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LinMot - Delta Elektronik

1. OMA DOR RR 4 3 CONNECTING THE 5 3 1 PIN ASSIGNMENT OF THE COM CONNECTOR X5 nennen nnne rennen ren 5 3 2 PIN ASSIGNMENT OF THE CMD CONNECTOR X7 XB eiie test aa tacts sales rob o baee i pibe deed 5 33 6 S RE E A ESL A O 1 0E 6 32320811005 6 4 CANOPEN PARAMETERS 2 7 5 MAPPING OF THE 18 5 2 to 18 of TixeceivesPDOS a Si Ud 18 5 T 2 LransmlitP DOS 18 5 1 3 Defaultddenlifler eR et ed ee onda oh bed 18 6 MOTOR COMMANDS 5 19 75 ed 19 8 INTERFACE ERROR CODES cccccesccecceeececceeececcececueeeceeneneeeuueeeeeeneeeeeeneeueeuseueeecueeseuseseueeeeens 19 9 ced 19 TO OBJECT DICTIONARY 22 1
2. 15 Configuration with an EDS File The EDS file for the B1100 E1100 series is compliant with the standard 306 DS V1 3 Electronic data sheet specification for CANopen Visit http www can cia org for detailed information The EDS files are part of the Lintalk1100 software which can be downloaded from http www LinMot com The EDS file is located at Firmware Interfaces CanOpen EDS in the installation folder of the LinMot Talk1100 software Consult the user manual of your PLC for details on how to use an EDS file with it The configurations contained in the EDS files reflect the default CANopen configurations of the drives and are static If the configuration of the drive differs from the default one the user has to manually edit the EDS files to reflect the changes he made Page 36 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t 16 Quick Start Guide for advanced users The aim of this chapter is to help users who are already familiar with the LinMot drives and the LinMot Talk software with the setup which is needed to get the drive up and running in CANopen Network 16 1 Hardware Setup Set up the hardware as described in chapter 3 of this manual 16 2 Configuration of the Drive The default value for the MACID Node ID is 1 for E1100 drives and 63 for B1100 drives The default baud rate is 500 kBaud If different settings are to
3. Add curve A curve with the ID CurvelD will be created If a curve with the same ID already exists an error will be generated Index Subndex ss j Resut DataBlockSize 2 bytes D4h Curve already exist Example LinMot MACID 1 CuvelD 1 InfoBlockSize 70 0046h DataBlockSize 164 00A4h Index 2001h Sub Index 50h CAN Telegram 8 Byte Data COB ID 601 PLC LinMot drive 23h 01h 20h 5 46h ooh A4h ooh Response 8 Byte Data COB ID 581 LinMot drive gt PLC Add Curve Info Block 2000h CurvelD 51h Unused data 2 bytes 04h Info Block is not Info Block data 2 bytes finished 00h Info Block is finished DOh Error Info Block was already finished Example Index 2001h Sub Index 51h Data 0046h CAN Telegram 8 Byte Data COB ID 601 PLC LinMot drive Response 8 Byte Data COB ID 581 LinMot drive gt PLC Page 24 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t Add Curve Info Block 32Bit Sub Index 2000h CurvelD 54h Info Block data 4 bytes 04h Info Block is not finished 00h Info Block is finished DOh Error Info Block was already finished Example Index 2001h Sub Index 51h Data 0046h CAN Telegram 8 Byte Data COB ID 601 PLC LinMot Drive MEL NE LE Response 8 Byte Data COB ID 581 LinMot Drive gt PL
4. CANopen Documentation of the CANopen Interface of the following Drives 1100 E1100 GP HC with CANopen Firmware loaded B1100 GP XC with CANopen Firmware loaded CANopen Interface User Manual LinMot CANopen Interface 2012 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording microfilm storing in an information retrieval system not even for didactical use or translating in whole or in part without the prior written consent of NTI AG LinMot is a registered trademark of AG Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation NTI AG Reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement Document version 3 17 mk May 2012 Page 2 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t Table of Content T SYSTEM sten ER 4 2 INSTALLATION con oa p rae Ma
5. 2000h CurvelD 61h 041 Info Block is not finished 00h Info Block is finished DOh Error Info Block was already finished Get Curve Data Sub Index Result 4 bytes 2000h CurvelD 62h 041 Data Block is not finished 00h Data Block is finished DOh Error Data Block was already finished NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 27 38 LinMot CANopen Interface 11 3 Get UPID List from Drive via CANopen Start getting UPID List Example Index 2000h Sub Index 20h Start UPID 1000h CAN Telegram 8 Byte Data COB ID 601 PLC gt LinMot Drive Response 8 Byte Data COB ID 581 LinMot Drive gt PLC Get Next UPID List Item Sub Index 2000h Address Usage UPID found When the end of the list is reached the UPID FFFFh is sent Example Index 2000h Sub Index 21h UPID found 1004h Address Usage 000Dh CAN Telegram 8 Byte Data COB ID 601 PLC gt LinMot Drive Response 8 Byte Data COB ID 581 LinMot Drive gt PLC Address Usage The commands for getting the modified UPID List are used the same way Page 28 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot LinMot CANopen Interface 11 4Read the Error Log from the Drive Get Error Log Entry Counter ndex Sub Index EMT qo Number of Occurred Errors Example Index 2000h Sub Index 70h Number of Logged Errors 0015h Number of Occurred Errors 0034h CAN Telegram 8
6. ON RS485 Term ATTENTION For normal operation S3 4 Interface has to be set to ON 3 3 2 B1100 S4 ON OFF Bootstrap CAN Term RS485 Term RS485 232 The built in termination resistor for the CAN bus can be activated by setting the DIP switch CAN Term to ON ATTENTION For normal operation 54 4 Bootstrap has to be set to OFF Page 6 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t 4 CANopen Parameters The CANopen drives have an additional parameter tree branch Parameters gt CANopen Interface which can be configured with the distributed LinMot Talk software With these parameters the CANopen behaviour can be defined The LinMot Talk software can be downloaded from http www linmot com under the section download software amp manuals Dis Enable With the Dis Enable parameter the LinMot drive can be run without the CANopen going online So in a first step the system can be configured and run without any bus connection CANopen Interface Dis Enable Disable The drive runs without CANopen Enable The drive runs only with a CANopen connection IMPORTANT To activate the CANopen interface on E1100 drives the DIP switch Interface at the bottom of the drive has to be set to ON This is not necessary for drives of the B1100 series NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 7 38 Lin Mo t CANopen Interface Ba
7. at power up Digln4 is the most Digln1 the least significant bit 00006 ID 0 1111b ID 15 B1100 only The MACID is defined by Digln5 1 X13 16 X13 3 X13 15 X13 2 and X13 14 at power up DigIn5 is the most Digln1 the least significant bit 000006 ID 0 11111b ID 31 B1100 only The MACID is defined by Digln6 1 X13 4 X13 16 X13 3 X13 15 X13 2 and X13 14 at power up Digln6 is the most Digln1 the least significant bit 000000b ID 0 111111b ID 63 B1100 only The MACID is defined by DiglIn1 X14 14 at power up plus the value of 6081h MACID Parameter Value as offset OV ID O 24 ID 1 plus offset B1100 only The MACID is defined by Digln2 1 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn2 is the most DigIn1 the least significant bit 00b ID 0 11b plus offset B1100 only The MACID is defined by Digln3 1 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn3 is the most Digln1 the least significant bit 000b ID 0 111b ID 7 plus offset NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 9 38 CANopen Interface By Dig In 4 1 Offset By Dig In 5 1 Offset By Dig In 6 1 Offset Parameter Value MACID Parameter Value Is the ID when By Parameter is selected as source A 1100 B1100 only The MACID is defined by
8. form error C9h CANopen Error Bus error ack error CAh CANopen Error Bus error bit 1 error CBh CANopen Error Bus error bit O error CCh CANopen Error Bus error CRC error CDh CANopen Error Bus error guard timeout CEh CANopen Error Invalid UPID configured on Direct Par 1 CFh CANopen Error Invalid UPID configured on Direct Par 2 DOh CANopen Error Error Invalid ID by Hex Switch S1 Dih CANopen Error Invalid Mapping in TxPDO 1 D2h CANopen Error Invalid Mapping in TXPDO 2 D3h CANopen Error Invalid Mapping in TxPDO 3 D4h CANopen Error Invalid Mapping in RxPDO 1 D5h CANopen Error Invalid Mapping in RXPDO 2 D6h CANopen Error Invalid Mapping in RxPDO 3 D7h CANopen Error Invalid UPID in TxPDO 1 Mapping D8h CANopen Error Invalid UPID in 2 Mapping D9h CANopen Error Invalid UPID in TxPDO 3 Mapping DAh CANopen Error Invalid UPID in RxPDO 1 Mapping DBh CANopen Error Invalid UPID in 2 Mapping DCh CANopen Error Invalid UPID in RxPDO Mapping 9 WarnWord Please refer to Usermanual Motion Control Software NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 19 38 Lin t CANopen Interface 10 Object Dictionary 10 1E1100 Sub Index Description DataType Value Index 0001h Data Types DEFTYPE 001Fh 0020h Communication Parameter DEFSTRUCT _ O0h X Numberofenres UIB S i OBA 2h
9. 11 See chapter 11 Curve Service Add Curve Info Block Curve Service Add Curve Data Block 32 Bit Block Get Error Log Entry Counter Get Error Log Entry Error Code See chapter 11 4 Get Error Log Entry Time low See chapter 11 4 731 GetError Log Entry Time high See chapter 11 4 74h Error Code Text Stringlet chapter 11 4 80h CT Save to Flash Write anything to 2000h sub 80h to save the Command Table from the RAM into the Flash ROM w 80h CT Poll Flash Read anything from 2000h sub 80h to get the Flash state r 81h CT Delete all Entries RAM Write anything to 2000h sub 81h to delete the complete Command Table in the RAM 82h CT Delete Entry Entry Nr Write anything to 2000h Entry Nr Sub 82h to delete entry in the RAM NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 21 38 See chapter 11 See chapter 11 See chapter 11 See chapter 11 See chapter 11 See chapter 11 See chapter 11 4 olol ala Ald le m gi 5335 2 2 2 Lin t CANopen Interface 83h CT Write Entry Entry Nr Write block size to 2000h Entry Nr Sub 83h to prepare entry in the RAM 84h CT Write Entry Data Write 2 Byte Data to 2000h Entry Nr Sub 84h until block size has reached the entry will be activated at this time 85h CT Get Entry Entry Nr Read the block size of 2000h Entry Nr Sub 85h 8 amp h_ Entry Data R
10. Byte Data COB ID 601 PLC LinMot Drive 70h Response 8 Byte Data COB ID 581 LinMot Drive gt PLC 43h 00h 20h 70h 15h 00h 34h 00h Get Error Log Entry Error Code Index ss Sub Index Result O Z 71h O Example Index 2005h Error Code of entry 5 64h Cfg Err No Motor defined CAN Telegram 8 Byte Data COB ID 601 PLC gt LinMot Drive 71h Response 8 Byte Data COB ID 581 LinMot Drive gt PLC 71h Get Error Log Entry Time Low Index Sub Index Result 2000h Entry Nr 72h Time Low milliseconds Example Index 2005h Sub Index 72h Time Low of entry 5 28C1h 10433ms 10 433s CAN Telegram 8 Byte Data COB ID 601 PLC LinMot Drive 72h NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 29 38 Lin Mo t CANopen Interface Response 8 Byte Data COB ID 581 LinMot Drive gt PLC 43h 05h 20h 72h Cth 28h 00h Ooh Get Error Log Entry Time High Index 1 Sub ndex Data iT Result 2000h Entry 73h amp 3 TimeHigh hous Example Index 2005h Sub Index 73h Time High of entry 5 0398h 2920 hours CAN Telegram 8 Byte Data COB ID 601 PLC LinMot Drive Response 8 Byte Data COB ID 581 LinMot Drive gt PLC The Time of an entry consists of 32Bit hours and 32Bit milliseconds G
11. Digln4 1 X14 3 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset Digin4 is the most Digln1 the least significant bit 00006 ID 0 11116 ID 15 plus offset B1100 only The MACID is defined by Digln5 1 X14 16 X14 3 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset DigIn5 is the most DigIn1 the least significant bit 000006 ID 0 11111b ID 31 plus offset B1100 only The MACID is defined by Digln6 1 X14 4 X14 16 X14 3 X14 15 X14 2 and X14 14 at power up plus the value of 6081h MACID Parameter Value as offset Digln6 is the most DigIn1 the least significant bit 0000006 ID 0 111111b ID 63 plus offset The MACID when Parameter is selected With the default settings the MAC ID and the baud rate are selected by the two rotary hex switches S1 and S2 B1100 With the default settings the MAC ID and the baud rate are both selected by Parameter The default values are 500kBit s as baud rate and 63 3Fh for the MACID Page 10 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t PDO Mapping TxPDO 1 These parameters define the mapping of the transmit PDO 1 Four words can be mapped in total CANopen Interface Mapping TxPDO 1 Status Word 1W If this Boolean parameter is set the status word is transmitted with TxPDO 1 see variable 1D
12. Index 2000h Sub Index COh UPID E9E7h UPID of the Demand Current CAN Telegram 8 Byte Data COB ID 601h PLC LinMot Drive Response 8 Byte Data COB ID 5811 LinMot Drive gt PLC NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 31 38 Lin Mo t CANopen Interface 2 Read the value of the actual UPID from the Drive Sub Index 2000h Value of the actual UPID Example Index 2000h Sub Index 01h Value is read from the RAM CAN Telegram 8 Byte Data COB ID 601h PLC LinMot Drive EM EE NE NE Response 8 Byte Data COB ID 581h LinMot Drive gt PLC 43h 00h 20h 01h DCh FEh FFh FFh Returned value of the Demand Current FFFFFEDCh 292 Dec Scale 0 001 A 0 292 A 32 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin Mo t 12 2Write the Value of a UPID to a B1100 Drive 1 Write the actual UPID which the Drive uses Sub Index_ Data Unusd Cd 2000h UPID Index 2000h Sub Index COh UPID E19Ch UPID of the Maximal Current CAN Telegram 8 Byte Data COB ID 601h PLC LinMot Drive 23h 00h 20h Coh 9Ch Eih 00h ooh Response 8 Byte Data COB ID 581h LinMot Drive gt PLC 60h 00h 20h Coh 00h 00h 9O0h 2 Write the desired value of the actual UPID to the Drive Index Sublndex Data Example Index 2000h Sub Index 01h The
13. application software choose CANopen Choose Interface BAR Interface x Press ok and follow the rest of the wizard Page 4 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t 3 Connecting the CAN bus 3 1 Pin assignment of the COM Connector X5 D SUB 9 male O Pin 1 RS 485 Y Pin 6 RS 485 Pin2 RS 232 TX Pin7 RS 485Z Pin 3 RS 232 RX Pin8 CANL 4 RS 485A Pin9 CANH Pin5 GND 3 2 Pin assignment of the CMD Connector 7 X8 On the E1100 RS xx E1100 DP xx and B1100 GP xx drives the CMD connectors can be used to connect to the CANopen bus These are RJ45 connectors with 1 1 connected signals Use Ethernet cables according the EIA TIA 568A standard Pin 1 RS485A Pin2 RS485B Pin3 RS485 Y Pin 4 5Ground Pin6 RS485Z Pin7 CANH Pin8 CANL NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 5 38 3 3 CAN Termination CANopen Interface The CANbus must be terminated by two 120 Ohm resistors at both ends of the bus line according the following figure CAN Bus Line L For easy installation the LinMot CANopen drive has built in termination resistors which can be activated if the LinMot drive is at the end of the bus line and if there is no termination in the connector 3 3 1 E1100 S3 SERA E The built in termination resistor for the CAN bus can be activated CAN Term by setting the DIP switch CAN Term to
14. be used those parameters have to be properly configured first This has to be done with the LinMot Talk software 16 3 Starting the device The CANopen Network Management NMT protocol allows starting of devices with a single NMT Telegram CAN Telegram 2 Byte Data COB ID 000 PLC LinMot Drive 01h MACID The first byte identifies the Start Remote Node command the second byte is the MACID of the drive If is used as the MACID all Nodes in the network are started This command puts the drive in operational mode After this all SDOs and PDOs can be used The default configuration for the transmission type of the PDOs is 254 Asynchronous transmission with inhibit Time NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 37 38 Lin t CANopen Interface 17 Contact Addresses SWITZERLAND NTI AG Haerdlistr 15 CH 8957 Spreitenbach Sales and Administration 41 0 56 419 91 91 office linmot com_ Tech Support 41 0 56 544 71 00 support linmot com Tech Support Skype skype support linmot Fax 41 0 56 419 91 92 Web http www linmot com USA LinMot Inc 5750 Townline Road Elkhorn WI 53121 Sales and Administration 877 546 3270 262 743 2555 Tech Support 877 804 0718 262 743 1284 Fax 800 463 8708 262 723 6688 E Mail us sales linmot com Web http www linmot usa com Please visit http www linmot com to find the distribution near
15. either 1 Word if parameter or variable type is 16 bit or less or 2 Words if the type is 32 bit Page 12 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface RxPDO 1 RxPDO 2 These parameters define the mapping of the receive PDO 1 Four words can be mapped in total CANopen Interface PDO Mapping RxPDO 1 Control Word 1W Motion Cmd Header Par Byte 0 3 3W By UPID If this Boolean parameter is set the control word has to be transmitted with RxPDO 1 see variable 1D52h E1100 6062h B1100 Motion command interface Header and the first 4 bytes of the command parameters For free mapping every parameter or variable can be mapped by its UPID Unique Parameter ID The size is either 1 word if type is 16 bit or less or 2 words if the type is 32 bit These parameters define the mapping of the receive PDO 2 Four words can be mapped in total CANopen Interface Mapping RxPDO 2 Motion Cmd Header Par Byte 0 5 4W By UPID Motion command interface header and the first 6 bytes of the command parameters For free mapping every parameter or variable can be mapped by its UPID Unique Parameter ID The size is either 1 word if type is 16 bit or less or 2 words if the type is 32 bit NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 13 38 CANopen Interface RxPDO 3 These parameters define the mapping of the receive PDO
16. rate 500 kBit s 1 Mbit s CAN bus baud rate 1 Mbit s 1 Parameter not available on drives of the B1100 series Parameter only available on drives of the B1100 series Page 8 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface MACID In this section the MACID drive number can be configured MACID Source Select The MACID parameter defines the source of the MACID Node Address E1100 CANopen Interface MACID MACID Source Select B1100 OS Communication MACID MACID Source Select By Hex Switch 52 By Hex Switches 1 and S2 By Parameter By Dig In 1 By Dig In 2 1 By Dig In 3 1 By Dig In 4 1 By Dig In 5 1 By Dig In 6 1 By Dig In 1 Offset By Dig In 2 1 Offset By Dig In 3 1 Offset E1100 only The MACID is determined by the hex switch S2 E1100 only The MACID is determined by the two hex switches 51 and 52 The MACID is determined by parameter setting B1100 only The MACID is defined by DigIn1 X13 14 at power up OV ID 0 24V ID 1 B1100 only The MACID is defined by DigIn2 1 X13 2 and X13 14 at power up Digln2 is the most Digln1 the least significant bit 006 ID 0 11b ID 3 B1100 only The MACID is defined by Digln3 1 X13 15 X13 2 and X13 14 at power up Digln3 is the most DigIn1 the least significant bit 0006 10 0 111b ID 7 B1100 only The MACID is defined by Digln4 1 X13 3 X13 15 X13 2 and X13 14
17. value is written to the RAM Desired value of the Maximal Current OBB8h 3000 Dec Scale 0 001 A lt CAN Telegram 8 Byte Data COB ID 6011 PLC gt LinMot Drive B8h Response 8 Byte Data COB ID 5811 LinMot Drive gt PLC NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 33 38 Lin t CANopen Interface 13 Reset Parameters to default values on E1100 There are three options to reset the parameters of a LinMot E1100 drive to default values 1 By manipulating the two rotary hex switches Power Off the drive Set the switches to FF Power On the drive Set the switches to 00 Wait for 10 s Power Off the drive 2 Bywriting Index 2000h sub index 7h 8h 9h Ah of the Object dictionary After changing the ROM values a Reset should be performed either by a NMT Reset command or by Power OFF and ON the drive 3 Reinstall the firmware will always reset the parameters to default values Page 34 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface 14 Example for setting up a motion command The following example shows the homing procedure and execution of a motion command via CANopen The PDO mapping is default RxPDO 1 RxPDO 2 RxPDO 3 Control Word CMD Header CMD Slave Header Par Byte O 1 Par Byte 6 7 RxPDO 1 3Fh 08h Par Byte 2 3 Par Byte 4 5 1 Homing Control Word 083Fh CAN Telegram 2 Byte Data COB
18. 2225 25a cua aa Ven Eme 20 VO AE WOO STUPRUM 20 110 2 zx neo PTS 23 11 EXAMPLES FOR DRIVES OF THE E1100 nnnm nnn 24 11 1 Write Curve INTO THE DRIVE VIA CANOPEN een emen mem reme rne rene rene 24 11 2 READ CURVE FROM DRIVE VIA CANOPEN eee II me m meme men re rrs sre re se rne rentrer rr ren 27 11 3 Get UPID List FRom DRIVE 28 11 4 READ THE ERROR LOG FROM THE DRIVE seccecececceceeeececeneececeueececeneeceeeueeseesaeeaeeeeeeaeeeneeseeaneesaeeees 29 12 EXAMPLES FOR DRIVES OF THE B1100 31 12 1 READ THE VALUE OF UPID FROM A B1100 31 12 2 Write THE OF UPID To A B1100 DnRIVE enm mmn 33 13 RESET PARAMETERS TO DEFAULT VALUES ON 1100 34 14 EXAMPLE FOR SETTING UP A MOTION 35 15 CONFIGURATION WITH AN EDS 36 16 QUICK START GUIDE FOR ADVANCED 37 16 1 HARDWARE SETUP e E Pene xo nla zi tex Sine Sr E deed utet
19. 3 Four words can be mapped in total CANopen Interface PDO Mapping 3 CMD Slave Header Par Byte 6 7 2W CMD Slave Header Par Byte 6 9 3W CMD Slave Header Par Byte 6 11 4W Direct Par X 1W Direct Par X UPID 4 By UPID 3 Parameter not available on drives of the B1100 series 4 Parameter not available on drives of the B1100 series Command interface slave header and byte 6 7 of the parameters Command interface slave header and byte 6 9 of the parameters Command interface slave header and byte 6 11 of the parameters Direct parameter channel for setting live parameters during runtime only 16 bit parameters UPID Unique Parameter ID of the selected parameter For free mapping every parameter or variable can be mapped by its UPID Unique Parameter ID The size is either 1 word if type is 16 bit or less or 2 words if the type is 32 bit Page 14 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t PDO Configuration TxPDO 1 3 These parameters define the bus parameters of the transmit PDO 1 3 TxPDO 1 3 Enable Selector for enabling disabling the transmit PDO 1 3 CANopen Configuration 1 3 1 3 Enable Disable The PDO is deactivated Enable The PDO is activated Transmission Type This defines the transmission type according to DS 301 Default Value is 254 Asynchr
20. 38 CANopen Interface TxPDO 2 can be mapped in total These parameters define the mapping of the transmit PDO 2 Four words CANopen Interface PDO Mapping TxPDO 2 Motion Cmd Status 1W Actual Position 16 Bit 1W Demand Current 1W Demand Position 16 Bit 1W By UPID TxPDO 3 can be mapped in total Feedback of the motion command header toggle etc If this Boolean parameter is set the actual motor position in 16 bit format is transmitted with TXPDO 2 see variable 1B95h E1100 E9A5h B1100 If this Boolean parameter is set the demand current value 7 motor current is transmitted with TXPDO 2 see variable 1B93h E1100 E9E7h B1100 If this Boolean parameter is set the demand position in 16 bit format is transmitted with TxPDO 2 position setpoint see variable 1B94h E1100 9 4 B1100 This parameter can be used for free mapping of any parameter or variable to TxPDO 2 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in 2 is either 1 Word if parameter or variable type is 16 bit or less or 2 Words if the type is 32 bit These parameters define the mapping of the transmit PDO 3 Four words CANopen Interface PDO Mapping TxPDO 3 By UPID This parameter can be used for free mapping of any parameter or variable to TxPDO 3 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in TxPDO 3 is
21. 51h E1100 6061h B1100 State Var 1W If this Boolean parameter is set the state var high byte state no low byte sub state is transmitted with TxPDO 1 see variable 1B62h 6968h B1100 Logged Error Code If this Boolean parameter is set the logged 1W error code is transmitted with 1 see variable 1D96h E1100 6976h B1100 Warn Word 1W If this Boolean parameter is set the warn word 7 bit coded warnings is transmitted with TxPDO 1 see variable 1D8Eh E1100 6068h B1100 Demand Current 1W If this Boolean parameter is set the demand current value 7 motor current is transmitted with TxPDO 1 see variable 1B93h E1100 E9E7h B1100 Actual Position low If this Boolean parameter is set the lower 16 word 1W bit of the actual position 32 bit value see variable 1B8Dh E1100 FAD9h B1100 is transmitted with TxPDO 1 Actual Position high If this Boolean parameter is set then the word 1W higher 16 bit of the actual position 32 bit value see variable 1B8Dh E1100 FAD9h B1100 is transmitted with TxPDO 1 By UPID This parameter can be used for free mapping of any parameter or variable to 1 mapping through Unique Parameter ID UPID 0 no mapping The corresponding data size in TXPDO 1 is either 1 word if parameter or variable type is 16 bit or less or 2 words if the type is 32 bit NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 11
22. C 60h 20h 51h ooh 04h 00 Add Curve Data Dd SSN Esta as 2000h CurvelD 52h Unused data 2 bytes 04h Data Block is not Data Block data 2 bytes finished 00h Data Block is finished DOh Error Data Block was already finished Example Index 2001h Sub Index 52h Data 2710h CAN Telegram 8 Byte Data COB ID 601 PLC LinMot Drive MEL AN CL NN LM Response 8 Byte Data COB ID 581 LinMot Drive gt PLC 60h 01h 20h 52h 00h 00h 04h 00h NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 25 38 Add Curve Data 32 CANopen Interface Index Sub Index Data Result 2000h CurvelD 53h Data Block data 4 bytes 04h Data Block is not finished 00h Data Block is finished DOh Error Data Block was already finished Example Index 2001h Sub Index 53h Data 01312D00h CAN Telegram 8 Byte Data COB ID 601 PLC LinMot Drive Response 8 Byte Data COB ID 581 LinMot Drive gt PLC Page 26 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t 11 2Read curve from Drive via CANopen Get curve ibd a D4h Curve does not exist Example CuvelD 1 Result 00 46 1401 gt 00 Curve exists 46 InfoBlock Size bytes 0114 DataBlock Size bytes Result D4 xx xxxx gt D4 Curve does not exist Get Curve Info Block Sub Index Result 4 bytes
23. ID 201h PLC LinMot Drive 2 Enter Operational State Control Word 003Fh RxPDO 1 CAN Telegram 2 Byte Data COB ID 201h PLC LinMot Drive Dur ee 3 Execute Motion Command VAI 16Bit Go To Pos 090xh CMD Header CMD Slave Header Par Byte 0 Par Byte 2 Par Byte 4 Par Byte 6 RxPDO 2 1 3 5 7 Target Position Maximal Velocity Acceleration Deceleration 50mm 1m s 10m s 10m s 0901h 0901h 01F4h O3E8h 0064h 0064h CAN Telegram 8 Byte Data COB ID 301h PLC LinMot Drive Pru oe RxPDO 3 CAN Telegram 4 Byte Data COB ID 401h PLC LinMot Drive NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 35 38 Lin Mo t CANopen Interface As it appears with LinMot Talk after Read Command in the Control Panel Motion Command Interface Enable Manual Override 30 mm A mm mm imm Command Category Y Command Type vai 16Bit Go To Pos 0901 v 10 Count Nibble Toggle Bits Auto Increment Count Nibble Name Offs Description Scaled Value Int Value Dec Int Value Hex Header 0 090 V I 16Bit Go To 2305 2305 0901h 1 Par 2 Target Position D mm 0 0000h 2 Par 4 Maximal Velocity 1 m s 1000 3 Acceleration 10 m s 2 100 O064h Read Command Send Command
24. _ Transmissiontype TUB Sh Inibittime UM6 S O Reserved dus 3 _ 5h Evet imr PU EXER a ey 1000 DevceTye CIS pO 1001h Ss Errorregister FU aa ee E 1008h Manufacturer Device Name Visible String 4 ASCII characters which contain the last 4 characters of the article number Ip ee Ste es Idendity Object Number of Entries Vendor ID 0132 0000 0156h EDEN Ohn 1h Product Code UI32 4 ASCII characters which contain the last 4 characters of the article number 3h o 00h 0132 ea Serial Number UI32 Serial Number UI32 encoded 1018h Ife Be ee 7 LinMot Parameters UI32 Index 2000h UPID tid 0 1 i Sh Sh i 00h Number of Entries 01h 03h 04h 5FFFh i 01 CT RAMValue SIZ RAM Value rw 02h ROMValue Sd SIZ ROM Value rw SIZ Minimal Value ro 04 MaxVaue 1982 Maximal Value ro 05h 1982 Default Value ro 06h RAM ROM Write RAM and ROM value can be written with the same value 07h Set ROM to default OS This command needs about 0 55 to finish 08h Set ROM to default MC Write anything to 2000h sub 8 to set all parameters of the MC Sw to default values wo This command needs about 2s to finish 09h Set ROM to default Interface Write anything to 2000h sub 9 to
25. acy sync watchdog feature CANopen Interface NMT Error Contro Legacy Sync Watchdog Watchdog Enable Disable The Sync Watchdog is deactivated Enable The Sync Watchdog is activated Sync Cycle The expected Sync Cycle Time Time Sync Cycle Time The Sync cycle is monitored with 1 5 Sync Cycle Time This means that the real expected Sync Cycle Time can be configured here Only one NMT Error Control Protocol should be activated NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 17 38 Lin t CANopen Interface 5 Mapping of the PDOs 5 1 Mapping Table The PDOs are mapped by default according to the following scheme 5 1 1 Receive PDOs RxPDO 1 RxPDO 2 RxPDO 3 35 Control Word CMD Header CMD Slave Header Po Part Par Po Pa2 Direct ParChannelt1 _ _ ___ o Because the CMD interface of the LinMot drive consists of than 8 Bytes it s necessary to couple two PDOs together to ensure data consistency This is done by the CMD Slave Header In order to execute a command both headers have to be toggled On the slave Header only the last 4 bit are evaluated so it s possible to simply copy the Header from RxPDO 2 to the CMD Slave Header of 3 5 1 2 Transmit PDOs TxPDO1 TxPDO2 TxPDO3 Status Word CMD Status Run State Actual Position Sooo ErorCode Actua
26. deco ed Maan e Eb etu need ea ndo 37 16 2 CONFIGURATION OF THE reser rese esee 37 16 3 STARTING THE DEVIGE ree teer eee hee oe er 37 17 CONTACT ADDRESSES iiie dieere dva seeds eoa Ea rapuere guo rav saa Eo Fla daa 38 NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 3 38 Lin t CANopen Interface 1 System overview The LinMot CANopen drives support the communication profile DS301 Further information on CANopen can be found under http www can cia de The following resources are available 3 TxPDO 3 RxPDO 1 TxSDO 1 RxSDO The supported protocols include Error Control Node Guarding Protocol or Heartbeat Protocol TxPDO Transmission type 254 250 and 1 240 RxPDO Transmission type 254 250 and 1 500 Upload and Download Start Stop Enter PreOp Reset Node Reset Communication Boot Up Message The baud rate can be selected by parameter or directly by BTR bit timing register 2 Installation on Drive For installing the CANopen firmware on the drive start the LinMot Talk software and press the install firmware button Choose the file Firmware_Buildxxxxxxxx sct and press The wizard will guide you through the installation When asking for the
27. ead 2 byte data 87h Entry List Entry 0 31 Read Bitfield O present 88h CT Get Entry List Entry 32 63 Read Bitfield O present 89h Get Entry List Entry 64 95 Read Bitfield O present LC c s 96 127 128 159 m 160 191 192 223 224 255 22 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t 10 2B1100 Index 0001h 001Fh 0020h Data Type Data Types DEFTYPE UI32 UI16 _ Manufacturer Device Name Visible String 4 ASCII Characters which consist of the last 4 characters of the article number 1018h Idendity Object Record On Numberof Entries ths Vendor ID UI32 0000 0156h for LinMot __ _ S S O 2000 LinMot Parameters 0132 Pp 00h Number of Entries aaa eee 0 RAM Value of current UPID 5132 RAM Value rw ROM Value of current UPID 5132 ROM Value rw ALMA OBh Reset Drive Write anything to 2000h sub Bh to reset the drive wo a eS eee er eer Tr COh Update Current UPID Write the current UPID the drive uses to get RAM and ROM values to the drive wo 1000h 1001h 1008h NEN oc d D Dac ns NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 23 38 Lin Mo t CANopen Interface 11 Examples for Drives of the E1100 series 11 1Write Curve into the Drive via CANopen
28. et Error Code Text Stringlet ndex Sub index Data Cd Result 2000h Error 74h 4 Bytes of Error Code Text Code Stringlet No 0 7 Example Index 2064h Error Code 64h Cfg Err No Motor Defined Sub Index 74h Character 0 3 43 66 67 20 Cfg CAN Telegram 8 Byte Data COB ID 601 PLC gt LinMot Drive a Response 8 Byte Data COB ID 581 LinMot Drive gt PLC 43h 64h 20h 74h 43h 66h 67h 20h The Time of an entry consists of 32Bit hours and 32Bit milliseconds Page 30 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin Mo t 12 Examples for Drives of the B1100 series Read or Write the Value of a UPID of the Drive via CANopen Reading or writing the value of a UPID from to the drive has to be performed in two separate steps First the UPID on which to operate i e read or write has to be sent to the drive via an SDO command index 2000h and sub index COh This UPID will be referred to as the actual UPID from here on After this is done the value of the actual UPID can be read or written by other SDO Commands index 2000h and sub indices 01h and 02h Current B1100 read write value YPID zX Value of Current UPID 12 1 Read the value of a UPID from a B1100 Drive 1 Write the actual UPID which the Drive uses Sub Index 2000h UPID m Example
29. l Current Warm Word ActualSetPosiion J If the application requires it the mapping can be completely changed by the PDO Mapping parameter settings Many applications do not require to use all resources 5 1 3 Default Identifier The default identifiers 11 Bit identifier are allocated by the following scheme 10 9 8 7 6 5 4 3 2 1 0 This results in the following table Object Function Code COB ID hex Object for Comm Parameter binar Mapping 0000 SYNC 0001 1005h 1006h ee ee __ _ In the Pre Operational state this can be changed with SDO downloads by the master Page 18 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Lin t 6 Motor Commands Please refer to Usermanual Motion Control Software 7 State Machine Please refer to Usermanual Motion Control Software 8 Interface Error Codes Please refer to Usermanual Motion Control Software for the Error Codes of the MC Software The CANopen Interface has the following additional Error Codes Error Code Error Description Hexadecimal Cth The drive is not compatible with CANopen C2h The configured ID is not valid switches or parameter C3h CANopen Error Data out of Range C4h CANopen Error Invalid Command CANopen Error Bus error C6h CANopen Error general Bus error C7h CANopen Error Bus error stuff error C8h CANopen Error Bus error
30. meter is only in effect if all TxPDOs are configured for asynchronous transmission If any of the TxPDOs has synchronous transmission mode set al RxPDOs are automatically evaluated synchronously This setting can be used if one wants to send RxPDOs synchronously e g for streaming modes but the response TxPDOs should only be transmitted asynchronously NMT Error Control Nodeguarding Protocol Directory for configuring the nodeguarding Nodeguarding Enable Enable Disable the node guarding feature CANopen Interface Error Node Guarding Protocol Disable The Node Guarding Protocol is deactivated Enable The Node Guarding Protocol is activated Guard Time The Guard time when Node Guarding is activated Guard Time The Guard time when Node Guarding is activated Heartbeat Protocol These parameters configure the Heartbeat Protocol Produce Cyclic Heartbeat is produced Consume Cyclic Heartbeat is consumed Producer Time Cycle Time for producing Heartbeat Consumer Time Guarding Time for consumed Heartbeat Consumed Node ID of the Master Node ID Master Page 16 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot CANopen Interface Legacy Sync Watchdog These parameters configure the legacy watchdog of the Sync Telegram This can be used together with Heartbeat or Node Guarding CO firmware Version 23 8 Watchdog Enable Enabling Disabling the leg
31. onous with inhibit Time Types 1 240 cyclic synchronous are supported as well If any of the TxPDOs has a synchronous transmission mode set all RxPDOs are automatically evaluated synchronously The transmission type 250 is LinMot specific it is reserved according to DS301 If transmission Type 250 is selected the Transmit PDO is sent immediately after reception of the corresponding Receive PDO TxPDO 1 corresponds to RxPDO 1 It can be used to realize a simple Poll Request Poll Respond type bus structure The Legacy Sync WatchDog feature can be used for monitoring RXPDO 1 takes the function of the Sync Inhibit Time Defines the minimal time between two send events Event Time Defines the maximum time between two send events RxPDO 1 3 These parameters define the bus parameters of the receive PDO 1 3 CANopen Interface Configuration 1 3 Disable The PDO is deactivated Enable The PDO is activated CANopen Interface Configuration RxPDO ID 0 Default Mapping for RxPDO COB ID xx COB ID for RxPDO 3 manual configuration NTI AG LinMot User Manual CANopen Interface 15 05 12 Page 15 38 Lin t CANopen Interface Evaluate RxPDOs on SYNC with all TxPDOs asynchronous These parameters defines the evaluation of RxPDOs on SYNC messages SYNC with all TxPDOs asynchronous Disable RxPDOs are not synchronously evaluated Enable RxPDOs are synchronously evaluated This para
32. set all parameters of the Page 20 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot Write anything to 2000h sub 7 to set all parameters of the OS to default values wo CANopen Interface to default values wo This command needs about 0 5 s to finish LinMot CANopen Interface OAh Set ROM to default Application Start Getting UPID List Get Next UPID List item Start Getting Modified UPID List Get Next Modified UPID List item Stop MC and Application Software for Flash access Write anything to 2000h sub Ah to set all parameters of the Application to default values Write anything to 2000h sub Bh to reset the drive wo See chapter 11 3 See chapter 11 3 See chapter 11 3 See chapter 11 3 0B 20h NIN NI m i 99 2 h 35h Write anything to 2000h sub 35h to stop the MC and Application SW wo Write anything to 2000h sub 36h to start the MC and Application SW wo Curve Service Save to Flash Write anything to 2000h sub 40h to save the curves from the RAM into the Flash ROM E 54 1 Start MC and Application Software 36h Oh 4 41h Curve Service Delete all Write anything to 2000h sub Curves RAM 41h to Delete all Curves in the RAM wo 42h Curve Service Poll Flash Curve Service Add Curve Read anything from 2000h sub 42h to get the Flash state Curve Service Add Curve 2 See chapter
33. ud Rate In this section the parameters for the baud rate selection are located Baud Rate Source Select Defines the source of the baud rate definition E1100 CANopen Interface Baud Rate Baud Rate Source Select B1100 Configuration Baud Rate Baud Rate Source Select By Hex Switch S1 E1100 only CAN bus baud rate dependent S1 0 By BTR 1 125 kBit s 2 250 kBit s 3 500 kBit s 4 1 Mbit s By Parameter The CAN bus baud rate is selected by the Baud Rate Parameter 125 kBit s 1 250 kBit s 2 500 kBit s 3 1 Mbit s 4 By BTR CAN bus baud rate is defined according to the Bit Timing Register By Digln 5 amp 6 The baud rate is defined through the state of Digln5 and Digln6 at startup Digln6 is the most Digln5 the least significant bit Digln6 DigIn5 Baud Rate 0 0 125kBaud 0 1 250kBaud 1 0 500kBaud 1 1 1MBaud Baud Rate BTR Value For special applications where no standard setting for the baud rate works this parameter defines the bit timing for the CAN bus The setting of the baud rate by Bit Timing Register is only necessary on special bus configurations For example if there are devices on the bus that have slow optocouplers Baud Rate Parameter Definition The baud rate parameter defines the CAN bus baud rate for the CANopen connection 125 kBit s CAN bus baud rate 125 kBit s 250 kBit s CAN bus baud rate 250 kBit s 500 kBit s CAN bus baud
34. you Smart solutions are www LinMot com Page 38 38 User Manual CANopen Interface 15 05 12 NTI AG LinMot

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