defining a data producer and the Receive PDO mapping is defining a data consumer The object mapping may only be changed when the Highest Object Mapped Sub Index 00 0 The Highest Object Mapped may only be set to 1 through 4 if at least that number of objects have been mapped starting at 1 though number indicated See notes in 1800h First Transmit PDO Communications Parameters Access Purpose Default Transmit PDO1 Mapping 301v04 Highest Object Mapped 1st Object Mapping 2nd Object Mapping 8rd Object Mapping 4th Object Mapping 1A01h Second Transmit PDO Mapping The Transmit PDO mapping is identical to the Receive PDO mapping 1600h except the transmit PDO mapping is defining a data producer and the Receive PDO mapping is defining a data consumer Access Purpose Default Transmit PDO2 Mapping 301v04 Highest Object Mapped 1st Object Mapping 2nd Object Mapping 3rd Object Mapping 4th Object Mapping CANopen User Manual Rev 1 5 Page 87 of 121 Chapter 7 CANopen Data Dictionary 1A02h Third Transmit PDO Mapping The Transmit PDO mapping is identical to the Receive
53. Downloaded a Poin Ge 30 IS SiveDust Found 116 Driver D2 3216 sn 1576 rev 27 11 3316 Grade w Breakout GB 416 Motor QCI Grade 17 1 37 Poling Stered 40 Poling Started 216 Fou FE 16 SilverDust Found w La Factorv Default Initialization CAN aco Details CAN Identity CID Every unit on the network must have a unique CAN ID A CAN ID of zero forces the CAN ID to be the Enter CAN Identity Default 0 use Unit ID same as the serial communication Unit ID as set by the Identity IDT command For example if the IDT command sets Unit ID to 16 setting the CAN ID to 0 will force the CAN ID to match the Unit ID of 16 Note Unit ID in the IDT command is addressable from 1 255 and CAN ID 0 the CID command will error out Details CAN Baud Rate CAN networks can operate up to 1 megabit per second 1 Mb sec The trade off for lower baud rate is bus length QuickSilver s default baud rate is 1Mb sec CANopen User Manual Rev 1 5 CBD CAN ID BR Cancel Description If Unit ID is set to 128 Select CAN Baud Rate Page 11 of 121 Cancel Description Chapter 1 Getting Started Register Sharing Peer To Peer User registers may be easily shared across the CAN network in a multi axis application There are two ways to setup register sharing one is Peer To Peer and the other is Master Slave discussed in the next section Peer To Peer Network Diagram
54. ID gt COB ID 201h to 27fh 513 to 639 o TPDO2 Function Code 5 CAN ID gt COB ID 281h to 2FFh 641 to 767 o RPDO2 Function Code 6 CAN ID gt COB ID 301h to 37fh 769 to 895 o TPDO3 Function Code 7 CAN ID gt COB ID 381h to 3FFh 897 to 1023 o RPDO3 Function Code 8 CAN ID gt COB ID 401h to 47fh 1025 to 1151 o TPDO4 Function Code 9 CAN ID gt COB ID 481h to 4FFh 1153 to 1279 o RPDO4 Function Code Ah CAN ID gt COB ID 501h to 57fh 1281 to 1407 o SDO Tx Function Code Bh CAN ID gt COB ID 581h to 5FFh 1409 to 1535 o SDO Rx Function Code Ch CAN ID gt COB ID 601h to 67Fh 1537 to 1663 o Heartbeat Function Code Eh CAN ID gt COB ID 701h to 77Fh 1793 to 1919 e Reserved o 0h NMT as described above not configurable o 1h 1 reserved o 71h 7Fh 113 to 127 reserved o 101h to 180h 257 to 384 reserved o 581h to 5FFh 1409 to 1535 default SDO Tx described above not configurable 601h to 67Fh 1537 to 1663 default SDO Rx described above not configurable 6E0h to 6FFh 1760 to 1791 reserved 701h to 77fh 1793 to 1919 NMT Error Control Heartbeat described above not configurable 780h to 7ffh 2020 to 2047 reserved CANopen User Manual Rev 1 5 Page 63 of 121 Chapter 6 CANopen Configuration COB lds that are not reserved may be used for SDO server clients and for PDOs Note Some devices only support the default SDO Server and PDO
55. PDO mapping 1600h except the transmit PDO mapping is defining a data producer and the Receive PDO mapping is defining a data consumer Access Purpose Transmit PDO3 Mapping 301v04 Highest Object Mapped 1st Object Mapping 2nd Object Mapping 3rd Object Mapping 4th Object Mapping 1A03h Fourth Transmit PDO Mapping The Transmit PDO mapping is identical to the Receive PDO mapping 1600h except the transmit PDO mapping is defining a data producer and the Receive PDO mapping is defining a data consumer Access Purpose Transmit PDO4 Mapping 301 v04 Highest Object Mapped 1st Object Mapping 2nd Object Mapping 3rd Object Mapping 4th Object Mapping Manufacturer Specific Data Dictionary Objects 2000H 2FFFh The objects mapped between 2000h and 2FFFh are Manufacturer Specific that is they vary from vendor to vendor The Silver Lode CANopen software divides these up as 2000h 2080h special purpose CAN registers 2100h 21ffh User registers The User Registers correspond to the local program accessible Registers as are defined in the user manual As not all 255 registers are currently defined those not defined will not exist in the Data Dictionary CANopen User Manual Rev 1 5 Page 88 of 121 Chapter 7 CANopen Data Dictionary 2000h Critical Error Mask The Critical Error Mask determines which errors are of Critical status causing a CAN
56. Parameters Param Parameter Range Name Type Num Type CAN Set Program 1 Transition to Operational NMT State Class D 2 Transition to Stopped Local 74 0x4A NMT State 128 Go Pre Operational CNL 2 words Transition 130 Reset Communications Request Parameters when done transition to Pre Operational NMT State 127 Example QuickControl Example Transition to NMT State Operational Edit sl Select CAN Network Management NMT oc 16 74 1 CR Va Operation zl escription Response ga pel ACK only CANopen User Manual Rev 1 5 Page 47 of 121 Chapter 5 CANopen Commands CAN Set NMT State Remote CNR See Also CAN Set NMT State Local CNL Description Transitions the Network Management NMT State for one or all other nodes on the CANopen Network Used by the Master Node to transition other nodes to the desired NMT state Pre Operational Operational Stopped and to Re initialize Communications parameters of the target node s or to Reset the target node s The NMT State of each node determines what types of CAN communications are allowed take place Some Data Dictionary Objects may only be written while in the Pre Operational State see CAN Data Dictionary Pre Operational NMT State 127 Access to NMT State dependent Data Dictionary Objects allowed NMT communications allowed PDO communications not allowed SDO communications allowed Operational NMT State 5 All communication mod
57. Position 1 15 CNL CAN NMT State Operational Receiving Mapping Edit CRML CAN Register Map Local One or more units on the CAN bus may receive d a Map register data being transmitted by Remote OK or map the transmitted register into any local user unit to local register Ix Register using the CAN Register Map Local Cancel CRML Combo Command eee Advanced fe Description The local receive channels are independent of Remote Transmit Channel In z the local transmitting channels In this example Local Receive Channel fm 3 unit 17 will continuously receive data from the unit 16 In CANopen terminology this is called a Receive Process Data Object RPDO See RPDO section 2 Register to Map on Local Unit 9 3 User 30 4 Example Program Note If unit ID 1 wants to receive the same data transmitted by unit 16 repeat this process Label Command Receive Node 16 channel 1 iid ute At this point the unit sourcing the data need CRML CAN Register Map Local Merely modify its local register to cause the Remote Unit ID 16 same data to appear in the remote node s Remote Tx Channel 1 Local Ax Channel 1 mapped register The register number of the Local Register User 30 source producer is independent from the CAN NMT State Operational receiving consumer node register For example the actual position of the producer node may be broadcast with the consumer node mapping
58. ROR and Register 123 Response to Internal Error to determine what it must do Access Purpose Default Error Behavior Object 301v04 Highest Sub Index supported Response to Communication Error Response to Internal Error 1200h SDO Server 1 Parameters The first SDO server is not able to be modified It provides an SDO server accessible by an SDO client on another node The SDO server provides access to the local nodes Data Dictionary The Rx and Tx COB ID values update when the CANopen CAN ID is changed ID is the CAN ID 1 to 127 Rx is the COB ID associated with an SDO request the response is transmitted to Tx COB ID Index Sub Type Access Purpose Default Ref PDO 1200h SDO Server 1 Parameter 301v04 No 1200h 00 U8 RO Highest Sub Index supported 2 1200h 01 U32 RO COB ID Rx 0000 0600h ID 1200h 02 U32 RO COB ID Tx 0000 0580h ID CANopen User Manual Rev 1 5 Page 79 of 121 Chapter 7 CANopen Data Dictionary 1201h SDO SERVER 2 Parameters The second SDO server also provides access to the local Data Dictionary It must be configured prior to use Bit 31 in both the Rx and Rx COB ID fields must be set low to enable the server Bit 30 in each field designates the COB ID as static 0 or dynamic 1 Dynamic SDO mapping is not currently supported attempting to set Bit 30 1 will result in an error Bits 29 0 are the standard COB ID format described above
59. Rev 1 5 Page 85 of 121 Chapter 7 CANopen Data Dictionary 1800h First Transmit PDO Communications Parameters Access Purpose Default Transmit PDO Communication 301v04 Highest Sub Index supported 3 COB ID for TPDO 1 C000 0180h ID Tx Type 0 Inhibit Time Reserved Event Timer Starting Sync Number 0 0 0 0 1801h Second Transmit PDO Communications Parameters The Transmit PDO Communications Parameters of all four TPDOs are configured similarly Access Purpose Default Transmit PDO Communication 301v04 Highest Sub Index supported 3 COB ID for TPDO 2 C000 0280h ID Tx Type 0 Inhibit Time Reserved Event Timer Starting Sync Number 0 0 0 0 1802h Third Transmit PDO Communications Parameters The Transmit PDO Communications Parameters of all four TPDOs are configured similarly Access Purpose Default Transmit PDO Communication 301v04 Highest Sub Index supported 3 COB ID for TPDO 3 C000 0380h ID Tx Type 0 Inhibit Time Reserved Event Timer Starting Sync Number 0 0 0 0 CANopen User Manual Rev 1 5 Page 86 of 121 Chapter 7 CANopen Data Dictionary 1803h Fourth Transmit PDO Communications Parameters The Transmit PDO Communications Parameters of all four TPDOs are configured similarly Access Purpose Default Transmit PDO Communication 301v04 Highest Sub Index supported 3 COB I
60. The third entry is the node id of the SDO client Configuring the third entry is optional Access Purpose Default SDO Server 2 Parameter 301v04 Highest Sub Index supported 3 COB ID Rx Client gt Server 8000 0000h COB ID Tx Server gt Client 18000 0000h SDO client ID 1280h SDO CLIENT 1 Parameters The SDO Client Parameters configure the communications information to allow the local CANopen node to access the SDO servers on other nodes so as to access read and write information through their data dictionaries SDO communications may be initiated via local program control With the CAN communications enabled see Starting Up CAN first configure the Client Parameters via the CAN Dictionary Access Local CDL Next read upload and write download to the remove node via the CAN Dictionary Access Remote CDR command The client parameters must be configured prior to use Bit 31 in both the Rx and Rx COB ID fields must be set low to enable the server Bit 30 in each field designates the COB ID as static 0 or dynamic 1 Dynamic SDO mapping is not currently supported attempting to set Bit 30 1 will result in an error Bits 29 0 are the standard COB ID format described above The third entry is the node id of the SDO server Configuring the third entry is optional Note The default SDO Server 1 addresses for each node are 600h NodelD for Tx and 580h NodelD for Rx Tx and Rx are with respect to th
61. Torque mode Bit 4 r Reserved Bit 5 hm Homing Bit 6 ip Interpolated Profile Bit 7 15 Additional reserved modes Bit 16 31 Manufacturer Specific Modes Index Sub TypelaccessPurpose IDefautt ef 6502hjoo u32 RO Digital nputWord No wo2voapves 67FFh Single Device Type This is a duplicate of Device Type 1000h Describes the type of device and its functionality Defines a Servo Drive with configurable PDOs Index Sub TypelAccessPurpose falue Ref Pool Ern U32 RO Device Type Servo Drive 0002 0192h 402v02INo CANopen User Manual Rev 1 5 Page 120 of 121 Index TE 38 FV LES le EE 25 A 41 Baler 24 CAN Baud Hate 11 CAN Baud Rate CBD 00 39 CAN Connect to Remote CCTR 15 40 CAN Dictionary Access Local CDL 41 CAN Dictionary Access Remote CDR NEON 18 43 GAN Huser end 7 EEE 25 CAN ldentity EE 11 CAN Identity CID 46 CAN Initialization eeerrrnnnnnnrrnnnnnnr 11 GAN eene 7 CAN NMT State Remote CNR 16 CAN Register Map Local CRML 13 50 CAN Register Map Remote CRMR 52 CAN Set NMT State Local CNL 47 CAN Set NMT State Remote CND 48 CAN Transmit Register Local CTRL See 12 54 CAN Transmit Register Remote STAR EE 56 07V KEE 7 GAN Ve EE 7 e eD e Ee 11 39 AG EE 15 40 RTE 41 SPR td 18 43 GID OPE EE E ET 11 46 Kleed 46 ClO vurderer ee aaa 47 RTE 47 COIN FR E 48 GOB eeben 45 GOB IB EE 25 Combo CommandS nnnnnnn
62. Units configured to receive data will not react to PDO data until they are set to NMT state Operational If synchronous mode is configured one of the nodes must be configured to produce a SYNC signal by configuring objects 1005h bit 30 must be set on producer and 1006h sync time in microseconds Command Info Command Command Parameters Parameter Range Name Type Num CAN Program Tx Channel 1 to4 Transmit Class lowest numbered Register COMBO D channel has highest Remote Code priority for node For CTRR the same channel 109 words lowest numbered node has highest priority Data Register Selects the Data register to transmit Advanced options See description above 2 transmit channel for details Transmit type inhibit time event timer starting sync SDO client timeout QuickControl Example Edit CTRR CAN Transmit Register Remote x Use selected channel to transmit selected register over OK the CANOpen bus NOTE Accumulator Register 10 modified by this Br command Transmit Channel 1 Advanced Register to Transmit Description CANopen User Manual Rev 1 5 Page 57 of 121 Chapter 6 CANopen Configuration Chapter 6 CANopen Configuration Starting Up CAN Before the CAN network can be accessed the device must be configured First the CAN Baud Rate must be selected This is done using the CAN Baud Rate CBD command If not set the default baud rate is 1 Mbps The n
63. User Register 81 152h 82 RW User Register 82 153h 83 RW User Register 83 154h 84 RW User Register 84 155h 85 RW User Register 85 156h 86 RW User Register 86 157h 87 RW User Register 87 158h 88 RW User Register 88 CANopen User Manual Rev 1 5 Page 102 of 121 Chapter 7 CANopen Data Dictionary Purpose Index Reg Access High Word Low Word Notes 159h 89 RW User Register 89 15Ah 90 RW User Register 90 15Bh 91 RW User Register 91 15Ch 92 RW User Register 92 15Dh 93 RW User Register 93 15Eh 94 RW User Register 94 15Fh 95 RW User Register 95 160h 96 RW User Register 96 161h 97 RW User Register 97 162h 98 RW User Register 98 163h 99 RW User Register 99 164h 100 RW User Register 100 Reserved for 402 object 607Ch See 402V02 Object Mapping 165h 101 RW User Register 101 Reserved for 402 object 6098h Gees 402V02 Object Mapping 166h 102 RW User Register 102 Reserved for 402 object 6099h See 402V02 Object Mapping 167h 103 RW User Register 103 Reserved for 402 object 6099h See 402V02 Object Mapping 168h 104 RW User Register 104 Reserved for 402 object 609Ah See 402V02 Object Mapping 169h 105 RW User Register 105 Reserved for 402 object 60C5h See 402V02 Object Mapping 16Ah 106 RW User Register 106 Reserved for 402 object 60C6h S
64. a Dictionary by means of the CDL command The program may set the local node to Operational via the CAN Set NMT State Local CNL command The Node responds to all communication types when in Operational state although some objects become Read Only RO in NMT Operational state SDO and NMT objects but not PDO objects are available in the Pre Operational NMT state Only NMT objects heartbeat NMT state are available in NMT STOPPED state If the COB ID Communication Object Identifier corresponds to any of the Node s Communication objects and the Node is in a state in which the objects are active then the Node will act upon the received frame otherwise the frames are discarded Configuring Process Data Objects PDO Process data objects provide a means of automatically communicating data between a data provider and one or more data consumers There are four default Receive PDO COB lds assigned for each CAN ID as well as four default Transmit PDO COB Ids CANopen User Manual Rev 1 5 Page 58 of 121 Chapter 6 CANopen Configuration A Transmit PDO is configured by Mapping Objects data to be sent configuring Communications Parameters Type Timing etc and setting a COB ID for the transmission Similarly a Receive PDO must be configured by Mapping Objects where the received data is to be stored configuring Communication Parameters Type and setting the COB ID of the message to be consumed The Receive COB ID must match
65. a user to change the CAN Baud Rate without re programming The BAUD Rotary Switch information is available on bits 4 7 of CAN object 200Ah Command Info Command Command Parameters Param Parameter Range Name Type Num Type ________________________________ CAN Baud Program Baud Rate U16 1 Mb Sec Class D e 800 kb sec Code 2 500 kb sec Hex 3 250 kb sec 71 0x47 4 125 kb sec 2 words 5 100 kb sec Reserved 6 50 kb sec Ge 20 kb sec 10 kb sec Se Get Baud from BAUD Rotary Switch 0 8 Same as above 9 F 1Mb Sec Example QuickControl Example Configure baud rate to 1 Mb sec mx Select CAN Baud Rate OK 16 71 0 CR fiMb Sec tsi escription Response he Reel ACK only CANopen User Manual Rev 1 5 Page 39 of 121 Chapter 5 CANopen Commands CAN Connect to Remote CCTR Description This command configures the CAN SDO client 1 or client 2 on the local unit to communicate with the default SDO server on the selected unit This configuration is required to select the remote node prior to using the CAN Dictionary Access Remote CDR command The CCTR command sets the appropriate parameters in object 1280h Client 1 or 1281h Client 2 in the local Data Dictionary CCTR is a Combo Command internally consisting of three CAN Dictionary Access Local CDL commands Command Info Command Command Parameters Parameter Range Name Type Num CAN Program Remote ID Select the CAN ID with whi
66. access to these conditions without constantly polling them In order for a local serious condition to be reported via the Heartbeat the detecting routine Such as the Kill Motor Recovery routine should change state to either Pre Operational or Stopped when the error is detected This will signal the serious problem to other nodes which may then respond Object 2000h may be configured to report any serious error condition to IS2 via the CAN Error bit The CAN Error bit may be in turn monitored via the Kill Motor Extended KMX command to cause a Kill Motor Recovery KMR for any condition considered serious enough to warrant it Alternatively a second thread program may monitor the CAN Error bit to determine other actions Combinations of these may also be employed Note If Thread 2 is being used to check for serious errors the Thread 2 Active bit in IS2 word may be monitored via the KMX command to trigger appropriate action if Thread 2 dies is not operating Low CANopen User Manual Rev 1 5 Page 65 of 121 Chapter 7 CANopen Data Dictionary Chapter 7 CANopen Data Dictionary Object Dictionary Structure Index Description 0000h 001Fh Static data types 0020h 003Fh Complex data types 0040h 005Fh Manufacturer specific data types 0060h 02FFh Device profile specific data types 1000h 1FFFh Communications Profile Area 2000h 5FFFh Manufacturer Specific Profile Area 6000h 67FFh S
67. accessPurpose Default Ref Pool 1012no0 Was pw COB ID forTIME 0400h Botvodno RW only when in PreOperational NMT state RO in all other NMT states 1013h High Resolution Time Stamp The High Resolution Time Stamp is a 32 bit free running microsecond counter It starts at zero when reset The High Resolution Time Stamp may be included in a TPDO to accurately determine the time of a transaction or it may be mapped to a RPDO to cause multiple units to keep their local time synchronized A write operation to 1013h by PDO or SDO or local operation is handled in one of two ways If the difference between the value being written and the current value is small the write is blocked but the difference between the two time values is used to adjust the ISR cycle so as to lock the local clock onto the transmitted clock If the time difference is too great the time is merely updated with no modification to the ISR cycle time as this may be an initial setting or one of the units may have restarted It is recommended that one unit is configured via a TPDO to transmit the High Resolution Time Stamp approximately every 10ms to 100ms and the other units be configured to consume the Time Stamp Via an RPDO Index Sub TypelaccessPurpose Default Dei Pool 1013h00 u32 RW High Resolution Time Stamp None ___ 301v04lYes CANopen User Manual Rev 1 5 Page 75 of 121 Chapter 7 CANopen Data Dictionary 1014h COB ID EMCY This object sets the COB
68. al register See Advanced Transmit Unit ID fi Descroti escription Transmit Channel HI e Receive Channel tl e Register to Map on Remote Unit Accumulator 10 CANopen User Manual Rev 1 5 Page 53 of 121 Chapter 5 CANopen Commands CAN Transmit Register Local CTRL Description This command configures the selected local Transmit PDO to broadcast the selected register data The register to be transmitted is selected as well as the PDO transmit channel to be configured The default configuration selects 32 bits from the given register has a Transmission Type of 255 Asynchronous set to transmit 1 when the unit first goes into operation state or the Transmit PDO is configured if dynamically configured already in operational mode 2 whenever the data changes 3 Atleast every 200 milliseconds so that the state is refreshed 4 But not more than every 2 milliseconds so constantly changing data will not overload the bus Via the Advanced tab the transmit type may be selected to be Synchronous 0 through 240 SYNC cycles with 0 indicating to send synchronously only on change The Inhibit time determines how fast back to back transmissions may occur If using synchronous mode the inhibit time may be set to 0 The event timer determines minimum frequency of transmission In synchronous mode the transmission will still be delayed until the next SYNC signal Normally the event timer is set to 0 disabled in
69. and consumed by the other nodes that have configured to use the same SYNC COB ID The SYNC event completion of transmission of the SYNC object for the SYNC producer and the reception of the SYNC object for all SYNC producers causes all synchronous PDO producers to sample their data and begin sending data as well as all synchronous consumers to update their internal Data Dictionary Objects with any data received since the last SYNC event The SYNC producer must be configured to select the SYNC period It may optionally be configured to send a SYNC cycle counter with the given cycle modulus The SYNC cycle counter may be used to cause PDO data production on the wanted SYNC cycle from multiple nodes For example to prevent bus overloading three different PDOs could send on different SYNC cycles with PDO x sending on cycles 1 4 7 PDO y sending on cycles 2 5 8 and PDO z sending on cycles 3 6 9 Other PDOs could produce data every SYNC event while yet others send only when the Data changes EMCY The EMCY object is used to signal emergency conditions from a Node to other nodes monitoring the given node These conditions include communications problems voltage current and temperature problems user or runtime code errors etc The candidates for generating EMCY messages are enabled by setting the appropriate bits via Object 2001H By default all are enabled unless Object 2001h is otherwise configured Similarly Object
70. ber of bits must correspond to size of object The Mode pull down box must be set to manual to manually map this data The CRMR command sets the appropriate parameters in objects 1400h and 1600h Rx channel 1 1401h and 1601h Rx Channel 2 1402h and 1602h Rx channel 3 or 1403h and 1603h Rx Channel 4 in the selected node s Data Dictionary CRMR is a Combo Command internally consisting of seven CAN Dictionary Access Local CDL commands and one Jump JMP command Note The Receive and Transmit PDO objects may have up to 4 objects and up to 64 bits mapped to them if configured manually The CRML combo command is limited to the more common configurations allowing up to 2 objects to be mapped See Data Dictionary for information on manual mapping Command Info Command Command Parameters Parameter Range Name Type Num CAN Program Remote Unit Select the node ID of the remote unit Register Class ID producing the data Map Local COMBO D CRML Code 1 to 127 1 to 7fh Remote Tx Select the transmit channel used by the 46 words Channel remote unit 1 to 4 Local Rx Choose the desired receive channel does Channel not need to match Tx channel 1 to 4 Register to Local user register to be updated with the Map received data Register must be writable QuickControl Example Configure previously connected remote unit i e using CCTR to map register data being transmitted by given unit to the remote unit s loc
71. bit Time 20 O 1ms Event Timer 200 ms Starting Synctt 0 CANopen User Manual Rev 1 5 Page 14 of 121 Chapter 1 Getting Started Register Sharing Master Slave Master Slave is the second option in setting up the CAN network The advantage of Master Slave configuration is centralized control in large networks Setting up each peer to transmit and receive a PDO locally is not practical in a large network in terms of software management because there are too many programs to keep track and debug In Master Slave configuration the master remotely configures the TPDO and RPDO on the other nodes There is only one program on the master unit which makes debugging easier N lt 1 Config 16 to ke lt 1 Config 17 to Receive gt lt 16 Data gt lt 16 Data gt C CAN Init and Program CAN Init CAN Init In this example unit 1 will configure unit 16 to transmit it s Actual position register onto the bus using a TPDO Then unit 1 will configure unit 17 to map unit 16 s Actual Position register into unit 17 s local register using an RPDO Programming Unit 16 from Unit 1 Before any unit can be configured remotely a connection must be established This is M ller xl done using the CAN Connect to Remote Fabina al CCTR Combo Command Cancel Remote ID fi Description Once the CCTR command is executed Unit Client Number Client 1 default v 1 can configure Unit 16 to transmit its register us
72. but is cleared by writing a 0 to Object 1003h Sub Index 0 Index Sub TypelAccessPurpose Default _ Ref__ PDO Brot Lg RO MostRecentError fozvoz ves 6040h Control Word This object is used to request the new Operation Mode and State Machine State The State Machine is used to determine and control the readiness of the machine to accept power and to enable the drive It also handles fault shutdown and recovery Object 6040h is used to request a wanted mode or state which when accepted is reflected in the value of object 6041h Status Word These to words are used to handshake between the drive the master unit The several bits in both the Control Word and the Status Word change their use according to the mode selected See Control Word and Status Word System State Machine chapter The Control Word is mapped to the low word of Register 120 Index Sub TypelaccessPurpose Default et og bosono uie Rw ControlWord hkovoalves CANopen User Manual Rev 1 5 Page 108 of 121 Chapter 7 CANopen Data Dictionary 6041h Status Word This object is used to indicate the present Operating Mode and State Machine status It is used with Object 6040h to provide a feedback response to the requested State and Mode See Control Word and Status Word System State Machine chapter The Status Word is mapped to the low word of Register 121 Index Sub TypelaccessPurpose Default et PDO 6041n00 uie RO Statusword hkovoalves 605Ah Qu
73. ch and Home Switch Mapping The Negative Limit Switch is configured via Sub Index 1 The Positive Limit Switch is configured via Sub Index 2 and the Home Switch is configured via Sub Index 3 These three bits are mapped to bits inputs 1 2 and 3 of the Advanced Stop Conditions with a default mapping to 101 102 and 103 respectively The Interlock input is configured via Sub Index 4 and defaults to Test 36 FLGINP bit 7 which is the combination of External Driver Enable Factory Enable No Driver Over Temperature No Over Voltage Mapping to IO is done by selecting the appropriate IO number For example to map the Home Switch to 10115 configure Index 2004 Sub Index 3 to 115 0073h To configure the Home switch to 10115 but with an active low state configure Index 2004 Sub Index 3 to 115 FF8Dh Mapping the IO to a value of 0 disables always returns the selected bit as 0 inactive NOTE These mappings may NOT be changed in NMT state Operational NOTE Mapped Register is a user register selected via Object 2008h In addition to mapping I O bits other status bits may be mapped See the table below Again negating the value inverts sense of the input data CANopen User Manual Rev 1 5 Page 94 of 121 Chapter 7 CANopen Data Dictionary Bit Test T
74. ch to Connect to Class establish communications Remote COMBO D CCTR Code 1 to 127 1 to 7fh 18 words Client Select which local client to use for Number communications QuickControl Example Edit CCTR CAN Connect to Remote X Establish a connection to a remote unit Cancel Remote ID f 7 Client Number Client 1 default z CANopen User Manual Rev 1 5 Page 40 of 121 Chapter 5 CANopen Commands CAN Dictionary Access Local CDL See Also CAN Dictionary Access Remote CDR Description The CAN Dictionary Access Command provides read write access to the local CAN Data Dictionary Objects Read access copies the Data Dictionary Object value to a User Register Write Access copies the value from a Register to the selected Data Directory Object or alternately from a Constant to the selected Data Dictionary Object The Data Dictionary contains all objects accessible from CAN some of these must be configured by a controller serving as a Master prior to accessing CAN The Data Dictionary is accessed via a 16 bit Index and an 8 bit Sub Index See CANopen User manual for a detailed listing and explanation of supported Data Dictionary Objects Note An invalid access will generate a Command Error and halt the program Note Time of Day Objects require two Registers Command Info Name Type Num Type CAN 0 Read Dictionary gt Register Dictionary 1 Write Register gt Dictionary Access 2 Write Constant gt D
75. combinations of these with provisions for minimum and maximum update rates all operating modally in the background without user program intervention This allows cam following operations to use a CANopen encoder or another node s target or position to control another node without extra step and direction wiring It is also easy to implement automatic Heartbeat monitoring in which each node produces a timed heartbeat signal and up to eight other nodes are monitored for their presence as well as critical changes in state A consistent system time may be distributed across multiple nodes with each other node frequency locking their local time to the designated master node to eliminate the effects of differences in oscillator frequencies CAN The CAN network and its principles of operation were originally defined by Bosch www can bosch com standardized by the International Organization for Standardization as IS011898 CAN Physical Layer CANopen defines a Physical layer having at least two nodes connected by a twisted pair data bus having each end of the data bus terminated with 120 ohms See data sheets for connections power requirements etc The Bus assumes one of two states at any point in time Passive or Dominant Passive state exists when no drivers are CANopen User Manual Rev 1 5 Page 22 of 121 Chapter 2 Introduction to CAN active on the bus causing the differential voltage to be pulled close to zero due to the acti
76. d Sync time in microseconds 1007h SYNC Window 2000 7DOh for 2 millisecond may only transmit SYNC PDO inside this window to leave time for other communications 1019h SYNC Counter 6 Sync will carry a payload which counts 1 through 6 1 through 6 this is set to the least common multiple of all Type numbers in the range of 1 through 240 Synchronous types This is optional CANopen User Manual Rev 1 5 Page 62 of 121 Chapter 6 CANopen Configuration CANopen Message Structure COB ID Allocation The CANopen document DS310V4 communication profile specifies the various communication objects Data Directory structure and standard objects as well as the allocation structure for COB lds Communication Object Identifiers The Basic COB ID structure breaks the 11 bit COB ID into a 4 bit function code bits 7 10 and a 7 bit node ID bits 0 6 Remember the lower the COB ID the higher priority of the message The COB ID s are broken into Broadcast Messages CAN ID bits 0 6 0 and Peer to Peer messages CAN ID lt gt 0 e Broadcast O O O NMT Function Code 0 CAN ID 0 gt COB ID 0 SYNC Function Code 1 CAN ID 0 gt COB Id 80h 128 TIME Function Code 2 CAN ID 0 gt COB ID 100h 256 e Peer to Peer O EMCY Function Code 1 CAN ID gt COB ID 81h to FFh 129 to 255 o TPDO1 Function Code 3 CAN ID gt COB ID 181h to 1FFh 385 to 511 o RPDO1 Function Code 4 CAN
77. d in the Sync message ranging from 1 through the selected count and then back to 1 in a cyclic fashion The value should be selected to be the smallest number Least common denominator into which all of the cyclic counts used within the CAN group can be evenly divided 1019hSub TypelaccessPurpose Default Ret PDO to19noo us Rw Synchronous Counter 1 0801v04No CANopen User Manual Rev 1 5 Page 78 of 121 Chapter 7 CANopen Data Dictionary 1029h Error Behavior Object This object allows the selection of the response to the detection of a serious error when the NMT state is Operational By default this value is 0 causing the devious to autonomously change to NMT state Pre Operational A value of 1 causes no change of NMT state A value of 02 causes a change in the NMT state to Stopped A serious communication error includes a Bus off condition and a Heartbeat event with state occurred Severe internal errors may also trigger changes in NMT state The same state transitions are selected by values of 00 01 or 02 The value written to Sub Index 01 selects the reaction to severe communications problems The value written to Sub Index 02 selects the reaction to severe internal problems NOTE These responses must be implemented in the user code Kill Motor Recovery KMR routine using Kill Motor Extended KMX to trip on CAN ERROR as one of the sources The Kill Motor Recovery routine must examine Registers 122 Response to COMM ER
78. detections CANopen User Manual Rev 1 5 Page 33 of 121 Chapter 3 CANopen Protocol being considered as a single error occurrence Other errors such as drive disabled or over temperature will only generate a single error message at the onset of the error and a single Error Cleared frame when the error has been resolved Local action for any of these errors may be triggered by configuring object 2000h as well as the appropriate bits including the CAN Error bit in the Kill Motor Extended command The EMCY frame consists of eight bytes of data The first two bytes are the EMCY Error Code EEC see Object 2002h for a list of codes sent low byte high byte Next byte is a copy of the contents of the Error Register Object 1001h followed by an error type byte bit 0 indicates a hardware error while bit 1 indicates a communications error The last four bytes are the current state of the Error Status bits as of the time of the EMCY frame the same as the contents of Object 2007h TIME The TIME object is used to broadcast Time of Day to all nodes in the system The nodes thus all keep time with the Time Master Node The SilverLode CAN software also provides crystal frequency compensation to allow the node to lock onto the master time to cancel out crystal tolerance and drift between nodes The master may have drift with respect to true time but all nodes on the bus will drift together The time object maps Date and milliseconds since mid
79. e Local Receive Channel Hl e Register to Map on Local Unit Accumulator 10 CANopen User Manual Rev 1 5 Page 51 of 121 Chapter 5 CANopen Commands CAN Register Map Remote CRMR Description This combo command configures another node via CAN to receive the selected Producer Data Object PDO into its user register or registers Multiple nodes may be configured to consume the PDO data produced by the producer node This combo command performs a function very similar to the CAN Register Map Local CRML except that instead of configuring the local node a remote node is being configured to receive data The configuration is done via the CAN bus using SDO operations PDO data streams may be used to dynamically share a register contents from a producer sending node to zero or more consumers receiving nodes The unit to be configured must first be selected via the CAN Connect to Remote CCTR command CRMR defaults to Client 1 but may use either client via the advanced options The PDO identifier is selected by choosing the Node number and transmit channel of the PDO producer The receive channel merely selects which local resource of the node being configured is used to receive the data any receive channel not already in use may be used The data is deposited into the selected register of the selected node whenever it is received The default configuration maps the receive PDO data onto a single register configu
80. e Client when setting up both the Client and the Server communications configurations Access Purpose Default SDO Client 1 Parameter 301v04 Highest Sub Index supported 3 COB ID Tx Client gt Server 8000 0000h COB ID Rx Server gt Client 8000 0000h SDO Server ID CANopen User Manual Rev 1 5 Page 80 of 121 Chapter 7 CANopen Data Dictionary 1281h SDO Client 2 Parameters Provides the same configuration information for Client 2 as 1280h does for Client 1 Provides a second SDO communications channel Type Access Purpose Default SDO Server Parameter 301v04 Highest Sub Index supported 3 COB ID Tx Client gt Server 8000 0000h COB ID Rx Server gt Client 8000 0000h SDO Server ID 1400h 1 Receive PDO Communications Record Provides COB ID for the first Receive PDO RPDO1 Bit 31 low enables the PDO as valid Bit 30 high enables RTR Remote Transmit Request frame data request compatibility The Node is compatible with RTR requests from the TPDO but will not generate RTR requests in this respect this bit is ignored Bits 29 0 form a standard COB ID as described above The Rx Type parameter selects whether incoming data updates the Data Dictionary object immediately upon receipt or whether it waits until the next SYNC event Values 0 to FOh as well as FCh indicate synchronous operation FDh FFh indicate event driven immediate update FCh FDh also indicate Remot
81. e Data Dictionary object immediately upon receipt or whether it waits until the next SYNC event Values 0 to FOh as well as FCh indicate synchronous operation FDh FFh indicate event driven immediate update FCh FDh also indicate Remote Transmit Request RTR operation which this unit may receive but the node does not generate RTR messages Access Purpose Default Ref Receive PDO Communication 301v04 RO Highest Sub Index supported 2 RW COB ID for RPDO 4 8000 0500h ID RW Rx Type 0 CANopen User Manual Rev 1 5 Page 82 of 121 Chapter 7 CANopen Data Dictionary 1600h First Receive PDO Mapping Each Receive PDO RPDO may carry one to four data elements These data elements must be mapped to their destination Data Dictionary This is the function of the RPDO mapping Each element map entry contains the Index and Sub Index of its destination Data Dictionary object as well as the number of bits corresponding to that object Object Mapping Bits 31 16 contain the Index Bits 15 8 contain the Sub Index Bits 7 0 contain the number of bits A consistency check between the number of bits and the data type of the mapped object is done as each object mapping parameter is written an inconsistency results in an error being generated The PDO being mapped must be inactive before any changes may be made to the mapping objects The PDO is inactive if Bit31 of the COB ID is set high Any write operations to the mappin
82. e Transmit Request RTR operation which this unit may receive The node responds to RTR messages but does not support the generation of RTR messages Type Access Purpose Default Receive PDO Communication 301v04 Highest Sub Index supported 2 COB ID for RPDO 1 8000 0200h ID Rx Type 0 1401h 2nd Receive PDO Communications Record Provides COB ID for the second Receive PDO RPDO2 Bit 31 low enables the PDO as valid Bit 30 high enables RTR Remote Transmit Request frame data request compatibility The Node is compatible with RTR requests from the Transmit PDO TPDO but will not generate RTR requests in this respect this bit is ignored Bits 29 0 form a standard COB ID as described above The Rx Type parameter selects whether incoming data updates the Data Dictionary object immediately upon receipt or whether it waits until the next SYNC event Values 0 to FOh as well as FCh indicate synchronous operation FDh FFh indicate event driven immediate update FCh FDh also indicate Remote Transmit Request RTR operation which this unit may receive The node responds to RTR messages but does not support the generation of RTR messages CANopen User Manual Rev 1 5 Page 81 of 121 Chapter 7 CANopen Data Dictionary Access Purpose Default Ref Receive PDO Communication 301v04 RO Highest Sub Index supported 2 RW COB ID for RPDO 2 8000 0300h ID RW Rx Type 0 1402h 3rd Rece
83. e object mapping is being change Receive PDO communications for RPDO 1 through RPDO 3 are configured through Objects 1400h through 1403h respectively Object mapping for RPDO 1 through RPDO3 configured via objects 1600h through 1603h respectively Transmit PDO communications for TPDO 1 through TPDO 3 are configured through Objects 1800h through 1803h Object mapping for TPDO 1 through TPDO 3 are configured via objects 1A00h through 1A03 Transmit PDO Configuration Synchronous PDO Operation PDO A PDO B PDO C Sync PDO A PDO B PDO C H Sync IT OI A B amp C Type 1 Send data every SYNC PDO A PDO B PDO A PDO A PDO B PDO A Syne Syne Syne Syne A Type 1 Send data every SYNC B Type 2 Send data every other Sync The Transmission Type should be determined first These may be Synchronous or Asynchronous They may also be triggered time based or RTR based Synchronous operation requires one of the nodes to be configured as a SYNC producer Upon detection of a SYNC signal or the completion of Transmission of the SYNC signal for the producer each CAN bus node determines if there are any Synchronous transmissions that need to be produces and samples the data for those synchronous TPDOs ready to transmit Each node must also update any pending synchronous RPDO data received since
84. ects ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeee 29 Monitoring NMT EE EE 30 Service Data Objects GI 31 Process Ee CR RE 32 E ee lee 33 d EE 33 SS Ee 33 RE 34 CANopen User Manual Rev 1 5 Page 2 of 121 Chapter 4 QuickControl And CANopen 35 INPUT Sharing RL 35 Remote Output Ree EE 35 Advanced CANopen Configuration cancncng tho ann anna one dE Edge 36 EE 37 Limit and Home Switch Mapping EE 37 Eeler EAEE 38 CAN STATUS LED and CAN ERR LED eege eekkehbiesaekktettek kieren beienee et ek 38 Chapter 5 CANopen Ru EEN 39 CAN Baud Rate Bre 39 CAN Connect to Remote CC TR Lundsaunet 40 CAN Dictionary Access Local GPL amnesi Gla akta lade indian ale 41 CAN Dictionary Access Remote CID 43 ENE GERE EO EN dete eve Ei 46 CAN Set NMT State Local Eech eeh ees Ee EE e 47 CAN Set NMT State Remote CND 48 CAN Register Map Local CRML ic sccis cescccaccesicnceeuscccnseeptaea teeesncten REESEN EEGEN 50 GAN Register Map Remote CRM sicscecctapectpenetettretece ct raheritebeataltpedabeSheetehitigetebcie 52 CAN Transmit Register Local ERKENNEN 54 CAN Transmit Register Remote CTPRRH an 56 Chapter 6 CANopen Configuration ccecceeeeeeeeee eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee 58 Stare WO GAN WEE 58 Configuring Process Data Objects PDO E 58 Initial PDO Configuration at Startup ceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteeeeneneeeeeeees 60 Transmit PDO Contigurationw
85. ee 402V02 Object Mapping 16Bh 107 RW User Register 107 Reserved for 402 object 6060h See 402V02 Object Mapping 16Ch 108 RW User Register 108 Reserved for 402 object 6061h See 402V02 Object Mapping 16Dh 109 RW User Register 109 Reserved for 402 object 605Ah See 402V02 Object Mapping 16Eh 110 RW User Register 110 Reserved for 402 object 605Bh See 402V02 Object Mapping 16Fh 111 RW User Register 111 Reserved for 402 object 605Ch See 402V02 Object Mapping 170h 112 RW User Register 112 Reserved for 402 object 605Dh See 402V02 Object Mapping 171h 113 RW User Register 113 Reserved for 402 object 605Eh See 402V02 Object Mapping 172h 114 RW User Register 114 Reserved for 402 object 6081h See 402V02 Object Mapping 173h 115 RW User Register 115 Reserved for 402 object See 402V02 Object Mapping 174h 116 RW User Register 116 Reserved for 402 object 6083h See 402V02 Object Mapping 175h 117 RW User Register 117 Reserved for 402 object 6084h See 402V02 Object Mapping 176h 118 RW User Register 118 Reserved for 402 object 6085h See 402V02 Object Mapping 177h 119 RW User Register 119 Reserved for 402 object See 402V02 Object Mapping 178h 120 RW User Register 120 Reserved for 402 object 6040h See 402V02 Object Mapping 179h 121 RW User Register 121 Reserved for 402 object 6041h See 402V02 Object Mapping 17Ah 122 RW User Register 122 Reserved for 402 object 1029h See 402V02 Object Mapping 17Bh 123 RW User Registe
86. er locally by its internal user program or by a Master node the initial communications must be configured to use the remote Node s default SDO server COB ID s These must be configured using the CAN Dictionary Access Remote CDR command to set the local SDO Client Communications via Object 1280h Client 1 or 1281h Client2 These do not need to be reconfigured as long as the local Node is communicating with the same remote Node but do need to be reconfigured to communicate with the same client to a different Node With two SDO clients available a Master Node may communicate to up to two slave peer nodes without reconfiguring the SDO client communications each time Mode Specifies the type of action requested for this SDO communication Mode 0 Performs an upload Read remote to Register Mode 1 performs a download write remote from register Mode 2 performs a download write remote from constant See the Errors section below for more details QuickControl determines this automatically when using the Remote Output tab Data Register or Constant For Mode types 0 and 1 this parameter specifies the starting register to use with additional data taken from delivered to subsequent registers as needed For Mode type 2 Download write Constant the second parameter is a 32 bit constant If the transfer is greater than four bytes additional registers will be used in an ascending order Strings will be transferred to Registers low byte of
87. erence the elements of complex structures Simple Objects use the appropriate Index with a Sub Index 0 Uploading reading and Downloading writing of these Data Dictionary Objects will be described in the SDO Object section below The object data may also be conveyed from it source node to multiple destination nodes using various PDO Objects see below Network Management NMT Objects Each node on the network has a NMT state machine The NMT state machine indicates the Network state of the node e Resetting Initializing and testing hardware e Initializing Communications Hardware OK initializing CAN and default COB ID s e Pre Operatonal able to process NMT and SDO objects but not PDO objects and Predefined Objects Use this state to configure Nodes before they go active e Operational able to process all object types although some configuration changes may not be allowed e Stopped an error was detected and the Node will only respond to NMT frames A Node is allowed to either change its NMT state itself Master or Peer or to wait until a Master node changes its state The Master node may change the state of any other node by use of the Node Control Protocol The NMT operation may be used to cause the Node to transition to Pre CANopen User Manual Rev 1 5 Page 29 of 121 Chapter 3 CANopen Protocol Operational Operational or Stopped state it may also reboot the node or to cause the node to reset its communication
88. es allowed Stopped NMT State 4 Only NMT communications allowed Reset Communications Sets Communications parameters COB ID s back to their default value and then transitions to Pre Operational Reset Node Forces a full hardware reset of the selected node s the nodes should return to Pre Operational when done NOTE Resetting a Node causes the Node to temporarily revert to RS 232 mode single drop until the initialization has reached a certain point This may cause the serial communications to temporarily drop out This is normal The NMT management commands structures in CANopen require that only one Master Node produce Commands and zero or more Nodes consume them There is no direct handshake mechanism however if the consumer node has its heartbeat configured then the heartbeat will reflect the new state on its next transmission If the transmit buffer is free to transmit no other pending transmission from a CNL command this command returns only the Zero flag set If the prior transmission has not yet successfully completed the command terminates with only the Negative flag set The Jump conditional command may be used to retry the command or to enter an error recovery routine CANopen User Manual Rev 1 5 Page 48 of 121 Chapter 5 CANopen Commands Note The Transition Request Value is limited to the five documented values The NMT State is transitioned to the requested state but the Transition Value does
89. est 0 No Test N A N A 1 101 FLGINP Bit 4 2 102 FLGINP Bit 5 3 103 FLGINP Bit 6 4 104 FLGINP Bit 12 5 105 FLGINP Bit 13 6 106 FLGINP Bit 14 7 107 FLGINP Bit 15 8 Current Index found FLGINP Bit 0 9 Internal Index found FLGINP Bit 1 10 External Index found FLGINP Bit 2 11 Position Error FLGINP Bit 8 12 Motion Error FLGINP Bit 9 13 Trajectory Active FLGINP Bit 3 14 Delay Counter Active FLGINP Bit 10 15 Millisecond Delay Active IS2 Bit 0 16 Encoder Re phased IS2 Bit 2 17 Driver Disable Factory IS2 Bit 3 18 Motor Over Temp IS2 Bit 4 19 Driver Analog Over Temp IS2 Bit 5 20 Driver Not Enabled IS2 Bit 6 21 Driver Digital Over Temp IS2 Bit 7 22 Encoder Analog Error IS2 Bit 8 23 External IO Power off IS2 Bit 9 24 Velocity Limit Exercised IS2 Bit 1 25 CAN Error IS2 Bit 10 26 Thread 2 Active IS2 Bit 11 27 CAN NMT is Operational CAN STATE Bit 15 28 CAN initialized CAN STATE Bit 14 29 CAN able to receive frames CAN STATE Bit 13 30 Can able to process PDO CAN STATE Bit 12 31 CAN NMT is Stopped CAN STATE Bit 11 36 ALL Driver Enable OK FLGINP Bit 7 40 Mapped Register Bit 0 41 Mapped Register Bit 1 42 Mapped Register Bit 2 43 Mapped Register Bit 3 44 Mapped Register Bit 4 45 Mapped Register Bit 5 46 Mapped Register Bit 6 47 Mapped Register Bit 7 48 Mapped Register Bit 8 49 Mapped Register Bit 9 50 Mapped Register Bit 10 51 Mapped Register Bit 11 52 Mapped Register Bit 12 53 Mapped Register Bit 13 54 Mapped Register Bit 14 55 Mapped Register B
90. ext step is to set a CAN CAN ID using the CAN Identity CID command This configures the default addresses or CAN ID A parameter of 0 will cause the unit to use the lower 7 bits of its Unit ID serial port as set by the IDT command as its CAN ID values of 1 to 127 will cause the CAN ID to be set to 1 through 127 respectively Note 0 is reserved as a broadcast address After the default CAN communication parameters have been initialized the CAN routines are started A boot up message is sent ant then the NMT State transitions to Pre Operational In this state the CAN Dictionary objects may be changed via the CAN Dictionary Access Local CDL command as well as by remote nodes using the Service Data Object SDO functions through the CAN bus accessed via the CAN Dictionary Access Remote CDR command on the remote node NOTE The commands CID and CBD are included in the Factory Default Initialization CAN qcp file when QuickControl is installed If the device is initialized with this file using the Initialization Wizard CID is set to 0 making the CAN CAN ID the same as the Unit ID serial and CBD is set to 1 Mbps If the node SilverLode controller is operating as a slave to a remote CAN master then that master should then configure the local Node and when ready switch the NMT State to Operational However if the node is operating as either a peer or master then the local program should configure the needed entries in the Dat
91. f Register 10 1F9h 249 RW Reserved 1FAh 250 RW Reserved 1FBh 251 RO Reserved 1FCh 252 RO Reserved CANopen User Manual Rev 1 5 Page 106 of 121 Chapter 7 CANopen Data Dictionary 402V02 Object Mapping Device Profiles are used to establish common object usage for common functions The 402 profile defines such common object usage for Servo and Stepper Drives Some of these objects are mapped to user registers in the SilverLode memory map These are intended to provide an interface to the User Program running on the SilverLode controller that then implements the requested function via program control The balance of the objects are internal data used by the CANopen processing routines to configure operation For Further information on CiA 402 implementation see ANO60 CiA 402 Implementation Description Mapping Object Home Offset Long Word 607Ch Homing Method Lowest Byte 6098h Homing Speed Switch Long Word 6099h Homing Speed Zero Long Word 6099h Homing Acceleration Long Word 609Ah Max Acceleration Long Word 60C5h Max Deceleration Long Word 60C6h Mode of Operation Command Lowest Byte 6060h Mode of Operation Display Lowest Byte 6061h 109 Quick Stop Option 116 Low Word 605Ah Shutdown Option 116 Low Word 605Bh 111 Disable Operation Option Code 116 Low Word 605Ch 112 Halt Option Code 116 Low Word 605Dh 113 Fault Reaction Operation Code 1116 Low Word 605Eh 114 Profile Velocity U32 Long Word 6081h 115 Rese
92. g object will generate an error if the associated COB ID is active All objects must be mapped prior to configuring Number of Objects Mapped The first N objects must be mapped if Number of Objects Mapped is written to N or an error will result Mapping objects with Number of Objects Mapped not equal to zero will also result in an error Access Purpose Default Receive PDO Mapping 301v04 Number of Objects Mapped 1st Object Mapping 2nd Object Mapping 3rd Object Mapping 4th Object Mapping CANopen User Manual Rev 1 5 Page 83 of 121 Chapter 7 CANopen Data Dictionary 1601h Second Receive PDO Mapping All four of the Receive PDO mapping parameter objects work in the same fashion Access Purpose Default Receive PDO Mapping 301v04 Highest Sub Index supported 1st Object Mapping 2nd Object Mapping 3rd Object Mapping 4th Object Mapping 1602h Third Receive PDO Mapping All four of the Receive PDO mapping parameter objects work in the same fashion Access Purpose Default Receive PDO Mapping 301v04 Highest Sub Index supported 1st Object Mapping 2nd Object Mapping 3rd Object Mapping 4th Object Mapping 1603h Fourth Receive PDO Mapping All four of the Receive PDO mapping parameter objects work in the same fashion Access Purpose Default Receive PDO Mapping 301v04 Highest Sub Index supported 1st Object Mapping 2nd Ob
93. gative Limit Sw 1 004h 02 U16 RW IO select for Positive Limit Sw 2 004h 03 U16 RW IO select for Home Sw 3 004h 04 1U16 DW IO select for Interlock 36 24h CANopen User Manual Rev 1 5 Page 96 of 121 Chapter 7 CANopen Data Dictionary 2005h Heartbeat Monitoring Status State 2005h Sub Index 1 through 8 correspond to the nodes configured in 1016h Sub Index 1 to 8 respectively The upper 4 bits indicate the status of the heartbeat timer while the lower 7 bits correspond to the most recently received Node NMT State Bit 15 is set to 1 if the Heartbeat is currently timed out Bit 14 is set to 1 if the first Heartbeat is still pending no heartbeats received since configuration of Node via 1016 Bit 13 is set to 1 if NMT states have changed Bit 12 is set to 1 if NMT states changed to Pre Operational or Stopped Note These objects are read clear The write operation may be used to clear the selected bits by writing a 1 to that value Typically only bits 12 13 and or 14 should be cleared Bit 15 will immediately within 1 ms retrigger if no heartbeat has been detected The Heartbeat Consumer may also be reset back to pending bit set by writing downloading to Object 1016 with the Sub Index selecting the specific consumer the same data should be configured Access Purpose Trigger TPDO Highest Sub Index supported Status State 1st HB Consumer Status State 2nd HB Consumer Status State 3rd HB Cons
94. gram The user code is responsible for implementing limits and setting up the profiled move operation Profile Velocity is mapped to Register 114 Index Sub TypelAccess Purpose brun u32 RW Profile Velocity Ref oo 402v02 6083h Profile Acceleration Profile Acceleration in SilverLode units unless converted by user program The user code is responsible for setting up the profiled move operation Profile Acceleration is mapped to Register 116 Index Sub TypelAccess Purpose Default bet PDO eossnjoo U32 RW Profile Acceleration oevoelves 6084h Profile Deceleration Profile Deceleration in SilverLode units unless converted by user program The user code is responsible for setting up the profiled move operation Profile Deceleration is mapped to Register 117 Index Sub TypelAccess Purpose l6084n00 U32 RW Profile Deceleration Ref PDO CANopen User Manual Rev 1 5 Page 115 of 121 Chapter 7 CANopen Data Dictionary 6085h Quick Stop Deceleration Determines the deceleration used if the Quick Stop command is given and the Quick Stop Option Code 605Ah is set 2 The units are the same as for Profile Acceleration User Code is responsible for implementation Quick Stop Deceleration is mapped to Register 118 Index Sub TypelaccessPurpose Default et PDO breng Uz RW Quick Stop Deceleration hkovoalyes 6098h Homing Method Homing Method determines the method that will be used during homing Method
95. hannel 1 ecelve Lhannel 1 e Register to Map on Remote Unit User 30 Edit CNR CAN Set NMT State Remote x Select CAN Network Management NMT state of remote node Cancel Remote ID 1 Description 3 Set 17 to Operational using CNR NMT State Besten Now unit 16 will transmit its actual position register onto the bus Unit 17 will receive unit 16 TPDO into register 30 through its RPDO The entire configuration was done through unit ID 1 See diagram above CANopen User Manual Rev 1 5 Page 16 of 121 Chapter 1 Getting Started Example program Label Command Connect to unit 16 CAN Connect to Unit 16 Setup 16 to transmit Register 1 onto the bus CTRA CAN Transmit Register Remote Tx Channel 1 Register Actual Position 1 Put unit 16 into operational mode ID 16 CAN NMT State Operational Connect to unit 17 CAN Connect to Unit 17 Setup 17 to receive 16 actual position into 17 local register 30 CRMR CAN Register Map Remote Tx Unit ID 16 Tx Channel 1 Rx Channel 1 Register User 30 Put unit 17 into operational mode ID 17 CAN NMT State Operational CANopen User Manual Rev 1 5 Page 17 of 121 Chapter 1 Getting Started Output Sharing The following diagram and procedure shows how to have unit 16 share 17 s outputs OUTPUT a Ki _ Nut i NA 1 6 1 d Outputs 1 From unit 16 use CCTR to connect unit 17 EE eee Cancel er 17 Clie
96. he basic frame bits subject to bit stuffing rules as well as all of the data bytes Bit stuffing is data identifier dependent Minimum packet size it therefore 47 8 d where d number of data bytes Maximum packet size is 47 8 d 34 8d 1 4 Bytes of Data 11 213141516 Minimum Packet bits 47 55 63 71 79 87 95 11031111 Maximum Packet bits 55 65 75 85 95 10511151125 135 Min Time 1Mbps microseconds 47 55 63 71 79 87 95 Max Time 1Mb Sec microseconds 55 65 75 85 95 105 115 Min Time 250kbps microseconds 188220 252 284 316 348 380 Max Time 250kbps microseconds 220 260300 340 380 420 460 Thus a frame carrying 0 bytes of data requires between 47us and 55us at 1Mbps baud rate while it takes 188us to 220us for the same packet if the bus speed is lowered to a 250kbps baud rate A frame carrying 8 bytes of data takes between 111uS and 135us vs 444us and 540us for the same 1Mbps and 250 kbps data rates CANopen User Manual Rev 1 5 Page 27 of 121 Chapter 2 Introduction to CAN Example Data Frame with Two Bytes of Data Beep 16 bit CRC SOF Arbitration field Control Field Data Field example ASK End of Frame Start of Frame N 110100010110000011000101001010100101010110010100001011111111 i RTR 1 request 0 message H f E IDE 0 11 bit 1 29 bit
97. ic4 ENEE 60 CANopen Message Structure COB ID Allocation cccccccecceeeeeeeeeeeeeeeeeeeeeeeeeeeees 63 EMG YsCORMGUPATON EE 64 Heartbeat Configuration vrrrrrrrrrrrrrrrrrrrrrrrrrrrrrnrsrrrrrrrsrsrrrsssrssssssssrssssnsssssrsnsnsnnnn 64 Chapter 7 CANopen Data Dictionary srrrrrrrrrrrnnennnnnrrnnnnvrrrnnnnnnnnnrrnnnnrrrnennenneserrrnnnnnn 66 Object Dictionary Structure EEN 66 Supported Simple Data Eeer eege gege gege eege 66 Supported Manufacturer Data types rrrnnnnnnnnrnnnnnrrrrrnnnnnnnrrnnnnnvrrnnnnnnennnernnnnnrnnnnnene 67 Object Dictionary Object Type CGodes eneee e ennenen ernennen nenna 67 Supported Structures Complex data types cccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 68 SUPPOred Ree 70 1000h Device ENEE 70 1001h Error REGIST EE 70 1002h Manufacturer Status Word ee 71 1003h Predefined Error E ME 72 LOGS GOB ID SY d LEE 73 1006h Communication Cycle SYNC Penod 74 1007 h Synchronous Window En Le DEE 74 TOOG tr Gitar WR lr 74 OUR ERE 1 13 EE 74 10126 TIME STAMP EECHER int deser ere een ee 75 1013h High Resolution Time Gtamp un 75 1014h OBI EMCY EE 76 TOI5SYEMCY OIE TNs PET 76 1016h Consumer Heartbeat Tume e 76 1017h Heartbeat Producer TIME geste bebe Ee SSbee 77 CANopen User Manual Rev 1 5 Page 3 of 121 1018h Identity Object E 78 1019h Synchronous COURMLCN EE 78 1029h Error Behavior Objetk avansere 79 1200h SDO Server 1 Parameters eege EEN e 79 1201h SDO SERVER 2
98. ick Stop Options This object is used to determine the reaction to a Quick Stop condition triggered by to change in Machine State to Quick Stop Various options are available 1 slow stop ramp gt switch on disabled 2 quick stop ramp gt switch on disabled 3 stop abruptly gt switch on disabled 4 slow down on voltage limit gt switch on disabled 5 slow stop ramp gt quick stop 6 quick stop ramp gt quick stop 7 stop abruptly gt quick stop 8 slow down on voltage limit gt quick stop Mode 3 and 4 produce the same motion with the onboard clamp present Mode 7 and 8 produce the same motion with the onboard clamp present The Quick Stop Options object is mapped to the lower word of Register 109 The User Program implements its functionality and must also set the default state prior to CAN startup Index Sub Type AccessPurpose Default bet PDO bosanjoo 16 Rw Duc Stop Options 2402v02No CANopen User Manual Rev 1 5 Page 109 of 121 Chapter 7 CANopen Data Dictionary 605Bh Shutdown Option The Shutdown option determines what action to take if there is Machine State transition OPERATION ENABLE gt READY TO SWITCH ON 0 Disable drive function 1 Slow down with slow down ramp then disable the drive function The Shutdown Option is mapped to the low word of Register 110 Functionality is implemented by User Program Index Sub TypelAccessPurpose Default bet 605Bh 00 Is RW Shutdown Op
99. ictionary Local CDL Holds either Register number or Data Data ke Register Number Modes 0 or 1 32 bit Constant Mode 2 Sub Index 0 to FFh 0 to 255 CANopen User Manual Rev 1 5 Page 41 of 121 Example Set Communications Cycle Time Sync period to 1000 microseconds Data Dictionary 1006h Sub Index 00h 16 72 2 1000 0x1006 0x00 CR or 16 72 2 1000 4102 0 CR Response ACK only Second Example Read Heartbeat Status of first Heartbeat Consumer Data Dictionary 2005h Sub Index 01h into User Register 30 16 72 0 30 0x2005 0x1 CR or 16 72 0 30 8197 1 CR Response ACK only CANopen User Manual Rev 1 5 Page 42 of 121 Chapter 5 CANopen Commands QuickControl Example Access local CAN Data Dictionary Description a E Cancel r Remote Dictionary Access Index fort 006 Sub Index mn r Mode Read Dictionary to Register Write Register to Dictionary Write Constant to Dictionary Edit Constant Chapter 5 CANopen Commands CAN Dictionary Access Remote CDR See Also CAN Dictionary Access Local CDL Description The CDR command provides a means to access another Node s Data Dictionary This command will not operate properly until the SDO Service Data Object Client Communication objects in the local Data Dictionary have been initialized to specify which node is to be contacted see Combo Cmd CCTR Unless the node has been previously configured eith
100. ing the CAN Transmit Register Remote CTRR Combo Command CTRR is just like the local version CTRL except it Edit CTRR CAN Transmit Register E xj Configures the connected remote unit to transmit a register Use selected channel to transmit selected register over the CANOpen bus NOTE Accumulator Register 10 modified by this command Gei Transmit Channel E a v Advanced Register to Transmit Description Actual Position 1 e 4 CANopen User Manual Rev 1 5 Page 15 of 121 Chapter 1 Getting Started Like the Peer to Peer example the final step is to put the remote unit into NMT Operational state Master units put slaves into x Operational state using the CAN NMT State Select CAN Network Management NMT Remote CNR command KEE SEI Configuring any remote unit to transmit a Remote ID pr Le TPDO is a three step process First connect NMT State Operations 3 to the remote unit Second configure the TPDO Third put the remote unit into operational mode Programming Unit 17 from Unit 1 1 Use CCTR to connect to Unit 17 Establish a connection to a remote unit Cancel Remote ID HE Configure previously connected remote unit i e Client Number Cent 1 defaut using CCTR to map register data being transmitted by given unit to the remote unit s local register es Tana Urd iD paran 2 Use CRMR to map 16 s Transmit Channel 1 CENE espen gata to 17 s register 30 through 17 s Receive ee C
101. it 15 56 Mapped Register Bit 16 CANopen User Manual Rev 1 5 Page 95 of 121 Chapter 7 CANopen Data Dictionary 57 Mapped Register Bit 17 58 Mapped Register Bit 18 59 Mapped Register Bit 19 60 Mapped Register Bit 20 61 Mapped Register Bit 21 62 Mapped Register Bit 22 63 Mapped Register Bit 23 64 Mapped Register Bit 24 65 Mapped Register Bit 25 66 Mapped Register Bit 26 67 Mapped Register Bit 27 68 Mapped Register Bit 28 69 Mapped Register Bit 29 70 Mapped Register Bit 30 71 Mapped Register Bit 31 101 10101 G 16 BITS Bit 0 102 10102 G 16 BITS Bit 1 103 10103 G 16 BITS Bit 2 104 10104 G 16 BITS Bit 3 105 10105 G 16 BITS Bit 4 106 10106 G 16 BITS Bit 5 107 10107 G 16 BITS Bit 6 108 10108 G 16 BITS Bit 7 109 10109 G_16 BITS Bit 8 110 10110 G_16 BITS Bit 9 111 10111 G 16 BITS Bit 10 112 10112 G 16 BITS Bit 11 113 10113 G 16 BITS Bit 12 114 10114 G_16 BITS Bit 13 115 10115 G_16 BITS Bit 14 116 10116 G_16 BITS Bit 15 32 through 35 Not available for mapping CAN switches available for jumps and motion end conditions They correspond to CAN 10 bits 0 to 3 only if extended IO is present Set to 1 if External IO power is not present Access Purpose Default 004h Switch Mapping No 004h 00 U8 RO Highest Sub Index supported 4 004h 01 U16 RW IO select for Ne
102. it to register 30 CANopen User Manual Rev 1 5 Page 13 of 121 Chapter 1 Getting Started Advanced TPDO and RPDO Edit CTRL CAN Transmit Register Local xj CAN Transmit Register Local Advanced rek elg ok NOTE Accumulator Register 10 modified by this xj command Transmit Channel H 8 Register to Transmit Description Accumulator 10 Edit CTRL CAN Transmit Register Local dy 7 Cancel L EdtPeosteMasis The Advanced option has two parameters Edit TPDO Communications Parameters e Edit Register Mapping e Edit TPDO communication Parameters le x This advanced function allows user to select a second register for the same communication channel One TPDO channel can transmit up Cancel to two registers at the same time First Register Mapping EE Advanced By default the second register transmission is disabled User must enable the second EE channel and select the desired register Target Position 0 m Second Register Mapping Edit TPDO Communication Paramters xi Groe ransmit pose Data Object ommunication Parameters e Cancel TPDO Communication Parameters This advanced function allows user to select the 28 type and frequency of transmission See nes Process Data Objects in Chapter 3 for details 255 Trigger on time or change default 255 254 Trigger on time See CAN User Manual for full list Inhi
103. ive PDO Communications Record Provides COB ID for the third Receive PDO RPDO3 Bit 31 low enables the PDO as valid Bit 30 high enables RTR Remote Transmit Request frame data request compatibility The Node is compatible with RTR requests from the Transmit PDO TPDO but will not generate RTR requests in this respect this bit is ignored Bits 29 0 form a standard COB ID as described above The Rx Type parameter selects whether incoming data updates the Data Dictionary object immediately upon receipt or whether it waits until the next SYNC event Values 0 to FOh as well as FCh indicate synchronous operation FDh FFh indicate event driven immediate update FCh FDh also indicate Remote Transmit Request RTR operation which this unit may receive but the node does not generate RTR messages Access Purpose Default Ref Receive PDO Communication 301v04 RO Highest Sub Index supported 2 RW COB ID for RPDO 3 8000 0400h ID RW Rx Type 0 1403h 4th Receive PDO Communications Record Provides COB ID for the fourth Receive PDO RPDO4 Bit 31 low enables the PDO as valid Bit 30 high enables RTR Remote Transmit Request frame data request compatibility The Node is compatible with RTR requests from the Transmit PDO TPDO but will not generate RTR requests in this respect this bit is ignored Bits 29 0 form a standard COB ID as described above The Rx Type parameter selects whether incoming data updates th
104. ject Mapping 3rd Object Mapping 4th Object Mapping CANopen User Manual Rev 1 5 Page 84 of 121 Chapter 7 CANopen Data Dictionary 1800h 1803h Transmit PDO Communications Parameters The communications parameters for the Transmit PDOs are configured in the same manner as for the Receive PDO channels See 140xh except that Inhibit Time Event Timer and Starting Sync may also be configured for each TPDO Sub Index 1 holds the COB ID for the first Receive PDO RPDO1 Bit 31 low enables the PDO as valid Bit 30 high enables RTR Remote Transmit Request frame data request compatibility The Node is compatible with RTR requests from the TPDO but will not generate RTR requests Bits 29 0 form a standard COB ID as described above The Tx Type parameter selects when and how Transmit PDO data is sent A value of 0 is a Synchronous Triggered event This means the event must be triggered by a time elapse or by a manual trigger via object 2003h but that the data won t be sent until the next SYNC event Values 1 through FOh cause the data to be sent every 1 through 240 Sync events respectively A value of FCh indicates a synchronous RTR transmit meaning a Remote Transmit Request is required to trigger the transmission which will be delayed until the next SYNC event A value of FDh indicates an asynchronous RTR triggered transmission meaning the frame is sent as soon as the RTR is received FEh and FFh
105. l 5V supply thus no extra power source for CAN is required No provision for onboard CAN termination is provided The user must provide a 120 ohm to L watt termination resistor at each end of the CAN run CANopen User Manual Rev 1 5 Page 9 of 121 Chapter 1 Getting Started QuickControl and CANopen QuickControl 4 4 or greater required QuickControl 4 4 can be found on QuickSilver Controls website www QuickSilverControls com under the Software section Combo Commands Combo Commands were introduced in QuickControl Rev 4 4 Combo Commands provide a macro like program construct in which user selections cause the parameters of multiple native commands to be simultaneously edited All native commands have three letter acronyms where as the Combo Commands have four letter acronyms to allow for easy recognition The combo commands may be expanded to see the underlying commands by right clicking on the Combo Command and selecting Expand from the pop up menu They may be restored to a single line by the same process The individual commands are greyed out as they may not be edited individually However they may be copied and pasted in to a program by selecting only the individual commands and not the Combo Command and
106. less than 10 of the maximum Bus length Bus Length Length related Wire Cross Wire Gauge Terminatio resistance Section approximat n e resistance meters Milliohm meter Square mm AWG ohms 0 to 40 70 0 25 to 0 34 24 GA 124 40 to 300 lt 60 0 34100 6 22 GA 150 to 300 300 to 600 lt 40 0 5 to 0 6 20 GA 150 to 300 600 to 1000 lt 26 0 75 to 0 8 18 GA 150 to 300 Recommendations from DR 303 1 V1 3 The baud rate for the Node is set via the CAN Baud Rate CBD command CANopen User Manual Rev 1 5 Page 24 of 121 Chapter 2 Introduction to CAN CAN Message Frame Structure CAN and Message Identifiers Each message sent across the bus is uniquely identified by a pre assigned Communications Object Identifier or COB ID The COB ID not only designates the type of communications and how its data will be handled it also specifies the priority of the message with the lowest numbered COB ID s receiving the highest priority in transmission Each Node must be assigned a unique CAN ID in the range of 1 to 127 The CAN ID is used to build the default COB ID values used by the frames so a lower numbered node will be assigned higher priorities by default The CAN ID is set using the CAN Identity CID command this command assigns the ID builds the default COB ID values for the various objects and then starts up the CAN background processes CAN Frame Structure The CAN Frame includes
107. lity to set bits or clear bits in the given register without affecting the other bits These mode are available while through the Dictionary Local or Remote as well as via PDO services CANopen User Manual Rev 1 5 Page 69 of 121 Chapter 7 CANopen Data Dictionary Supported Objects 1000h Device Type Describes the type of device and its functionality Defines a Servo Drive with configurable PDOs Index Sub TypelaccessPurpose Value Rei PDO ng Was RO Device Type Servo Drive oz ot92hl4o2vo2 No_ 1001h Error Register Bit field of current errors it Meaning Manufacturer specific Reserved 0 device profile specific communications error temperature error voltage error current error generic error set for ANY error 7 6 5 4 3 2 1 0 Note Bit 0 is set if any of the other bits is set See Object 2001h information for specific error sources gating of these sources as errors as well as the related error codes Object 2000h selects which of these conditions generate a CAN Error bit in Internal Status Word 2 IS2 triggering a Kill Motor Recovery if so enabled See 1003 Predefined Error Field for specific sources of these errors Index Sub TypelaccessPurpose Ret og foothjoo lus bo Era Register Bit Mapped 402v02 CANopen User Manual Rev 1 5 Page 70 of 121 Chapter 7 CANopen Data Dictionary 1002h Manufacturer Status Word 32 bit Manufacturer Status word The upper 16 bits i
108. ll reset the heartbeat consumer state back to pending that is no timeout countdown until the first heartbeat is detected Setting the CAN ID to a valid node but setting the heartbeat time to 0 will allow detection of state and state changes as well as proper operation of the pending detection but will disable the timeout function Type Access Purpose Default 1016h Heartbeat Consumer Array 301v04 No 1016h 00 U8 RO Highest Sub Index supported 1016hi01 U32 BW CAN ID and Heartbeat Time 1016hi02 U32 BW CAN ID and Heartbeat Time 1016hi03 U32 BW CAN ID and Heartbeat Time 1016h 04 U32 DW CAN ID and Heartbeat Time o o o 0 0o CANopen User Manual Rev 1 5 Page 76 of 121 Chapter 7 CANopen Data Dictionary 1016h 05 U32 DW ICAN ID and Heartbeat Time 0 1016h 06 U32 DW ICAN ID and Heartbeat Time 0 1016h 07 U32 DW ICAN ID and Heartbeat Time 0 1016h 08 U32 RW ICAN ID and Heartbeat Time 0 RW only when in PreOperational NMT state RO in all other NMT states 1017h Heartbeat Producer Time Heartbeat Producer Time sets the time in milliseconds between generated Heartbeat frames A time of 0 disables the function A non zero value immediately starts transmitting a heartbeat Index Sub TypelAccessPurpose Default Ref PDO 1017n00 U16 Du Heartbeat Producer Time 8 Botvodno RW only when in PreOperational NMT state RO in all other NMT states CANopen
109. lthough each Node may support multiple clients and servers The SilverLode CANopen software provides two clients and two servers per node The SDO service may be accessed through the CAN Dictionary Access Remote CDR command Prior to using the CDR command the SDO Communications Parameters must be configured Each Node has one Root SDO server that is configured to default COB lds Server Rx at 1536 600h CAN ID Tx at 1408 580h CAN ID The communications parameters for this server are Read Only Accessing a remote SDO Server requires configuring the local Data Dictionary Objects for the SDO Client being used Client 1 or Client2 The Client Tx COB ID must be set to the wanted Server Rx COB ID and the Client Rx COB ID must be set to the wanted Server Tx COB ID Client SDO parameters are accessed via Data Dictionary Object 1280 Sub Indexes 1 through 3 The local Data Dictionary Objects may be accessed using the access CAN Dictionary Access Local CDL command This command allows uploading reading from the Data Dictionary object into User Registers as well as downloading writing to the Data Dictionary object from a constant or from User Registers CANopen User Manual Rev 1 5 Page 31 of 121 Chapter 3 CANopen Protocol Process Data Objects PDO Process data objects provide real time data communications between nodes with minimal program intervention These objects are unconfirmed meaning that the data is sent to zero or mo
110. nennnnennn 88 Manufacturer Specific Data Dictionary Objects 2000H 2FFFh unnnnrrrrnnnnnnnvrrnnnnnnr 88 2000h Cmca Error E 89 2001 EMGY Repor MaSK eege EES SE SSES 91 2002 CAN Errors Reported Hegoister 93 2003h Trigger Event Driven PDC 94 2004h Limit Switch and Home Switch Mapping arrrrvrrrrnnnnnnnnvnnnnnrrrrrnnnnnnnrrrnnnnnnn 94 2005h Heartbeat Monitoring Status State ccccccccccccccccceceeeececcceeeeeeeeeeeeeeeeees 97 2006h Read Clear CAN Hardware Error Status Ps 98 2007h Current CAN ERRORS Register rrrnnnnnnnnnnnnnnnvrrrnnnnnnnnnrnnnnnrrrrnnnnennsrrrnnnnnnn 98 2008h Remote Input Register Map 98 2009h SI D ta Polisunieniurwanacadadauavadawaduavad awa aad awa uaen 99 SEENEN EE 99 User Register Mapping to CAN Data Dictionary cececeeeeeeeeeeeeeeeeeeeeeeenneeeeeeeees 100 Objects 2100h TO 21PFEN suser 101 402V02 Object eene WE 107 6007h Abort Connection Option Code rrrrrnnnnnnnrnnnnnnrrrnnnnnnnnrrrnnnnnrrrnnnennesrernnnnnnn 108 603Fh Most Recent Error Codex canna een aaa ai ebon kake 108 6040h Control Word E 108 GOA TM ESTDA e WEE 109 605Ah Quick ee e 109 605Bh Shutdown Option 5 06 ccceecscespeeseceeseetecnarseesssnoncteneepscnesensecbocespeetsabennenes 110 605Ch Disable Option rs cea est awe cea ene ve toe once we eset ss aon secre eae a we cee ene ae 110 BODOG Hal OOMO Mass Coeeeen E ss nartne E sees 111 605Eh Fault Reaction Option geregelte ees 111 6060h Modes of Operation l
111. night The SilverLode may be configured as a Time Consumer but lacking time of day calendar capability it may not be configured as a Time Producer NOTE The High Speed Time Object may be mapped to a PDO to produce a time basis to allow locking the time frequency of multiple SilverLode units The high speed Time counter a 32 bit microsecond counter so it repeats approximately every 71 58 minutes The suggested PDO transmit time 10 to 50 milliseconds The time base between units should substantially lock within 30 to 60 seconds Large differences in time will cause a direct setting of local High Speed Time while smaller changes will adjust the local time base and reset the local Time Still smaller changes will only adjust the local time base as random variation in the BUS communications such as the length of the preceding frame will be greater than the actual clock drift This PDO should be mapped to a high priority low COB ID for best accuracy CANopen User Manual Rev 1 5 Page 34 of 121 Chapter 4 QuickControl And CANopen Chapter 4 QuickControl And CANopen This chapter documents using QuickControl to access some of CANopen s advanced features Please read Chapter 1 for basic CANopen initialization register sharing and I O sharing Input Sharing Details UO 101 through I O 116 may be shared by transmitting register 238 which contains the extended input states in the upper word and the output drive state 1 output transistor
112. nneeeeeee 10 GAM ed e 13 50 EE 52 ETR E 12 54 CANopen User Manual Rev 1 5 Page 121 of 121 CIRR EEN 56 DEM peee a 49 Edit Register Mapping Option 14 EMON EE 33 al 27 Getting Started un 7 Heartbeat EE 37 Initialization EE 11 Initializing Communications 29 Input Sharing EE 19 EE EE 24 Limit and Home Switch Mapping 37 E EE 10 Network Management NMT 29 IO EE 29 Operational ieseni etebieg 29 Output Sharing nanan 18 E EE 32 LEE 10 Physical Layer 2murvassdrastu 22 Pre Operatonal eennnnnnnnnnnnnnnnnnnnnne 29 Process Data Objects PDO 32 PYOUO CO lect asset 29 Receive Process Data Object RPDO eer eT E te wert 13 Register Sharing Master Slave 15 Register Sharing Peer To Peer 12 Remote Inputs ee 21 RESEMNG E 29 RPDO E 13 SEG intie Messiah ER 31 Service Data Objects SDO 31 Sharing Master Glave 15 Sharing Peer To Peer en 12 EE 10 S110 0101518 RE 29 SYNG NE 33 Jet nerder 23 PE see 34 TPDO Communication Parameters 14 Transmit Process Data Object TPDO
113. nt Number Client 1 default v Access remote CAN Data Dictionary ipti fi 3 NOE ee tae Gegen a connect to remote vanced Ered General Remote Output Remote Register Access m Remote Output Set or Clear remote output 101 116 Remote Oups 2 2 Use the CAN Dictionary Access Remote CDR command Remote Output tab to clear Mode C Output Clear LOW or set a remote unit s output Ze Output Set HIGH For an example program see QCI Examples CAN CDR Remote Output qcp in the QuickControl folder CANopen User Manual Rev 1 5 Page 18 of 121 Chapter 1 Getting Started Input Sharing Any device may share its extended inputs i e 101 116 with everybody else on the CAN network A unit shares a remote unit s inputs by mapping a specific register on the remote unit to a specific local register Once mapped the Remote Inputs can be used in many commands just like local inputs see below For details on the specific registers 238 and 199 see Input Sharing in Chapter 4 The following diagram and procedure shows unit 16 sharing unit 17 s inputs INPUTS lt 17 TPDO Register 238 gt lt 16 RPDO Register 199 gt Map I O Register 199 1 1 6 Map I O commands 1 d INPUTS Unit 16 Sharing Unit 17 s Inputs CANopen User Manual Rev 1 5 Page 19 of 121 Chapter 1 Getting Started 1 Unit 17 program uses CTRL to share the upper w
114. on of the terminating resistors The Dominant state exists when one or more of the bus drivers are driving the bus in the Dominant state the CAN_H line is driven high approximately 4v typically while the CAN L line is driven low approximately 1v The state of the bus thus assumes a level which is the logical OR active low logic of the transmitters on each of the nodes of the bus that is it is in the Passive state if all of the nodes are transmitting a passive state driver inactive and it is in the dominant state if any of the nodes are transmitting a dominant state driver active Each node monitors the state of the bus both when listening and when transmitting The Dominant State Represents a 0 level while the Recessive State represents a 1 level CAN Bus Termination 120 ohm termination resistors are required at each end of the bus These terminating resistors are required even for very small networks as the drivers only drive in the Dominant state while the line terminators return the network to the Passive state levels The wiring between nodes should be twisted pair 120 ohm impedance wire preferably shielded The two CAN_H and CAN_L should be one pair of wires while CAN_V and CAN_V should be on a separate set of wire The CAN enabled SilverLode controllers include a 120 ohm terminating resistor that may be connected by wiring between CAN_L and TERM only the units at the ends of the bus should be terminated
115. onary Access Local CDL command is used to Access the CAN Dictionary CDL allows data to be read from the object into a register via Mode 0 the second parameter is the User Register to be written from a user register via Mode 1 the second parameter is the register containing the data to be written or written from a constant immediate value via Mode 2 the second parameter contains the data to be written The Index and Sub Index are the pointers to the object to be read or modified In this case we want to write a 4000 0080h into object 1005 0 object 1005 Sub Index 0 We will use Mode 2 to perform this operation Bit 30 indicates the node is to be a SYNC producer while the lower 11 bits indicate the default SYNC message ID of 80h To set a communications period of 2 milliseconds 2000 microseconds the time in microseconds needs to be set via object 1006h Convert 2000 into Hexadecimal 0x07D0 The resulting program does this configuration Linett Oper Label Command Set unit as SYNC producer with a Commuications cycle time of 2 milliseconds 2000 microseconds CAN Dictionary Access Local 0x1005 0 0240000080 CAN Dictionary Access Local 0x1006 0 0x000007D0 The time base of the units may be locked to a master unit to avoid the slight drift caused by differences in crystal frequencies This is done by transmitting object 1013h via a time triggered PDO roughly between 10 and 100 milliseconds ok to be more fre
116. ord of register 238 extended I O input states with everybody on the CAN bus To Channel 1 Upper 16 Bits of i Register 10 gt 10 Qutput 238 CAN NMT State Operational Edit CTRL CAN Transmit Register Local x OK Use selected channel to transmit selected register over the CANOpen bus NOTE Accumulator Register 10 modified by this De command Transmit Channel 1 8 Advanced Register to Transmit CTRL CAN Transmit agda Local Eaannaannnnannnnannnanannnnnannnnnannnanannnannnnnnannnnnnnnnnannnnnnannnnnnannnnnnnnnaa d Description Edit CTRL CAN Transmit Register Local A P Edit Register Mapping Edit TPDO Communications Parameter Edit CAN Register Mapping EN est Cancel m First Register Mapping Upper 16 Bits v E m Second Register Mapping Disabled he Advanced Target Position 0 2 Unit 16 program uses CRML to map unit 17 s remote inputs to lower word of register 199 CRML CAN Register Map Local Remote Unit ID 17 Remote Tx Channel 1 Local Rx Channel 1 Lower 16 Bits of Local Register 2 CRML ser 199 Operational ts ramp time 1 00 Sec Edit CRML CAN Register Map Local EN OK Map register data being transmitted by Remote unit to local register Remote Unit ID p Remote Transmit Channel D e Description Local Receive Channel fl e Register to Map on Local Unit Use
117. ow for Synchronous communications following a SYNC signal time in microseconds The maximum value is 7 864 199 7 86 seconds in SilverLode implementation Index Sub Type Access Purpose Default Ref PDO 1007njoo U32 bw Sue Window Lengf 0000h B01vo4iNo RW only when in PreOperational NMT state RO in all other NMT states Note time will be rounded up to next highest 120uS period Maximum setting is 7 864 199uS 100Ch Guard Time CANopen provides two different guarding methods Guarding and HeartBeat The preferred method is HeartBeat as it eliminates the extra CAN frames associated with the Guard method sending RTR frames to poll the other devices HeartBeat protocol has been implemented Guarding protocol is not permitted Index Sub TypelAccessPurpose Maige Dei hoochfoo ute RO GuardTime J0000h 301v04jNo 100Dh Life Guarding Used with Lifetime for the life guarding protocol Life Guarding not implemented See notes above on 100Ch Index ISub TypelAccessPurpose Value Det PDO pro up RO GuardTime J0000h 301vo4iNo CANopen User Manual Rev 1 5 Page 74 of 121 Chapter 7 CANopen Data Dictionary 1012h TIME STAMP COB ID Defines the COB ID of the time stamp object and whether it is a consumer or generator Setting bit 31 enables the TIME consumer Bit 30 is used to enable the TIME producer TIME producer is not implemented attempting to set Bit 30 will produce an error Bits 29 0 define the COB ID Index Sub Typel
118. performing a copy and then a paste operation At this point they are no longer associated with the Combo Command and may be individually edited Slave Master Peer Network Structure The QuickSilver CANopen implementation supports both Master Slave configuration in which a Master device configures the other Slave devices via the CAN bus as well as Peer To Peer operation in which each node configures itself These modes may also be mixed with some nodes self configuring while other nodes are remotely configured as could be the case with the use of CANopen encoders or I O blocks CANopen User Manual Rev 1 5 Page 10 of 121 CAN Initialization Chapter 1 Getting Started Each unit should be configured using the Initialization Wizard and the Factory Default Initialization CAN qcp initialization file This file has two extra commands CAN Identity CID and CAN Baud Rate CBD communicate at 1Mbit sec using the same CAN ID as Unit ID see below By default it configures each node to QuickControl File Edit view Programs Tools Setup Window Help C Program Files QuickControl 4 4 Betal QCI Initialization Factory Default Initinlization CAN Gen Program Info Toolbar ole S eal eal a e amp e x e p Program Lit Add Cotta Edit Cntl E Insert Cntl41 Delete Cnt D r Programs Download Run Scaling Test Line Debug aa Program List 148 of 1023 words u
119. quent if sharing a PDO with other data needing more frequent update rate The PDO data for the High Resolution Time Stamp Object 1013h from the time master must be mapped to Object 1013 on all the units to be synchronized to the master The High Resolution CANopen User Manual Rev 1 5 Page 36 of 121 Chapter 4 QuickControl And CANopen Time Stamp is the free running time in microseconds locally updated every 40 microseconds The data is treated in a special manner when updated via a PDO If the times are significantly differing the slave unit will merely update its local time data If the time is fairly close a the interrupt rate is modified to occasionally add or delete a tick 25nS to the interrupt rate to frequency lock the local interrupt rate to master unit If the local time is very to the master time there is an internal offset added to compensate for sending and processing overhead then no changes are made allowing for some random variation in transport times The free running high speed time should remain locked within a couple of ticks on all units Heartbeat Each unit may be configured to produce a local heartbeat signal Each unit may also be configured to monitor one to eight other heartbeat sources The heartbeat is produced every x milliseconds as configured via object 1017h and identifies the node producing the heartbeat as well as the NMT state of the producing node The monitoring node configures via Object 1016h the
120. r The user must assure the resulting CAN ID values are unique within a system as duplicate CAN ID values will cause communications errors Command Info Command Command Parameters Param Parameter Range Name Type Num Type CAN 0 use lower 7 bits of Serial ID Identity CAN CAN ID 1 127 Set and initialize CID 1 to 127 Set Example QuickControl Example Set CAN CAN ID to 0 Gegen Enter CAN Identity Q1 6 73 0 CR Default 0 use Unit ID Response Description ACK only CAN ID P CANopen User Manual Rev 1 5 Page 46 of 121 Chapter 5 CANopen Commands CAN Set NMT State Local CNL See Also CAN Set NMT State Remote CNR Description Transitions the local NMT Network Management State Used by Peer or Master mode Nodes to change between NMT states Pre Operational Operational Stopped and to Re initialize Communications parameters The NMT State of each node determines what types of CAN communications are allowed to take place Some Data Dictionary Objects may only be written while in the Pre Operational State see CAN Data Dictionary See CNR for state definitions Note The Transition Request Value is limited to the four documented values The NMT State is transitioned to the requested state but the Transition Value does not correspond to the resulting NMT State See table See Network Management NMT Objects in Chapter 3 for more details Command Info Command Command
121. r 199 CANopen User Manual Rev 1 5 Edit CRML CAN Register Map Local Advan 254 D Syne Receive Type 254 asyne default Edit CAN Register Mapping x OK Cancel First Register Mapping Lower 16 Bits X m Second Register Mapping Disabled v Advanced Accumulator 10 Page 20 of 121 Chapter 1 Getting Started Using Remote Inputs In Move Commands All move commands can stop on remote unit s input Under the Advance option of any move command the user may select any remote input Edit MAT Move Absolute Time Based Edit Stop Conditions 10 114 170 115 120 116 Remote Input 1 Remote Input 2 Remote Input 3 Remote Input 4 Flow Commands Edit Jump On Input The following Program Flow commands can use remote inputs Jump On Input JOI Program Call On Input PCI Program Return On Input PRI Wait On Bit Edge WBE Wait On Bit State WBS Remote Input 1 This is the end of the Getting Started chapter For users who want to fully understand CAN structures and how it really works under the hood please continue CANopen User Manual Rev 1 5 Page 21 of 121 Chapter 2 Introduction to CAN Chapter 2 Introduction to CAN CAN Capabilities CAN provides a robust networking capability and has been in use for more than 15 years Originally designed for the harsh under hood car
122. r 123 Reserved for 402 object 1029h See 402V02 Object Mapping 17Ch 124 RW User Register 124 Reserved for 402 object 607Ah See 402V02 Object Mapping 17Dh 125 RW User Register 125 Reserved for 402 object 607Fh See 402V02 Object Mapping 17Eh 126 RW User Register 126 Reserved for 402 object 6007h See 402V02 Object Mapping 17Fh 127 RW User Register 127 180h 128 RW User Register 128 181h 129 RW User Register 129 182h 130 RW User Register 130 183h 131 RW User Register 131 184h 132 RW User Register 132 185h 133 RW User Register 133 186h 134 RW User Register 134 CANopen User Manual Rev 1 5 Page 103 of 121 Chapter 7 CANopen Data Dictionary Purpose Index Reg Access High Word Low Word Notes 187h 135 RW User Register 135 188h 136 RW User Register 136 189h 137 RW User Register 137 18Ah 138 RW User Register 138 18Bh 139 RW User Register 139 18Ch 140 RW User Register 140 18Dh 141 RW User Register 141 18Eh 142 RW User Register 142 18Fh 143 RW User Register 143 190h 144 RW User Register 144 191h 145 RW User Register 145 192h 146 RW User Register 146 193h 147 RW User Register 147 194h 148 RW User Register 148 195h 149 RW User Register 149 196h 150 RW User Register 150 197h 151 RW User Register 151
123. r Interlock 28 0 7 5444h Driver Interlock Inactive Disabled Reserved 29 0 7 5445h Reserved Reserved 30 0 7 5446h Reserved Reserved 31 0 7 5447h Reserved 1005h COB ID SYNC Sets the consumer or producer COB ID for the SYNC Synchronization signal The default value is 80H or 128 in reception mode Bits 29 0 are used to map the COB ID as used for other COB Ids in this manual Setting bit 29 indicates a 29 bit extended ID with bits 0 28 forming the ID Clearing bit 29 indicates standard 11 bit ID in bits 0 10 Setting bit 30 causes the device to produce the SYNC signal rather than to monitor it The period between SYNC signals when defined as a producer is determined by the value in Communication Cycle Period 1006h CANopen User Manual Rev 1 5 Page 73 of 121 Chapter 7 CANopen Data Dictionary Index Sub TypelaccessPurpose Default Bei Pool foosnjoo_fus2 mu COB ID forSYNGC 0080h Botvodno RW only when in PreOperational NMT state RO in all other NMT states 1006h Communication Cycle SYNC Period Sets the time in microseconds between SYNC periods A value of 0 disables the SYNC production Index Sub Typelaccess Purpose Default bei bo foohjoo_luse bw COMM Cycle Period nom jB01voalno RW only when in PreOperational NMT state RO in all other NMT states Note time will be rounded up to next highest 120uS period Maximum setting is 7 864 199uS 1007 h Synchronous Window Length Defines the time wind
124. r of Objects Mapped parameter then an error will result Finally the COB ID may be set and enabled Once the COB ID has been enabled bits 30 0 may not be altered without first disabling the COB ID This then enables changes to the PDO communications parameters and the Number of Objects Mapped parameter Setting the Number of Objects Mapped parameter to zero again allows the PDO mapping parameters to be modified There are fewer Communication parameters associated with the RPDOs than the TPDOs because they do not require trigger times nor inhibit times nor starting SYNC values One or more TPDOs being used must be configured on each CANopen node supplying process data A corresponding RPDO must be configured on each CANopen node consuming each process data stream If any of the data streams is synchronous then one of the nodes must be configured to be a SYNC producer 1005h 1006h and optionally 1007h The SYNC counter 1019h may be configured to include a modulo count as part of the SYNC message This provides a reliable method of determining SYNC cycle count so that the variously TPDO transmissions will occur on the wanted cycle number The starting Sync number for the TPDO may be selected via Objects1800h 1803h Sub Index 6 for the corresponding TPDO 1 through TPDO 3 Example SYNC Producer Configuration Only One Node 1005h SYNC COB ID 80h Default COB ID pre configured 1006h Comm SYNC Cycle 3000 BB8h for 3 millisecon
125. re reserved for a special 402 user program if the unit is to be operated as a 402 device these are mapped to various objects in the 6xxxh range This user program interprets these registers to provide the requested motions and operations The other 402 objects directly access the related data without intervention of the user program See the Data Dictionary 402V02 Object Mapping for more information CAN STATUS LED and CAN ERR LED Some units such as the QCI D2 IG8 provide two additional LEDs for CAN STATUS and CAN ERROR The CAN STATUS LED GREEN indicates the NMT status of the unit CAN STATUS LED GREEN CAN not initialized Pre Operational Stopped Operational No error Warning Limit Reached Heartbeat error Bus off The highest error is indicated CANopen User Manual Rev 1 5 Page 38 of 121 Chapter 5 CANopen Commands Chapter 5 CANopen Commands CAN Baud Rate CBD Description The CAN Baud Rate command sets the CAN baud rate from the standard list of CANopen Baud Rates see below The power on default CAN baud rate is 1Mb Sec Note that Baud rate 5 is Reserved in the CANopen implementation a 100 kb sec rate is included for compatibility with other CAN systems which use that baud rate BAUD Rotary Switch One controllers with a BAUD Rotary Switch setting CBD to 255 Rotary Switch in QuickControl will cause the CAN Baud Rate to be read from the BAUD Rotary Switch This allows
126. re consumers with each object having only one producer Each PDO object is provided with a unique COB ID PDO objects are normally configured to operate in a Modal Fashion once they have been configured they continue to operate autonomously in the background until they are again reconfigured The producer of a PDO must be configured to produce the PDO send data Likewise every consumer of a PDO must be configured to receive the PDO Each PDO may only have one producer but may have zero or more consumers The producer configuration includes selecting e Which local Data Dictionary Objects to map into the PDO data o Order of mapping and size of each object o Number of objects mapped up to 4 Maximum of 8 bytes of data e Synchronous or Asynchronous transmission o Synchronous simultaneous updates all nodes at SYNC event o May be sent every SYNC event or every X SYNC events o May be sent on particular SYNC events such as 1 4 7 o May be triggered by time or change but sent at the next SYNC event e Triggering mechanism and or Time interval e Inhibit Time to prevent overloading the bus if rapid changes would otherwise cause overly rapid triggering and transmission of data e COB ID of the given PDO Each PDO consumer must also be configured but require fewer parameters e Which local Data Dictionary Objects receive the PDO data o Order of mapping and size of each object o Number of objects mapped Maximum of 8 bytes of data o The
127. red for Asynchronous immediate update CRMR uses Client 1 as its default SDO channel and a 1 second timeout per operation A failure of communications will cause this combo command to repeat until successful The Advanced button allows selecting Rx Type Asynchronous or Synchronous as well the editing the register mapping Synchronous Rx Type holds the received data until the next SYNC Synchronization frame is sent allowing all nodes to simultaneously update their data from multiple data sources as well as sampling the new data to be sent synchronized to the SYNC frame if the Transmit PDO data set to type synchronous The Edit Register Mapping button on allows for finer mapping of the PDO data The received PDO data may be directed to up to two destinations The destinations may be long words word 24 bit data or 8 bit bytes The data may be written used to set bits OR function or used to clear bits AND with NOT of data in the designated registers The Edit SDO Communications Parameters button under the advanced tab allows selection of either Client 1 or Client 2 operation as well as setting the SDO timeout Additionally under the advanced button on the Edit Can Register Mapping panel the data may be also be manually mapped to CAN Directory Objects by specifying the desired index subindex and number of bits to be mapped to the selected object CANopen User Manual Rev 1 5 Page 52 of 121 Chapter 5 CANopen Commands num
128. ritten Sub Index 03 selects the physical output state corresponding to the logical output state A 0 in the corresponding bit will cause the output to be non inverting while a 1 causes the output to be inverted Inverting the output is useful to allow VIO referenced devices such as solenoids to be energized when a 1 is output to the digital output word Non Inverted outputs allow connection to other logic inputs with a high output for a 1 input Again bits 16 through 31 correspond to 10101 through 10116 Sub Index 02 and 03 must be configured before writing to Sub Index 01 or the action will be ignored The IO is not affected by writing to Sub Index 02 or 03 until Sub Index 01 is written Note that reading back the IO the same inversion from Sub Index 03 is applied so that the written data should produce the same read results for those bits which are enabled in Sub Index 02 Type Access Purpose Default Homing Speeds Array 402v02 Highest Sub Index supported IO Word IO Mask IO Sense CANopen User Manual Rev 1 5 Page 119 of 121 Chapter 7 CANopen Data Dictionary 6502h Supported Drive Modes Mapped to User Register 127 Indicates those modes supported by the drive These are implemented in user code so this register must be initialized to indicate the modes that have been implemented Bit 0 pp Position Profile Bit 1 vi Velocity Bit2 pv Profile velocity Bit 3 tq
129. rved not used 116 Profile acceleration U32 Long Word 6083h 117 Profile deceleration U32 Long Word 6084h 118 Quick Stop Deceleration U32 Long Word 6085h 119 Reserved not used 120 Control Word U16 Low Word 6040h 121 Status Word Low Word 6041h 122 Error Behavior Communications Lowest Byte 1029h 123 Error Behavior Internal Lowest Byte 1029h 124 New Target Position Long Word 607Ah 125 Max Profile Velocity Long Word 607Fh 126 Abort Connection Option Lower Word 6007h 127 Supported Drive Modes Long Word 6502h 128ILower Position Limit Long Word 607D 129 Upper Position Limit Long Word 607D CANopen User Manual Rev 1 5 Page 107 of 121 Chapter 7 CANopen Data Dictionary 6007h Abort Connection Option Code This object selects the drive reaction to loss of network connection 0 no action 1 malfunction 2 Device Control command Disable Voltage 3 Device Command Quick Stop The user program code interprets this code in the case of loss of network connection This object is mapped to the lower word of Register 126 Index Sub TypelaccessPurpose Deianp Rei PDO eoo7njoo 116 Du Abort Connection Option 0ko2vogno 603Fh Most Recent Error Code Most Recent Error Code reflects the lower 16 bits of Object 1003h Sub Index 1 See Object 1001h for a listing of error codes This error code is Not cleared when the error clears
130. s 1 35 are defined in 402v02 section 13 4 1 1 See Homing Methods Section Methods 1 to 128 are available for custom methods to be implemented in user code The homing procedure including decoding the method is implemented in user code Homing Method is mapped to Register 101 Index Sub TypelaccessPurpose Default et og breng 18 Du HomingMethod hkovoalves 6099h Homing Speeds Array The homing Speeds Array defines the speeds used during homing Speed is given in SilverLode units unless converted by user program The user program is responsible for implementing the homing routines including configuring velocity Speed during search for Switch is mapped to Register 102 Speed during search for Zero is mapped to Register 103 Access Purpose Default Homing Speeds Array 402v02 Highest Sub Index supported Speed during search for Switch Speed during search for Zero CANopen User Manual Rev 1 5 Page 116 of 121 Chapter 7 CANopen Data Dictionary 609Ah Homing Acceleration Homing Acceleration determines the acceleration used during the Homing Operation It is given in SilverLode Acceleration units unless converted by the user program The user program is responsible for implementing the homing procedures Homing Acceleration is mapped to Register 104 Index Sub Type Access Purpose eoganjoo u32 RW Homing Acceleration JE OD n 60C5h Maximum Acceleration Maximum Acceleration define
131. s IS2 the lower 16 bits is ISW Index Sub TypelaccessPurpose Bei og 1002n00 U32 RO Manufacturer Status Word 20101 es bit 31 107 Dynamic bit 30 106 Dynamic bit 29 105 Dynamic bit 28 104 Dynamic bit 27 THREAD Running 1 active bit 26 CAN Communication Error 1 error Dynamic bit 25 Extended I O has isolated power missing LATCHED bit 24 Encoder Analog Signals Out of Spec LATCHED bit 23 Hardware over temp bit set LATCHED bit 22 External Drive Enable Low LATCHED bit 21 High power driver over temp analog sensors LATCHED bit 20 Motor temperature fault too high LATCHED bit 19 Motor Driver Disabled by Factory block Dynamic bit 18 Encoder re phased itself lost encoder counts LATCHED bit 17 Velocity limit exercised LATCHED bit 16 Millisecond Timeout counter active Dynamic bit 15 reserved bit 14 under voltage bit 13 over voltage bit 12 wait exhausted bit 11 sensor found on last move bit 10 halt command bit 9 position error bit 8 motion error bit 7 Driver Enabled low from multiple causes including over temp bit 6 103 bit 5102 bit 4101 bit 3 Negative result bit 2 positive result bit 1 zero bit 0 Index found CANopen User Manual Rev 1 5 Page 71 of 121 Chapter 7 CANopen Data Dictionary 1003h Predefined Error Field This array is a First In First Out buffer FIFO holding up to the four most recent errors produced as configured by Object 2001 to produce EMCY messages
132. s from a producer sending node to zero or more consumers receiving nodes The unit to be configured must first be selected via the CAN Connect to Remote CCTR command CTRR defaults to Client 1 but may use either client via the advanced options The register to be transmitted is selected via the pull down menu as well as the PDO transmit channel to be configured The default configuration selects 32 bits from the given register has a Transmission Type of 255 Asynchronous set to transmit 1 when the unit first goes into operation state or the Transmit PDO is configured if dynamically configured already in operational mode whenever the data changes At least every 200 milliseconds so that the state is refreshed But not more than every 2 milliseconds so constantly changing data will not overload the bus 2 3 4 x ee an Via the Advanced tab the transmit type may be selected to be Synchronous 0 through 240 SYNC cycles with 0 indicating to send synchronously only on change The Inhibit time determines how fast back to back transmissions may occur If using synchronous mode the inhibit time may be set to 0 The event timer determines minimum frequency of transmission In synchronous mode the transmission will still be delayed until the next SYNC signal Normally the event timer is set to 0 disabled in synchronous mode The starting SYNC is used to delay the given number of sync cycles before transmitting This may be
133. s the maximum acceleration for all operations It is in SilverLode Acceleration units unless converted by user program The user program is responsible for implementing the limiting function Maximum Acceleration is mapped to Register 105 Index SubjTypelAccessPurpose_ Default Rei PDO eocsnjoo U32 RW Maximum Acceleration 402 02 Yes 60C6h Maximum Deceleration Maximum Deceleration defines the maximum deceleration for all operations It is in SilverLode Acceleration units unless converted by user program The user program is responsible for implementing the limiting function Maximum Deceleration is mapped to Register 106 Index SubTypelaccessPurpose Default Rei PDO eoceno u32 Rw Maximum Deceleration 1 hkovoalyes 60F2h Position Demand Value Position Demand Value is the output from the Trajectory Generator defining what position is currently being provided as the desired position for the position control loop It is in Encoder Counts Position Demand Value is an alternate mapping of Register 0 Index Sub TypelAccessPurpose Default Bet pDO sor2njoo 82 RO Position Demand Value 02 02 Yes CANopen User Manual Rev 1 5 Page 117 of 121 Chapter 7 CANopen Data Dictionary 60F4h Following Error Actual Value Position Error is the difference in encoder counts between Position Demand Value and Actual Position It is in Encoder Counts Index Sub TypelAccessPurpose Default _ Ref__ PDO boF4noo Jas RO Following Error
134. sed r Device To Program Reboot Desc Dev HI 16 Type These programs contains the initialization commands It can be edited directly or through Tools gt Initialization Wizard Download the program at the end of the wizard or by pressing the Download button hi pi in stet ene Info Toolbar Reboot the See the description in Scaling for more tails COMM Identity Identity Unit ID 16 Group ID 20 COMM Protocol Protocol 8 Bit ASCII COMM Serial Interface Serial Interface Auto COMM Baud Rate Baud Rate 57 6K COMM ACK Delay ACK Delap Auto Initialization Wizard Press Download to initialize servo or change factory default Lela using the Initialize Se peas Browser or Inter A Dev 1 DEVICE DETECTED Adr 16 SilverDust D2 Grade w Se ME ot 576 I Grade Motor Detected 171 n 1080 File Device Motor ioj xi aa E EF E E SE E Det 1 vo EE xi counts Options Interview leg 4 Ponce File Factory Default Initialization CAN ocp Open Save Save As Initialize Parameter Browser Baud Rate ACK Betsy CAN Baud Rate CAN Identity i Moto Servo Tuning EAN Baud Rate 1 Mb Sec COMM CAN Identity CAN ID Unit ID in Flash Factory Block Jump to FAC BLK When User 41 D NES Load And Run Program Program Factory Block Fault Factory Block Ok 25 Program File 7
135. silverLode CANopen User Manual Revision 1 5 For QuickControl Rev 4 6 CANopen User Manual Rev 1 5 Page 1 of 121 Table of Contents Ree 6 ier LEE 6 Chapter 1 Getting Started WE 7 Hardware Setup slasken oh ees EERE EE ERA Ea EE Eaa RAE 7 QuickControl ENEE 10 E eil Leen Ee 10 Slave Master Peer Network Guchure 10 GAN HEUTEN 11 Details CAN Identity CID ENER 11 Details CAN Baud Rate CBD icc cesccus rs eens esrevneswaeudtnatvins kue cr uetewas uate 11 Register Sharing Peer To Peer ee 12 Ves RER 12 Eileen e EE 13 Advanced TPD and RPDO sar castes cee aoa ey cay eee nee ee eee eens eee 14 Edit Register Mapping OpliGnia ae 14 TPDO Communication Parameters Aen 14 Register Sharing Master Slav u uer rvseandrnsesseesesessasnenae 15 Programming Blo et Cie run E 15 Programming Unit 17 from Un 16 lte Saue 18 JE ee EE 19 Using Remote IM GUIS E 21 In Move Commands EE 21 Flow COMIMANGS EE 21 Chapter 2 Introduction to GAN Lae vessel secee sch eves oeses sca secede sed 22 CAN Gap Ee 22 Mo 22 CAN Physical Layer Ledin 22 GAN RTR Te WEE 23 CANopen Bus Length versus Baud Rate nseeeeeeseennenneeeseerrnrnnnnnsseerrrrrnnnreeeeee 24 CAN Message Frame Studere 25 CAN and Message Identifiers een 25 CAN Nenne 25 Pony Albus eee 25 CAN Bus Frame Fields E 27 Chapter 3 CANopen ee EEN 29 Introduction to CANopen Communications cceeeeeeeeeeeeeee eee e eee eeeeeeeeeeeeeeeeeeeeeeees 29 Network Management NMT Obj
136. t cceccecteeasceseesgetepteeaecsatenerseeterneteateneeseatennettatenareeeeesn 112 6061h Modes of Operation Display E 112 CANopen User Manual Rev 1 5 Page 4 of 121 6062h Position Demand Value 112 6068h Position ACU al ValS EE 113 6064h Position TEEN 113 607Ah New Target e EEN 113 607Ch Home NE 113 607Dh Posiloh LIME AAN sara 114 607Fh Maximum Profile V GlOCUY eebe 115 6081h Bee EE 115 6083h Profile Accelerahbh nusanussmumauennsennsemnnkendgtnkdbnmait 115 6084h Profile TeCelekertgtleegeredee a e EE E Egbe 115 6085h Quick Stop Deceleration ccccesececcceeeeeeeeeeeeeeeeeeeeeseneeeeeeseeneeeeeeeaes 116 6098h HOMINIS Olah Sey Gen Ge Gid ear Lat ent 116 6099h Homing Speeds Array cccecesesececcceeeeeeeeeneeeeeeeeeeeeeeeeeessseeeeeeeeeeeeeneeees 116 609Ah Homing ACCClELALOM EE 117 60C5h Maximum Acceleration ccs cv vscees ss cate EEN EescE 117 60C6h Maximum Deceleration EEN 117 60F2h Position Demand Value ENEE 117 60F4h Following tele E RE EE 118 60FCh Position Demand Value sce ayer weet eee eee ieee eee ib eet ee ene 118 60FDH Digital let EEN 118 60FEh Digital UP EE 119 6502h Supported Drive Modes een 120 B7FEN Ke ERT 120 CANopen User Manual Rev 1 5 Page 5 of 121 Trademarks QuickControl and QCI are Registered Trademarks of QuickSilver Controls Inc SilverLode SilverNugget SilverDust PVIA QuickSilver Controls and AntiHunt are trademarks of QuickSilver Controls Inc CANopen
137. t channel of the PDO producer The local receive channel merely selects which local resource is used to receive the data any receive channel not already in use may be used The data is deposited into the selected register whenever it is received The default configuration maps the receive PDO data onto a single register configured for Asynchronous immediate update The Advanced button allows selecting Rx Type Asynchronous or Synchronous as well the editing the register mapping Synchronous Rx Type holds the received data until the next SYNC Synchronization frame is sent allowing all nodes to simultaneously update their data from multiple data sources as well as sampling the new data to be sent synchronized to the SYNC frame if the Transmit PDO data set to type synchronous The Edit Register Mapping button on allows for finer mapping of the PDO data The incoming data may be directed to up to two destinations The destinations may be long words word 24 bit data or 8 bit bytes The data may be written used to set bits OR function or used to clear bits AND with NOT of data in the designated registers Additionally under the advanced button on the Edit Can Register Mapping panel the data may be also be manually mapped to CAN Directory Objects by specifying the desired index subindex and number of bits to be mapped to the selected object number of bits must correspond to size of object The Mode pull down box must be set to man
138. tandardized profile area 6800h 9FFFh Profile area for additional logical devices A000h AFFFh Standardized interface profile area Supported Simple Data Types Index Type Behavior when destination is user register Single word written sign extended to full word Sign extends to both words Both words written Single word written lower 8 bits contain data Single word written Both words written 2 registers written day into base register milliseconds into base 1 register 2 words written sign extended 2 words written no sign extension CANopen User Manual Rev 1 5 Page 66 of 121 Chapter 7 CANopen Data Dictionary Supported Manufacturer Data types Behavior when destination is user Index Typelregister 0060h 032 32 bit OR the bits into the register 0061h 016 16 bit OR the bits into the register 0062h 08 18 bit OR the bits into the register 0063h C32 32 bit Clear the indicated bits 0064h C16 16 bit Clear the indicated bits 0007h C8 8 bit Clear the indicated bits These Data types provide the ability to OR bits into the given register or to clear the given bits They are interpreted as unsigned numbers when evaluating They are Write Only Object Dictionary Object Type Codes Object Object Name Comment Code NULL A dictionary entry with no data fields Large variable block of data such as DOMAIN program code DEFTYPE Denotes a TYPE defini
139. the Transmit COB ID of the wanted data or no data will be received by the Receive PDO The PDO traffic is only enabled in the NMT state OPERATE The Data Dictionary Objects used to configure a PDO must be done in a certain sequence to prevent errors This sequence prevents accidental data transmission with a partially configured or partially altered PDO configuration Transmit PDO 1 TPDO 1 1800 Comm Parameters 1800 1 COB ID 1800 2 Type 1800 3 Inhibit Time 1800 5 Event Timer Node A 1800 6 Starting Sync Data Frame 1A00 Object Mapping 1A00 0 of Objects 1A00 1 First Object Bits 1A00 2 2 Object Bits 1A00 3 3 Object Bits Receive PDO 3 RPDO 3 1402 Comm Parameters 1402 1 COB ID 1402 2 Type Node B 1602 Object Mapping 1602 0 of Objects 1602 1 First Object Bits 1602 2 2 Object Bits 1602 3 3 Object Bits CANopen User Manual Rev 1 5 Page 59 of 121 Chapter 6 CANopen Configuration Initial PDO Configuration at Startup Both Receive RPDO and Transmit TPDO configuration COB ID registers default to disabled with their addresses set to their default COB ID The Type Inhibit Time Event Timer and Sync Start Value fields all default to zero If the PDO has previously been mapped then the order for destructing the PDO is to first disable the PDO by setting bit 31 of the COB ID high 1 Next the number of mapped objects must be set to zero 0 if any of th
140. the lowest numbered Register up to the high byte to the next register low byte and so on Mode 2 Constant style downloads are limited to no more than four bytes QuickControl determines this automatically when using the Remote Output tab Index and Sub Index These parameters specify the entry in the remote Data Dictionary being accessed Note that these addresses are normally specified in Hexadecimal and many of the values written are specified in Hexadecimal for consistency with CANopen convention QuickControl determines this automatically when using the Remote Output and Remote Register Access tabs Byte Count In the case of a download write action this is the number of bytes available for transfer which may exceed those required by the object accessed in the remote Node Data is sent low byte first an 8 bit transfer from a 32 bit source will only transfer the lowest byte even if four bytes were specified as being available In the case of an upload read action the byte count specifies the maximum number of bytes to transfer from the remote node so as not to exceed the local register space reserved for the transfer For single register transfers upload or download this parameter may be set to 4 When uploading strings setting bit 15 in addition to the number of bytes will allow up to the number of bytes to be transferred without an error if more byte of data are available i e only read up to first x bytes of the string Quick
141. tion 1koevo2lno 605Ch Disable Option The Disable option determines what action to take if there is Machine State transition OPERATION ENABLE gt SWITCHED ON 0 Disable drive function 1 Slow down with slow down ramp then disable the drive function The Disable Option is mapped to the low word of Register 111 Functionality and initialization is implemented by User Program Index Sub TypelAccess Purpose_ Default Ref PDO 605Choo tne Rw Disable Option 1koevogno CANopen User Manual Rev 1 5 Page 110 of 121 Chapter 7 CANopen Data Dictionary 605Dh Halt Option The Halt Option determines the action to be taken if Bit8 halt of 6040h Control Word is set active 0 Reserved 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on current limit 4 slow down on voltage limit The Halt Option is mapped to the low word of Register 112 Functionality is implemented by User Program Index Sub TypelAccess Purpose_ Default Ref PDO eosDhoo je Rw HaltOption 1koevoglno 605Eh Fault Reaction Option The Fault Reaction Option determines what action should be taken of a fault occurs in the drive 0 disable drive motor is free to rotate 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on current limit 4 slow down on voltage limit The Fault Option is mapped to the low word of Register 113 Functionality is implemented by User Program Index
142. tion U16 124 etc DEFSTRUCT Defines a record type such as PDO mapping VAR Single value such as U16 18 Visible string Multiple data field object with each field having the same data type such as U16 etc Note Sub index 0 is U8 and represents the size of the array It is not part of the array data Multiple data field object where data fields are any combination of simple variables Sub index 0 describes the number of data fields RECORD _ tis U8 and not a part of the Record data Note Sub Index 255 for all complex objects is of type U32 and is not part of any data object It returns the OBJECT CODE of the object in bits 0 7 and the Data type in bits 8 23 bits 24 31 are reserved 00h CANopen User Manual Rev 1 5 Page 67 of 121 Chapter 7 CANopen Data Dictionary Supported Structures Complex data types Index Sub Type Purpose 0020h PDO Communication Parameter 0020h 00 U8 Highest Sub Index supported 0020h 01 U32 COB ID 0020h 02 U8 Transmission Type 0020h 03 U16 Inhibit Time 0020h 04 U8 Reserved 0020h 05 W16 Event Timer 0020h 06 U8 Sync Start Value Index Sub Type Purpose 0021h PDO Mapping Parameter Record 0021h 00 W8 Number of Objects Mapped 0021h 01 U32 Object 1 0021h 02 U32 Object 2 0021h 03 U32 Object 3 002ih 04 U32 Object 4 Index Sub Type Purpose 0022h
143. ual to manually map this data The CRMLcommand sets the appropriate parameters in objects 1400h and 1600h Rx channel 1 1401h and 1601h Rx Channel 2 1402h and 1602h Rx channel 3 or 1403h and 1603h Rx Channel 4 in the local Data Dictionary CRML is a Combo Command internally consisting of seven CAN Dictionary Access Local CDL commands Note The Receive and Transmit PDO objects may have up to 4 objects and up to 64 bits mapped to them if configured manually The CRML combo command is limited to the more common configurations allowing up to 2 objects to be mapped See Data Dictionary for information on manual mapping CANopen User Manual Rev 1 5 Page 50 of 121 Chapter 5 CANopen Commands Command Info Command Command Parameters Parameter Range Name Type Num CAN Program Remote Unit Select the node ID of the remote unit Register Class producing the data Map Local COMBO D CRML Code 1 to 127 1 to 7fh 42 words Remote Tx Select the transmit channel used by Channel the remote unit 1 to 4 Local Rx Choose the desired receive channel Channel does not need to match Tx channel 1 to 4 Register to Local user register to be updated Map with the received data Register must be writable QuickControl Example Edit CRML CAN Register Map Local Map register data being transmitted by Remote unit to local register Cancel Advanced Remote Unit ID i Description Remote Transmit Channel D
144. ult Ref PDO poosnpo U16 RW Read Clear CAN Error Status Bits _ We Read Clear only bits 3 8 can be cleared by writing a 1 to the respective bits 2007h Current CAN ERRORS Register Provides the current state of the CAN ERRORS showed latched in Object 2002h These bits are dynamically updated every 480uS See Object 2002h for details on bit configuration Index Sub TypelAccessPurpose Default Pet PDO p007n0 ug RO Dead CAN ErrorRegister Mo 2008h Remote Input Register Map Selects which register Enable Codes 40 through 71 Remote Input 41 32 uses Select a USER REGISTER 0 through 199 Index Sub TypelaccessPurpose Default bet PDO eoosho_ u16 Rw Register Mapping for BitTest_ 199 no CANopen User Manual Rev 1 5 Page 98 of 121 Chapter 7 CANopen Data Dictionary 2009h SSI Data Port The SilverDust QCI D2 IG8 provides an SSI port for synchronous data exchange The data received from the SSI port is stored to Object 2009 Subindex 1 while data from Object 2009 Subindex 2 is transmitted to the SSI port Both the reception and transmission are dependent upon the SSI port being configured for operation Access Purpose Default Trigger TPDO Highest Sub Index supported SSI Received Data SSI Transmit Data 200Ah CAN Switch Data Read back register for CAN switch Data lower 8 bits as well as related information Only valid for units having CAN Switches currently SilverDust IG8
145. umer Status State 4th HB Consumer Status State 5th HB Consumer Status State 6th HB Consumer Status State 7th HB Consumer Status State 8th HB Consumer Actually a Read Clear register Bits written will be cleared from the object CANopen User Manual Rev 1 5 Page 97 of 121 Chapter 7 CANopen Data Dictionary 2006h Read Clear CAN Hardware Error Status Bits This object allows access to the hardware register that accumulates the various CAN error bits This may be used to monitor the accumulation of various error bits as well as to clear out the non critical bits The self clearing bits may only be cleared by allowing the normal operation of the hardware CAN error recovery protocols the other bits are latched and may be cleared by writing a 1 to them Bito self clearing Error Warning at least 1 error counter reached 96 Biti self clearing Error Passive Mode Bit2 Self clearing Bus Off State TEC reached 256 no CAN Rx or Tx allowed until it recovers Bit3 ACK error we did not receive an acknowledge Bit4 Stuff bit error rule violated Bits CRC Error detected Bit6 Stuck At Dominant error seen after Bus Off recovery Bit7 Bit error flag Rx bit did not match Tx bit outside arbitration field or inside arbitration field a dominant bit set and a passive detected Bit8 Form Error Flag fixed form field bit had wrong level Index Sub TypelaccessPurpose Defa
146. will terminate but the ISW Positive condition bit will be set testable with the Jump command testing for Positive while the Zero and Negative bits will be cleared This allows the user code to determine that the command timed out An error may also occur if attempting to write to a read only variable or attempting to access an object that does not exist If this type of error occurs the command will terminate but the ISW Negative condition bit will be set while the Positive and Zero bits will be cleared If the command terminates normally the ISW Zero bit is set and the Positive and Negative bits are cleared A jump on Positive or Negative to an error recovery routine after each CDR command should be used if the data sent or received is critical Accumulating Error Bits Setting bit 2 in the Mode word i e actions 4 5 6 does not alter the action but allows accumulation of the returned ISW error bits to allow a single test at the end of a series of CDR commands as long as no other register type commands such as a calculation command have been executed To implement this the first CDR command would not have the accumulate bit bit2 set in the Mode word so as to clear out any prior settings of the ISW Zero Negative and Positive bits replacing them with the results of the first CDR command The rest of the CDR commands would have the accumulate bit set At the end of a series

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SilverLode™ CANopen® User Manual