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Communication profile CANopen

1. 5 Installation 14 Acceleration ramp 2 2 2 2 32 L Limitswitch 27 Acknowledge contouring error 18 Acknowledge response monitoring 18 i Mode guy a a e 22 ne Actual position 49 N Numerical format 9 Actual values ooo 2 eee 21 O ObjectDictionary 2 222 222 2 20 M MR LRL LLL LE P PAUSE u u a x E XGeRana g 18 B Brakingramp 32 PDOs on 44 Bus Cable s a ag e aoia 2er 9 Prescribeduse 7 C COB coo 13 Q Quickstop 53 Commissioning ee LM SC RE 12 R Reference offset 2 222 2 36 Commissioning master 51 Referente point 34 Communication Object 13 Remote we EEE 13 Communication profile 19 Resolation ances o cue 28 Connection methods 11 Bete te phen u Controlword 17 5 an s NB ervice Data Messages D Dale AMIS Ae As 2 19 Start motion task 47 Digital current control 43 Station address 11 Digital current setpoint 36 Statusmachine ne we 15 E Emergency Object 49 Status query moon 51 Enable sin nox ar e e ted 52 Status register 2 222 222220 23 Error messages 50 Status word 2 2 2 mann 18 F Features oo oo on 8 Symbols lessen 5 H Homing sss 34 WON quoa A ls Homing direction 35 T Type of motion task 30 Hom
2. This Object only supports transmission type 255 asynchronous Transmit PDOs Transmit PDOs are sent from the SERVOSTART in the direction of the master The following table shows the communication parameters for the transmit PDOs Subindex hex Value range Description 0 4 no of entries 1 385 511 641 767 COB ID 2 0 240 255 transmission type 3 Unsigned16 inhibit time 4 Qc CMS priority group PDO status word The PDO status word PDO 1 default PDO consists of the status word Unsigned16 This PDO can only be used to establish the state of the status machine gt III 4 1 This PDO is not dependent on the mode After switch on this PDO is mapped to PDO1 tx The table shows the mapping of the PDO status word Subindex hex Value hex Description 0 1 no of entries 1 60410010 status word PDO transmit ASCII channel As soon as ASCII characters are transferred to the ASCII transmission buffer these are transferred to the master control with the aid of this PDOs PDO number 21 default PDO This will always occur when commands or parameters are transferred with the help of the PDO receive ASCII chan nel gt 111 5 3 1 2 The table shows the mapping for the PDO transmit ASCII channel Subindex hex Value hex Description 0 1 no of entries T8 31020208 O 7 ASCII char This Object only supports transmission type 255 asynchrono
3. Description This index is used to make relevant actual values available to the SERVOSTAR 600 Description of the subindices Subindex 01H Brief description actual position Dimensional unit Access r PDO mapped PDO 22 tx PDO 32 tx Data type Unsigned32 Value range O 16777215 Default value 0 Description This index can be used to read in the motor position within 16 turns One turn is resolved with 20 bits of incremental information So 1 turn gt 2 increments gt 1048576 increments Subindex 02H Brief description actual speed Dimensional unit min Access r PDO mapped PDO 22 tx PDO 32 tx Data type Unsigned32 Value range 0 1677215 Default value 0 Description This index can be used to read in the motor speed The value for the speed is given by n min 1875552144 actual value read in Subindex 03H Brief description incremental position encoder Dimensional unit Access r PDO mapped PDO 33 tx Data type Integer32 Value range 231 4 231 4 Default value 0 This index can be used to read in the incremental value for the actual position One turn is resolved with 20 bits of incremental information So 1 turn gt 2 increments 21048576 increments Description CANopen for SERVOSTAR 37 Software Protocol 08 99 Kollmorgen Subindex 06H Brief descri
4. Position 1 reached Position 2 reached Position 3 reached Position 4 reached Initialization is finished speed 0 safety relay has been triggered output stage enabled error present jo Jo lo lo ala oa la a oa a la a a la a S S Io fe a lo lo lo Jo jj WWININ IN IN ININN nn a ls ls sr sr ss 315 16 Nd GER 1 NS IS IS Oo amp AN oh JB JO S Jo eo NO la IP ONC CANopen for SERVOSTAR 23 Software Protocol 08 99 Kollmorgen 111 5 2 2 4 111 5 2 2 5 111 5 2 2 6 111 5 2 2 7 24 Object 1003H Predefined Error field Index 1003H Brief description Predefined error field Object code RECORD Number of elements 1 Description of the subindex Subindex 01H Brief description last error recorded Access rw Data type Unsigned32 Description This Object can be used to read out the last Emergency Object that was Object 1008H recorded Only subindices O and 1 according to CANopen DS301 are supported Manufacturer Device Name Index 1008H Brief description device name Access r Data type Visible string Description The device name consists of four ASCII characters and contains the letters SDxx whereby xx stands for the size of the current in the output stage e g SD06 Object 100AH Manufacturer Software Version Index 100AH Brief descripti
5. DC link voltage must be switched on parameters can be transferred Ready to Switeh On motion functions cannot yet be carried out DC link voltage must be switched on parameters can be transferred Switched On motion functions cannot yet be carried out output stage is switched on enabled Operation Enabled No error present output stage is enabled motion functions are enabled Drive has been stopped with the emergency ramp output stage is enab Quick Stop Active led motion functions are enabled response depends on Object 605AH gt 111 5 2 2 20 Fault Reaction Active not supported at present Fault not supported at present CANopen for SERVOSTAR 15 Software Protocol 08 99 Kollmorgen 111 4 1 2 Transitions of the status machine The state transitions are affected by internal events e g switching off the DC link voltage and by the flags in the control word bits 0 1 2 3 7 Transition Event Action 0 Reset Initialization Initialization completed successful 1 ly SERVOSTAR is ready to ope none rate Bit 1 Disable Voltage and Bit 2 Quick Stop are set in the control 2 h none word Shutdown command DC link voltage is present Bit 0 is also set Output stage is switched on enabled provided 3 Switch On command that the hardware enable is present logical AND Motor has torque 4 Bit 3 is also set Mo
6. 1 Default value 1 Description The ratio of the subindices 8 and 9 defines the mechanical resolution of the axis in um turn Subindex OAH Brief description count direction Dimensional unit Access rw PDO mapped no Data type Unsigned8 Value range O 1 Default value 1 Description 28 The value represents the count direction for current speed and position control A value of 1 selects the positive direction of counting Positive setpoint entries result in the motor shaft rotating in the clockwise direction looking at the end of the shaft CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 2 2 11 Object 2022H Positioning data for Positioning Mode Index 2022H Brief description motion task parameter Object code RECORD Number of elements 12 Description This index is used to enter all the parameters that are relevant to direct motion tasks or tasks that are stored in the controller See ASCIl command ORDER Description of the subindices Subindex 01H Brief description Position Dimensional unit increments or um Access rw PDO mapped PDO 34 rx Data type Integer32 Value range 231 4 231 4 Default value 0 Description This index is used to define the target position absolute motion task or distance to be travelled relative motion
7. 1535 SDO rx 1100 1537 1663 Nodeguard 1110 1793 1919 100EH tx direction of transmission SERVOSTAR gt Master rx direction of transmission Master gt SERVOSTAR 11 4 Instrument control The instrument control of the SERVOSTAR can be used to carry out all the motion functions in the corresponding modes The control of the SERVOSTAR is implemented through a mode dependent status machine The status machine is controlled through the control word III 4 2 The mode setting is made through the Object Modes of Operation 111 5 2 2 21 The states of the status machine can be revealed by using the status word 111 4 3 control word 6040H modes of operation 6060H operating mode status machine status word 6041H Y 14 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 4 1 Status machine Power Fault disabled disabled Fault reaction 14 switch on 1 15 Switch on disab led 7 Ready to switch on Power enab led Operation enabled 111 4 1 1 States of the status machine State Description SERVOSTAR is not ready to switch on there is no operational readi Not Beady 1o Switch On ness BTB reported from the controller program SERVOSTAR is ready to switch on parameters can be transferred Switch On Disabled the DC link voltage can be switched on motion functions cannot yet be carried out
8. Electrically erasable programmable memory SRAM Static RAM EMC Electromagnetic compatibility SSI Synchronous serial interface EN European standard SWISETP Setpoint IEC International Electrotechnical Commission UL Underwriters Laboratories ISO International Standardization Organization VAC Alternating voltage LED Light emitting diode VDC Constant voltage MB Megabyte VDE Verein deutscher Elektrotechniker MS DOS Operating system for a PC AT Society of German electrical technicians NI Null pulse zero mark XGND Ground for the 24V supply NSTOP Limit switch for CCW left rotation IN danger to personnel from electricity and its effects A general warning general instructions mechanical hazard see Chapter cross reference special emphasis CANopen for SERVOSTAR 08 99 Kollmorgen This page has been deliberately left blank 6 CANopen for SERVOSTAR Kollmorgen 08 99 General General About this manual This manual describes the commissioning range of functions and software protocol of the SERVOSTAR 600 servo amplifier with the CANopen communication profile It forms part of the complete documentation for the SERVOSTAR 600 family of servo amplifiers The installation and commissioning of the servo amplifier as well as all standard functions are des cribed in the corresponding installation manuals Other parts of the complete documentation for the SERVOSTAR 600 family of d
9. Fax 30 1 82 53 787 Australien Australia Australie Motion Technologies PTY Ltd 1 65 Alexander Avenue Taren Point NSW 2229 Sydney Tel 61 0 295 24 47 82 Fax 61 0 295 25 38 78 Kollmorgen Motion Technologies Group 201 Rock Road Radford VA 24141 USA Tel 1 540 639 24 95 Fax 1 540 731 08 47 Internet http www kollmorgen com
10. and date optimized PDO This PDO must only be used in the Trajectory mode The PDO Trajectory must always be transmitted at constant time intervals to be set with the PTBASE command otherwise there may be irregularities in the speed charac teristic This PDO consists of just one component the incremental actual position value see NEWPOS command This value is a signed 32 bit integer value The increments are passed directly to the position controller The resolution of one turn is made with a 20 bit integer FFFFFH Example of the calculation of the absolute position incremental position value 220 Position The maximum difference between two incremental positions is given by the final limit speed that is set index2010H subindex 7 see example Example of the maximum incremental position difference turns 0016667 turns min msec Inc pos t inc pos t 2 0 016667 17475 max achievable final speed 1000 Depending on the amplifier parameters that have been set there may be a larger or smaller contouring error Ifthe error message contouring error appears and the axis is stopped with the emergency ramp there may be several faults which could lead to this result The selection for the incremental position difference is too large see above The contouring error window has been set too narrow index 2020H subindex 6 O The amplifier parameters have not been set o
11. 1 5 34 PDO motion block gt 111 5 3 1 6 35 PDO start motion block gt 111 5 3 1 7 36 64 reserved CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 2 2 16 111 5 2 2 17 Object 2601H 2 d receive PDO select Index 2601H Brief description selection of the second receive PDO Access rw Data type Unsigned8 Value range 1 21 24 32 Default value 21 Description This Object is used to map a predefined receive PDO to the Objects 1401H 2nd receive PDO parameter and 1601H 2nd receive PDO mapping with the aid of the PDO number The Object 2601H enables a variable mapping of predefined PDOs Object 2A00H 1 transmit PDO select Subindex 2A00H Brief description selection of the first transmit PDO Access rw Data type Unsigned8 Value range 1 21 24 32 Default value 1 Description This Object is used to map a predefined transmit PDO to the Objects 1800H 1st transmit PDO parameter and 1A00H 1st transmit PDO mapping with the aid of the PDO number The Object 2A00H enables a variable mapping of predefined PDOs The selectable PDOs that are available are described in the following table PDO number PDO name Reference 1 PDO status word gt 111 5 3 2 1 2 20 reserved 21 ASCII channel gt 111 5 3 2 2 22 PDO actual position gt 111 5 3 2 3 23 PDO extended status gt 111 5 3 2 4 24 31 reserved
12. 35 rx Data type Unsigned16 Value range 1 180 129 255 Default value 0 Description This index is used to define the number of the selected motion task Note that the task nos 1 to 180 are for EEPROM motion blocks and 192 to 255 are for RAM motion tasks The RAM motion tasks are loaded with the first 64 EEPROM motion tasks at switch on or if the servo amplifier is reset Motion task 0 is also a RAM motion task that is used as a copying buffer for motion tasks or for entering the motion task data for a direct motion task PDO rx 34 Subindex 06H Brief description accel time acceleration Dimensional unit ms Access rw PDO mapped no Data type Unsigned16 Value range 1 65535 Default value 0 Description This index is used to define the total time taken to reach the target speed for the motion task The value selected for subindex 8 sets the form of the acceleration ramp Subindex 07H Brief description braking time deceleration Dimensional unit ms Access rw PDO mapped no Data type Unsigned16 Value range 1 65535 Default value 0 Description This index is used to define the total time taken to reach speed 0 at the target positon The value selected for subindex 9 sets the form of the acceleration ramp CANopen for SERVOSTAR 31 Software Protocol 08 99 Kollmorgen Subindex 08H Brief description rate of change
13. ASCII channel Option board 16 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 4 2 Control word 111 4 2 1 Bit assignments of the control word Bit Name Bit__Name 0 Switch on 8 Pause 1 Disable Voltage 9 reserved 2 Quick Stop 10 jreserved 3 Enable Operation 11 Acknowledge lag error and response monitoring 4 Mode dependent 12 jReset position 5 Mode dependent 13 Manufacturer specific 6 Mode dependent 14 Manufacturer specific 7 Reset Fault only effective for faults 15 Manufacturer specific 111 4 2 2 Commands of the control word Command Bit 7 Bit 3 Bit 2 Bit 1 BitO Transitions Fault Reset Enable Quick Stop Disable Switch on Operation Voltage Shutdown x X 1 1 0 2 6 8 Switch on X X 1 1 1 3 Disable Voltage X X X 0 X 7 9 10 12 Quick Stop X X 0 1 X 7 10 11 Disable Operation X 0 1 1 1 5 Enable Operation X 1 1 1 1 4 16 Fault Reset Not suppor X X X X 15 ted Bits marked with X are irrelevant 1 4 2 3 Mode dependent bits in the control word The following table describes the mode dependent bits in the control word Only manufacturer spe cific modes are supported at present The individual modes are set by the Modes of operation Object Index 6060H Operating mode Bit 4 Bit 5 Bit 6 Position reserved reserved reserved Digital speed reserved reserved reserved Digita
14. Control Byte includes access type r w number of Bytes transmitted etc see Cia Draft Standard 202 Version 1 1 3 Data field with up to 7 Bytes of data for SDOs see point 1 2 Bytes for index 1 Byte for subindex then up to 4 Bytes of user data for PDOs up to 8 Bytes of user data determined by the PDO mapping IV 3 Status query 1 COB ID Control Byte Index Subindex Data Comment Y Low Byte High Byte 601 40 41 60 0 query status 581 4B 41 60 0 50 00 00 00 answer telegram 2 Byte data status Status e g 0x0050 Interpretation Bit 4 Bit 6 set gt Disable Voltage on Switch On disabled see table of bit assignments in the status word IV 4 Switch On COB ID Control Byte Index Subindex Data Comment Y S Low Byte High Byte 601 23 40 60 0 07 00 00 00 control word 581 60 40 60 0 00 00 00 00 OK message Control word 0x0007 Interpretation Bit O Bit 1 Bit 2 set gt Switch On Disable Voltage off Quick Stop off CANopen for SERVOSTAR 51 User Notes and Examples 08 99 Kollmorgen IV 5 Status query 2 COB ID Control Byte Index Subindex Data Comment yte Low Byte High Byte 601 40 41 60 0 query status 581 4B 41 60 0 23 00 00 00 answer telegram Status 0x0023 Interpretation Bit 0 B
15. Description 38 This index can be used to read the momentary r m s current CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol Subindex OAH Brief description speed Dimensional unit min Access r PDO mapped no Data type Integer32 Value range 23 1 2 1 Default value 0 Description This index can be used to read the momentary speed measurement Subindex OBH Brief description heat sink temperature Dimensional unit C Access r PDO mapped no Data type Integer32 Value range 231 4 231 1 Default value 0 Description This index can be used to read the heat sink temperature Subindex OCH Brief description internal temperature Dimensional unit C Access r PDO mapped no Data type Integer32 Value range 23 1 2 1 Default value 0 Description This index can be used to read the internal temperature of the servo amplifier Subindex ODH Brief description DC link voltage Dimensional unit V Access r PDO mapped no Data type Integer32 Value range 97 4 2754 Default value 0 Description This index can be used to read the momentary DC link voltage measurement Subindex OEH Brief description ballast power Dimensional unit W Access r PDO mapped no Data type Integer32 Value range A 274 Default value 0 Descripti
16. ee swan Rug en nn RR ER RODA REGE RR RE Rs 53 IV 14 Motor Quick Stop armen na ee 53 MAIS Inhibit controller CT 54 IV 16 Test for Syne telegrams i di ble er RR pb eR Ad Pre RE UP ade Da Rod eel RR des 54 IN Syne Object as eoruin Lini etr I LPS LE Md LE pL At Rep tee ta ates 54 IV 18 Emergency Object muii rd RGdUEEGdeRT be e 54 W19 ASCH COMMUNICATION 30 exer eem ee RR ie BURN RR ental ale CR mare ni 55 V Appendix M Db qc 57 4 CANopen for SERVOSTAR Kollmorgen 08 99 Abbreviations Symbols Abbreviations used in this manual The abbreviations used in this manual are explained in the table below Symbols used in this manual Abbr Meaning Abbr Meaning AGND Analog ground PC AT Personal computer with an 80x86 processor BTB RTO Ready to operate standby PGND Ground for the interface that is used CE European Community Communit Euro PSTOP Limit switch for CW right rotation p enne RAM Volatile memory CLK Clock RBallast Ballast resistor COM Serial interface of a PC AT RBext External ballast resistor DGND Digital ground RBint Internal ballast resistor DIN Deutsches Institut f r Normung RES Resolver German Standards Institute ROD Incremental position indicator Disk Magnetic storage diskette hard disk PLC Programmable logic controller EEPROM _
17. mapping of the PDO control word Subindex hex Value hex Description 0 1 no of entries 1 60400010 control word PDO receive ASCII channel With the help of the ASCII channel PDO number 21 Default PDO all parameters and commands can be transmitted to the SERVOSTAR 600 Up to 8 ASCII characters can be sent in one PDO Commands or parameters that require more than 8 characters must be segmented All commands and parameters are terminated by the ASCII code CR LF OxDH OxAH The unused Bytes in the PDO are filled with the ASCII code NUL 0xOH because otherwise every surplus character would be interpreted as a new command The table describes the mapping of the PDO receive ASCII channel Subindex hex Value hex Description 0 1 no of entries 1 8 31000208 0 7 ASCII char This Object only supports transmission type 255 asynchronous CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 3 1 3 PDO current or speed setpoint The PDO current or speed setpoint PDO number 22 is put together from the control word Unsig ned16 and the setpoint Signed16 This PDO must only be used in the Digital speed or Digital current modes It will be recognized as a speed or current setpoint depending on the mode that is set digital current or digital speed The PDO is executed immediately A repeated transmission of the PDO with various setpoint values does n
18. nanna Henne anne een nennen nenn 19 111 5 2 Service Data Messages x 40 sauna bI an dee eee en en 19 111 5 2 1 Description of the Object Dicti0Nary oooococcccconoo rennen III 20 111 5 2 2 Description of the Objects 22 2 2 Human eee 22 111 5 2 2 1 Object 1000H Device Type 222 nun nenne nennen nn 22 105 2 2 2 Object 100 1H Error register auiem are na Ra Rea donas dud 22 111 5 2 2 3 Object 1002H Manufacturer Status Register Warnings lees 23 111 5 2 2 4 Object 1003H Predefined Error field ooooooooocooocooocooo BR 24 111 5 2 2 5 Object 1008H Manufacturer Device Name 00 00 eee 24 111 5 2 2 6 Object 100AH Manufacturer Software Version iliis 24 111 5 2 2 7 Object 100BH Node ID riaceae a e Rh mes 24 111 5 2 2 8 Object 100CH Guard Time i2 atm desi A RR RESCUE PS REOR bh TR ad Rene 25 111 5 2 2 9 Object 100DH Lifetime Factor oooooccoococconoo ee 25 111 5 2 2 10 Object 2020H Position controller csias es ta Rene 26 111 5 2 2 11 Object 2022H Positioning data for Positioning Mode 2 000200 eee ee 29 111 5 2 2 12 Object 2024H Setting up for Positioning Mode 2 222 22er eee 34 111 5 2 2 13 Object 2060H Setpoints for Digital Mode 2 2 BB 36 111 5 2 2 14 Object 2070H Actual values socie sasos RII It 37 111 5 2 2 15 Object 2600H 1 receive PDO select 0 ccc ccc eects 40 111 5 2 2 16 Object 2601H 2 rec
19. 1 1 2 Setting the station Address eifr peaa an a pa E nE EE E EN E OE E NE E E 11 11 2 COMMISSIONING caga sais Diari Osun ats aration SUI LITTLE TETTE 12 I Software Protocol Il Generaldescription ol CAN cs mezie eed e Res Ra oom eese nn RO Rr Ron A dex De i e 13 Il 2 Format of a Communication Object COB s er miat raisa e RR uh 13 IL 2 Construction of the COB Identlfler iis esu de uem xS A Re nenn mann a 13 111 3 1 Default values of the COB ID in CANopen 0 0 I m ren 14 LA Instr rment coDlrol sees enata dir AA A ehe E 14 111 4 1 Status MAaChING cid a da paa eae Not 15 4 121 States ofthe status machlne csse este ra are en RE RRE wakes 15 IIl 4 1 2 Transitions of the status machine oococccocoocoo RII 16 111 4 2 GONtrOlWOrd 2 score aea ches De aa a Aa e 17 111 4 2 1 Bit assignments Of the control word oooocccccoc ne 17 1I1 4 2 2 Commands of the control word oooooccccco een 3 17 1I1 4 2 3 Mode dependent bits in the control word 1 0 III 17 1114 24 Description of the other bits in the control word liliis 18 111 4 3 Status WOJ 34 en ee ee ee bt dd 18 111 4 3 1 Bit assignments of the status word ooocccccc een 18 1 4 3 2 States of the status machine o ooooooor ees 18 111 4 3 3 Description of the other bits in the status word llssleele ernennen 19 111 5 Communication profile sii 20442504 pri dere la acacia ras bbe ht 19 111 5 1 Administrative Messages
20. 32 PDO actual position2 gt 111 5 3 2 5 33 PDO incremental position value gt 111 5 3 2 6 34 64 reserved CANopen for SERVOSTAR 41 Software Protocol 08 99 Kollmorgen 111 5 2 2 18 Object 2A01H 2d transmit PDO select Index 2A01H Brief description selection of the second transmit PDO Access rw Data type Unsigned8 Value range 1 21 24 32 Default value 21 Description This Object is used to map a predefined transmit PDO to the Objects 1801H 2nd transmit PDO parameter and 1A01H 2nd transmit PDO mapping with the aid of the PDO number The Object 2A01H enables a variable mapping of predefined PDOs 111 5 2 2 19 Object 3100H ASCII channel Index 3100H Brief description transmit and receive ASCII characters Access rw Data type Visible string Value range Description This Object can be used to transmit and receive ASCII characters as long as the status machine is not in the Operational state If less then four characters are to be transferred then the unused data Bytes must be filled with the ASCII code NUL If the status machine is in the Operational state then the characters can only be written with the aid of an SDO since the mirrored characters or the response are transmitted by PDO If the PDO ASCII channel transmit PDO 21 is not mapped then the transmission buffer for ASCII characters will automatically be cl
21. 50 115 Longer transmission distances may be achieved with a lower cable capacitance max 30 nF km and lower lead resistance loop 115 Q km characteristic impedance 150 50 gt termination resistance 150 50 For EMC reasons the SubD connector housing must fulfill the following requirements metal or metallized housing provision for connecting the cable shielding in the housing with a large contact area X6 X6 1 1 o gt CANL o CANL I o T T o T o o 9 9 i o CANH o CANH o o x T PGND T T PGND Q Shield Q Shield according to line impedance about 1200 Special clamp terminal connectors order number 90650 that are available from Seidel can easily be made up for bus operation CANopen for SERVOSTAR 9 General 08 99 Kollmorgen This page has been deliberately left blank 10 CANopen for SERVOSTAR Kollmorgen 08 99 Installation Commissionin 11 1 IN 11 1 1 11 1 2 Installation Commissioning Assembly installation Only install and wire up the equipment in a de energized condition i e neither the mains line supply voltage nor the 24V auxiliary voltage nor the operating voltage of any other connected equipment may be switched on Take care that the switchgear cabinet is safely disconnected lockout warning signs etc The individual voltages are switched on for the first time during commi
22. 6 bit r w 14 Speed for direct motion task 32 bit Int r w 0 No of entries 8 bit Char r 1 Homing type see Com NREF 8 bit Char r w 2 Homing direction see Com DREF 8 bit Char r w 3 Homing speed see Com VREF 32 bit Int r w Setting up operation for the Acceleration ramp jogging amp homing 2024H Position mode 4 see Com ACCR Be Gi Braking ramp jogging amp homing 5 see Com DECR 16 bit Ulnt r w 6 Reference offset see Com ROFFS 32 bit Int r w 7 Jogging speed see Com VJOG 32 bit Int r w 2040H Motor parameter 0 No of entries in preparation 8 bit Char r 2050H General parameter 0 No of entries in preparation 8 bit Char r 2060H Setpoints for the Digital 0 No of entries 8 bit Char r mode 1 Speed or current setpoint 32 bit Int rw 0 No of entries 8 bit Char r 1 Actual position 20 bits turn 32 bit Int r 2 Revs min 32 bit Int r 3 Incremental position value see Com PFB 32 bit Int r 4 Reserve 5 Reserve 6 Position resolution dependent see Com 32 bit Int i PRD 7 Speed resolution dependent 32 bit Int r 2070M eal values 8 contouring error resolution dependent 32 bit Int r 9 Current r m s see Com I 32 bit Int r 10 Speed see Com v 32 bit Int r 11 Heat sink temperature see Com TEMPH 32 bit Int r 12 Internal temperature see Com TEMPE 32 bit Int r 13 DC link voltage see Com VBUS 32 bit Int r 14 Ballas
23. AR Software Protocol 08 99 Kollmorgen 111 5 2 2 10 26 Object 2020H Position controller Index 2020H Brief description arameter for the position controller Object code RECORD Number of elements 10 Description This index is used to define all the general parameters for the Position mode Description of the subindices Subindex 01H Brief description axis type Dimensional unit Access rw PDO mapped no Data type Unsigned8 Value range 0 1 Default value 0 Description Describes the type of the mechanical axis Value 0 Linear axis A defined reference point is used as the origin for measuring positions This must be defined by a homing operation or by setting a reference point The movement of the axis will be limited by software limit switches if configured Value 1 Rotary axis Does not require a reference point The position is set to 0 at the start of motion blocks or jogging Software limit switches do not limit the movement Subindex 02H Brief description In Position window Dimensional unit m Access rw PDO mapped no Data type Integer32 Value range 227409 t4 Default value 4000H Description Determines a target window for positioning If the limit of the target window is reached Bit 19 is set in the manufacturer specific status register and if the output is appropriately configured the select
24. BH Brief description start delay for the following task Dimensional unit ms Access rw PDO mapped no Data type Unsigned16 Value range 1 65535 Default value 0 Description This Object is used to set a delay time before the start of the following motion task This function must be enabled through subindex 3 Bit 7 Subindex OCH Brief description copy a motion task Dimensional unit Access w PDO mapped no Data type 2 x Unsigned16 Value range each 0 180 192 255 Default value 0 0 Description This Object can be used to copy motion tasks The number that appears first in the CAN telegram describes the source motion task the following number is the target motion task Subindex ODH Brief description weighting factor for speed Dimensional unit Access rw PDO mapped no Data type Unsigned16 Value range 0 65535 Default value 1 Description This Object is used to set a multiplier for the speed that is given in the PDO motion block rx Subindex OEH Brief description speed for direct motion task Dimensional unit increments 250us or dependent on the resolution Access rw PDO mapped no Data type Integer32 Value range 231 4 231 4 Default value 0 Description This Object is used to define the speed for the direct motion task motion block 0 The motion task type then determines wh
25. Bytes 0 1 contain the Error Reset Code 0000H and Byte 2 indicates if another error is present If the Error Register has 00H then the state is error free Byte 3 contains the category CANopen for SERVOSTAR 49 Software Protocol 08 99 Kollmorgen The following table includes all the Error Codes Byte 0 1 that are defined Error Code hex Catego Description 0000 error reset or no error mandatory 1000 generic error mandatory 1080 5 no BTB RTO not ready for operation 3100 1 no mains BTB RTO F16 3110 1 overvoltage in DC link circuit F02 3120 1 undervoltage in DC link circuit FO5 3130 1 motor phase F12 4110 1 ambient temperature exceeded F13 4210 1 heat sink temperature exceeded F01 4310 1 motor temperature exceeded F06 5111 1 fault in 15V aux voltage F07 5380 1 A D converter error F17 5400 1 output stage fault F14 5420 1 ballast chopper F18 5530 1 serial EEPROM F09 5581 1 flash EEPROM F10 6010 4 watchdog software reset F32 6181 4 BCC error table 6182 4 BCC error system macro 6183 4 BCC error EEPROM serial 6184 4 FPGA error 6185 4 error table 6281 4 user software BCC macro F32 6282 4 faulty user software macro F32 7111 1 braking error F11 7181 5 SERVOSTAR could not be enabled 7182 5 command is only possible in the disabled st
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27. ID COB Identifier 11 bit RTR Remote Transmission Request CTRL Control Field i e Data Length Code Data Segment 0 8 Byte Data COB 0 Byte Remote COB CRC Cyclic Redundancy Check ACK Acknowledge Slot EOM End of message 11 3 Construction of the COB Identifier 10 9 8 7 6 5 4 3 2 1 0 Function code Module ID Bit 0 6 Module ID station number range 1 63 is set up in the Setup software or the servo amplifier gt 11 1 2 Warning If an invalid station number 0 or gt 63 is set up then the module ID will be set internally to 1 Bit 7 10 Function Code number of the Communication Object that is defined in the server CANopen for SERVOSTAR 13 Software Protocol 08 99 Kollmorgen 11 3 1 Default values of the COB ID in CANopen The following table shows the default values for the COB Identifier after switching on the servo amplifier The objects that are provided with an index Communication Parameters at Index can have a new ID assigned after the initialization phase The indices in brackets are optional Object Function code binary Resulting COB IDs Communication preme at index NMT 0000 0 SYNC 0001 128 1005H TIME STAMP 0010 256 EMERGENCY 0001 129 255 PDO 1 tx 0011 385 511 1800H POD 1 rx 0100 513 639 1400H PDO 2 tx 0101 641 767 1801H PDO 2 rx 0110 769 895 1401H SDO tx 1011 1409
28. ID SYNC message See CANopen DS 301 32 bit Int r 1008H Unit name gt 111 5 2 2 5 4 Char r 100AH Software version gt 111 5 2 2 6 4 Char r 100BH Node address gt 111 5 2 2 7 32 bit Int r 100CH Guard time 2 111 5 2 2 8 16 bit Int r w 100DH__ Lifetime factor gt 111 5 2 2 9 8 bit Char r w Receive PDO communication parameter DS 301 1400H 1 receive PDO parameter o 111 5 3 1 RECORD 1401H 2 receive PDO parameter o 111 5 3 1 RECORD Receive PDO mapping parameter DS 301 1600H 1 receive PDO mapping gt 111 5 3 1 RECORD 1601H 2 receive PDO mapping gt 111 5 3 1 RECORD Transmit PDO communication parameter DS 301 1800H 1 transmit PDO parameter gt 111 5 3 2 RECORD 1801H 2 transmit PDO parameter gt 111 5 3 2 RECORD Transmit PDO mapping parameter DS 301 1A00H_ 1 transmit PDO mapping gt 111 5 3 2 RECORD 1A01H _ 2 transmit PDO mapping gt 111 5 3 2 RECORD Device profile drives and motion control DSP 402 manufacturer specific profile area DSP 402 2000H Current controller in preparation 0 Number of entries 8 bit Char r 12010H Speed controller in preparation 0 Numberofenties 8 bitChar r 0 Number of entries 8 bit Char r 1 Axis type see Com POSCNFG 8 bit Char r w In Position window see Com PEINPOS ae Pine UN Contouring error window a 3 se
29. II communication ASCII communication should sensibly be made through PDOs since it can then be used more efficiently To do this the NMT status machine must be in the operational state Example Read the parameter T tacho see Setup software SR600 EXE User Manual All data are hexadecimal with the corresponding ASCII in square brackets Direction COB ID Byte 0 Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 47H 56H 46H 42H 54H ODH OAH OH Master gt SERVOSTAR 301 G IV F B T CR LF NUL SERVOSTERT Masern 290 T ko r ee At te ate aie SERVOSTAR Master 281 on E MT in mus AUT iR e SERVOSTAR gt Master 281 Fi T ie ds WT NT ir Explanation In telegram 1 the master requests the parameter GVFBT terminated by the ASCII code CR LF The last Byte is spare and so it is filled by NUL The answer from the SERVOSTAR is made in telegram 2 with the value 0 6 the terminating code CR LF and the prompt for the next parameter or command The segmentation of the answer into three telegrams is not compulsory but depends on the transmission rate that has been set and the internal synchronization mechanisms CANopen for SERVOSTAR 55 User Notes and Examples 08 99 Kollmorgen This page has been deliberately left blank 56 CANopen for SERVOSTAR Kollmorgen 08 99 Appendix V Appendix V 1 Index A Abbreviations
30. Seidel CANopen communication profile for servo amplifiers of the SERVOSTAR 600 series Technical Description Commissioning Instructions Edition 08 99 Previous editions Editions Comments 01 99 First edition valid from software versions 1 57 08 99 layout some minor corrections Technical changes to improve the performance of the equipment may be made without prior notice Printed in the Federal Republic of Germany 08 99 Mat No 90810 All rights reserved No part of this work may be reproduced in any form by printing photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Seidel Corporation Kollmorgen 08 99 Contents Contents Drawing Page Contents et nen pia a So Warte ne de oe da 3 Abbreviations Symbols e 5 I General 1 1 About this manualer aoe Ur een A AGES Se na ara ti ee 7 1 2 Permitted use Use as directed of the CANopen interface 000000 nn 7 1 3 Features of the CANopen communication profile cele III 8 1 4 Numerical formal s cmororsorn ada naa wee Pages Pe oem ace RUDI IR Rd aeg weer kale 9 1 5 syl dp ddr er ep A ic A 4 031 1 36 9 lI Installation Commissioning 11 1 Assembly Installation sticeri oeri ereda RP AA pia perge Eus 11 11 1 1 Connection MethodS user tenet d RR ERR a ea eee aed me RU aces 11 1
31. a relative distance to be travelled The two following bits will then decide the type of relative motion If Bit 1 and Bit 2 are set to 0 and Bit 0 is 1 then the relative motion task is performed according to the state of the InPosition bit The new target position is given by the current position plus the distance to be travelled Bit 1 has priority to Bit 2 If Bit 1 and Bit 2 are set to 0 and Bit 0 is 1 then the relative motion task is performed according to the state of the InPosition Bit The new target position is given by the current position plus the distance to be travelled No following task available There is a following task that must be defined through the subindex OAH Switch over to the following task braking to speed 0 at the target position 4 Switch over to the following task without stopping at the target position The type of speed transition is set by Bit 8 Switch over to the following task without evaluating inputs A following task is started through an appropriately configured input Start the following task by input state Low 6 Start des following task by input state High or if Bit 7 1 in any case after the delay time that is set by subindex OBH O The following task is started immediately 7 The following task is started after the delay time that is set by subindex OBH or if Bit 6 1 previously by the appropriate input signal Only for following tasks and Bit 4 1 On reaching the target
32. apply the start motion block to the PDO 1st receive PDO 2 apply the actual position PDO21 to the PDO 1st transmit PDO triggered every 2nd sync 3 apply the status word PDO1 to the PDO 2nd transmit PDO triggered every 3rd sync Telegrams and their answers Control Index Sub COBJD Byte Low Byte High Byte index Pata Comments 601 23 00 26 0 23 00 00 00 PDO start motion block 581 60 00 26 0 00 00 00 00 lapplied to 1 receive PDO 601 23 00 2A 0 16 00 00 00 PDO actual position 581 60 00 2A 0 00 00 00 00 applied to 1 transmit PDO 601 23 01 2A 0 17 00 00 00 PDO extended status word 581 60 01 2A 0 00 00 00 00 applied to 2 transmit PDO 601 23 00 18 2 02 00 00 00 1 transmit PDO on trigger 581 60 00 18 2 00 00 00 00 rreplaced by every 2nd sync 601 23 01 18 2 03 00 00 00 2 transmit PDO on trigger 581 60 01 18 2 00 00 00 00 replaced by every 3rd sync IV 17 Sync Object COB ID 080 Interpretation The Object 181 PDO1 tx appears at every second sync the Object 281 PDO2 tx appears at every third sync IV 18 Emergency Object If for instance the resolver connector is pulled out during operation this will cause a severe malfunction of the controller resulting in an Emergency telegram COB ID Emergency error code Low High Error register 081 10 43 08 00 00 00 00 motor temperature tempera 081 00 00 88 00 00 00 00 ture manufacturer specific 54 CANopen for SERVOSTAR Kollmorgen 08 99 User Notes and Examples IV 19 ASC
33. are with PDO 21 It includes the actual position Unsigned24 and the turns per minute Unsigned24 This PDO can be used to establish the position in the Digital speed or Digital current modes This PDO can only be requested by the SYNC Object The table shows the mapping of the PDO actual position 2 Subindex hex Value hex Description 0 2 no of entries actual position resolution 20 bits turn 2 20700218 speed resolution 1 bit 1875 262144 min 1 20700118 This Object only supports the transmission types 1 to 240 cyclically synchronous CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 3 2 6 PDO incremental actual position The PDO incremental actual position PDO 33 is a date optimized Object that can only be requested by a SYNC Object Calculation of the absolute position incremental position value 220 Position The table shows the mapping of the PDO incremental position value Subindex hex Value hex Description 0 1 no of entries 1 20700320 Incremental position value This Object only supports the transmisson types 0 to 240 cyclic acyclic synchronous 11 5 4 Predefined Communication Objects The following predefined COBs are supported 1 5 4 1 Sync Object The parameterization of the SYNC Object can be performed through the Object 1005H and the cycle time through Object 1006H The default setting for the ID is 80H Applic
34. ate 7303 1 error in feedback unit F04 8181 2 response monitoring active 8281 5 status machine is not in the Operational Enable state 8282 5 wrong mode setting 8331 1 1 t torque fault F15 8480 1 overspeed F08 8611 2 contouring error 8681 5 invalid motion task number FF01 4 serious exception error F32 FF02 3 error in PDO components in preparation 1 5 4 3 Time Stamp Object In preparation 50 CANopen for SERVOSTAR Kollmorgen 08 99 User Notes and Examples IV User Notes and Examples All data are hexadezimal The axis specific data are always referred to Station1 IV 1 Commissioning the CAN bus master Since there are a lot of possibilities on offer for controlling a CAN system on various platforms PC PLC other control systems only general advice can be given here The CAN High Speed Standard ISO 11898 must be implemented in the master This concerns the data frames that are used as described in the appropriate section and the implementation of Layer 1 and 2 of the ISO OSI model The CAN specification 2 0 A which defines the data frames for the protocol and transport of an 11 bit COB Communication Object ID must be fulfilled Processing software for the CANopen protocol of the servo amplifier must be available in the master This must be prepared by the users themselves according to the protocol description IV 2 Layout 1 Communication Object Identifier COB ID 11 bit value gt 111 3 2
35. ation note According to DS301 the SYNC Object is a cyclic Object that is used to provide a clock for the bus An acyclic application should be avoided 111 5 4 2 Emergency Object The definition and handling of the Emergency Object is implemented with the aid of an error status machine as described in DS301 THE EMERGENCY OBJECT This Object is generated automatically The state of the error status machine can be read out with the Object 1003H gt 111 5 2 2 4 The Emergency Object consists of 8 Bytes and is divided as follows emergency error code error register see error code table Object 1001H The following types of error warning are divided into categories Contents category reserved 1 Errors that can only be canceled by a reset command COLDSTART or Bit 7 in the control word gt 111 4 2 These errors are also indicated by the flashing LED display on the front panel Fxx xx error number 2 Errors that can be canceled by Bit 11 in the control word gt 111 4 2 3 Error messages that can occur during the processing of a PDO 4 Errors that cannot be removed by the user 5 User errors warnings If an Emergency Object is generated then the error state of the status machine is subsequently reported error free error occured by the generation of a second Emergency Object Only the first 4 Bytes are relevant here Emergency ErrorCode error register category
36. e Com PEMAX 32 bit Int r w 4 Position register 1 see Com SWE1 32 bit Int r w 2020H Position controller 5 Position register 2 see Com SWE2 32 bit Int r w 6 Position register 3 see Com SWE3 32 bit Int r w 7 Position register 4 see Com SWE4 32 bit Int r w Denominator resolution E 8 see Com PGEARO 32 bit Ulnt r w Numerator resolution F 9 see Com PGEARI 32 bit Ulnt r w 10 Count direction see Com DIR 8 bit Char r w 20 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol Index Description of the Index Subin Description Reference Data type AG dex cess 0 No of entries gt 111 5 2 2 10 8 bit Char r 1 Position 32 bit Int r w 2 Speed 16 bit Int r w 3 Motion task type 16 bit Ulnt r w 4 Trajectory 32 bit Int r w 5 Motion task number see Com MOVE 16 bit Ulnt rw u 6 Acceleration time Accel 16 bit Ulnt rw 2022H Br n He 7 Braking time Decel 16 bit Ulnt r w 8 Rate of change limiting Acceleration 16 bit Ulnt r w 9 Rate of change limiting Deceleration 16 bit Ulnt r w 10 Number of the following tasks 16 bit Ulnt r w 11 Start delay for following task 16 bit Ulnt r w 12 Copy a motion task see Com COPY 2x16 bit Ulnt Ww 13 Weighting factor Speed for PDO motion block 1
37. eared to prevent overflows 111 5 2 2 20 Object 605AH Quick Stop Option Code Index 605AH Brief description Quick Stop response Access rw Data type Integer16 Value range 32768 32767 Default value 2 Description This Object is used to define the behavior of the drive in the event of a Quick Stop command Value Description 32768 2 Reserved manufacturer specific 4 Manufacturer specific response as for Pause 1II 4 2 using the Quick Stop braking ramp 0 Disable Drive Function drive is stopped and immediately disabled Switch On Disable 1 Reserved drive profile 2 Slow down on quickstop ramp motion task must be selected again 3 32767 Reserved 42 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 2 2 21 Object 6060H 6061H Modes of Operation Since the following are user defined modes the values are negative Function Mode Comments dec hex Position 1 FF the mode required for motion tasks Digital speed 2 FE Digital current 3 FD Analog speed 4 FC not possible with standard version Analog current 5 FB not possible with standard version Trajectory 6 FA Homing 7 F9 Jogging 8 F8 Object 6060H is used to set the mode and Object 6061H to read the mode that has been set After a change of mode the corresponding setpoint must be set again e g homin
38. ect Caution Make sure that any unintended movement of the drive cannot endanger machinery or personnel Commission the position controller as described in the manual for the Setup software CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol III Software Protocol 111 1 General description of CAN The transmission method that is used here is defined in ISO 11898 Controller Area Network CAN for high speed communication The Layer 1 2 protocol Physical Layer Data Link Layer that is implemented in all CAN modules provides amongst other things the requirement for data Data transport or data request is made by means of a data telegram Data Frame with up to 8 bytes of user data or by a data request telegram Remote Frame Communication Objects are labeled by an 11 bit Identifier ID that also determines the priority of Objects A Layer 7 protocol Application Layer was developed to decouple the application from the commu nication The service elements that are provided by the Application Layer make it possible to imple ment an application that is spread across the network These service elements are described in the CAN Application Layer CAL for Industrial Applications The Communication Profile CANopen and the drive profile are mounted on the CAL 111 2 Format of a Communication Object COB S R A O COB ID T CTRL Data Segment CRC C EOM M R K SOM Start of message COB
39. ed output will be set to High CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol Subindex 03H Brief description maximum contouring error Dimensional unit m Access rw PDO mapped no Data type Integer32 Value range 23 1 2 1 Default value 40000H Description Defines a maximum value for the contouring error If the contouring error that arises exceeds this value then the drive is stopped The infringement of the contouring error limit is indicated through Bit 2 of the manufacturer specific status register If the value is set to 0 the contouring error will not be monitored Subindex 04H Brief description Position register 1 Dimensional unit m Access rw PDO mapped no Data type Integer32 Value range 23 1 231 1 Default value 0 Description Depending on configuration going above or below the preset position value results in a threshold bit being set Bit 22 of the manufacturer specific status register or the axis being stopped Going below software limit switch 1 manufacturer specific status register Bit 5 1 Subindex 05H Brief description Position 2 Dimensional unit m Access rw PDO mapped no Data type Integer32 Value range 27 4 42754 Default value 0 Description Depending on configuration going above or below the preset position value results in a thre
40. ed to set the reference offset i e the actual position that is displayed after homing to the reference index 2070 subindex 6 Subindex 07H Brief description speed for jogging Dimensional unit m sec Access rw PDO mapped no Data type Integer32 Value range 23 1 2 1 Default value 0 Description This index is used to set the speed for jogging Object 2060H Setpoints for Digital Mode Index 2060H Brief description digital setpoint for current or speed Dimensional unit A or min Access rw PDO mapped PDO 22 rx Data type Integer32 Value range 23 1 2 1 Default value 0 Description This Object is used for the transfer of digital setpoints which are evaluated according to the digital mode that is set mode FDH digital current mode FEH digital speed can be set through Object 6060H The normalization settings are made as follows Eur nt IA digital current Sepe T em Speed n min 1875 50444 digital current setpoint A new setpoint will always only become effective after a fresh Enable operation through Object 6040H control word The SERVOSTAR position controller is switched off when the speed or current controllers are active CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 2 2 14 Object 2070H Actual values Index 2070H Brief description actual values Object code RECORD Number of elements 16
41. ee ee e rk ue ERR DAR be RETE 48 111 5 32 5 PDO actual positlOn 2 xe ex tetra En Ene Rp Eheu E RE RR UR a LR Ras tede Rs 48 111 5 3 2 6 PDO incremental actual position llle 49 111 5 4 Predefined Communication Objects 22222 nesae 49 ISAT Syne ODIBCL soe 32H BR oes moo frm er ee ate ea ae Be Da cee ee eee ee 49 1l 5 4 2 Emergency ODJECE e ria iena i a Gate ver eae IRR qr Puer ats Sade aaa da d 49 119 43 Time Stamp ObJeGt oss sere Rem eR RE e Ree EE RN Ex hab a RCE NUR eee 50 IV User Notes and Examples IV 1 Commissioning the CAN bus master 0 0000 lr hr 51 DNA O RECEPERUNT PEE 51 IV 3 Status query 1 rara ute sk gos a xoig ne ERR Ren E Ro rd wets Sos Ranks Sales wes Ron dieci dr Ne an 51 V4 SWIN OM 4 4 ie eere Py Rer IER du IE IPIE Kad RAP RE Puch a ee uade eto oe 51 IV 5 Status QUE 2 5 mutum ae suce Reus Ban Son p usc B arai iu de pei er a Rufe Era aad 52 IV 6 Enable Operation i pit enact a rex prete UR RU Pre hea See Ferne d a 52 W Mode guea seriy aan ara o a a EA a Rn ae Be ane aed 52 V8 Homing Parameters oie pcre nn Be pe ated Ge Pure ii id a 52 IV 9 Start homing aros is we ae nn nn nn AA ns aan Deere 53 IV 10 Switchi oniposition control iois uer en en ne en 53 IV 11 Mapssecond Receive PDO cio rear ere sedes arma wo xe Pale o RON RR ee RARO DR RR 53 IV 12 Switch NMT status machine to operational oocoococcococco RI 53 V3 Contact second Recelve ObJect i a ucsezeekcu
42. eive PDO select 000 000 sees 41 111 5 2 2 17 Object 2A00H 1 transmit PDO select u 00 000 0 ae sera 41 111 5 2 2 18 Object 2A01H 2 transmit PDO select 222 ce 42 111 5 2 2 19 Object 3100H ASCII Chammel o oococcccococcc rennen nenn 42 111 5 2 2 20 Object 605AH Quick Stop Option COde o ooocoococccoo ernennen 42 111 5 2 2 21 Object 6060H 6061H Modes of Operation 2 222 2er seen ee 43 CANopen for SERVOSTAR 3 Contents 08 99 Kollmorgen Contents Drawing Page 111 5 3 Process Data Messages ion tp ea RU RR ERO ne 43 5 33 71 Receive PDOS uu ae coru are HR IU eben d aee ee quete poft ded ee Vidc sede doit 44 WSST PDO control Wold et eme re ine ir GEO erp 44 111 5 3 1 2 PDO receive ASCII channel sers ker c etum Re eid ee neri eg 44 111 5 3 1 3 PDO current or speed setpoint 2 een 45 115 3 1 4 PDO Setpoint 2 oos s er ceNded ve pee ee a Re ER ELE ERN aed 45 111 5 3 1 5 PDO trajectory in preparation lslssleeeeee RII 46 111 5 3 1 6 _ PDO motion block ar urteilen ED PREGA 46 111 5 3 1 7 PDO start motion DICK sse RR Rhe RR RR eek be ERA IURE REGE eee RUE 47 1 5 3 2 Transmi PDOS csse RR CR HR EE Y ERR e EH en 47 1 5 3 2 1 PDO status word ss rn ee en ERROR RUE ea Rar Re 47 111 5 3 2 2 PDO transmit ASCII channel occooccccococcoo III 47 111 5 3 2 3 PDO actual POSITION i RR west dead ERR e 48 111 5 3 2 4 PDO extended status 22 22 ccc eee be eee e
43. ether the speed is evaluated incrementally or as an SI dimensional unit CANopen for SERVOSTAR 33 Software Protocol 08 99 Kollmorgen 111 5 2 2 12 Object 2024H Setting up for Positioning Mode Index 2024H Brief description arameters for homing and jogging Object code RECORD Number of elements 7 Description This index is used to enter parameters that are important for the operating modes Homing and Jogging Description of the subindices Subindex 01H Brief description homing Dimensional unit Access rw PDO mapped no Data type Unsigned8 Value range A Default value 0 Description This index is used to set the type of homing The following settings are possible ve Interpretation lue 0 The reference point is set to the current actual position The actual position that is signalled is then the preset reference offset 1 __ Homing to reference switch with subsequent search of the resolver zero point 2 Homing to limit switch with subsequent search of the resolver zero point 3 Homing to reference switch without subsequent search of the resolver zero point 4 Homing to limit switch without subsequent search of the resolver zero point Homing to the resolver zero point within a motor turn The direction of travel is given by the subindex 2 The values mean 5 0 negative direction of travel 1 positive direction of travel 2 moto
44. ferstra e 23 79108 Freiburg Tel 49 0 761 13 03 50 Fax 49 0 761 13 03 555 IBK Ingenieurb ro Ke ler GmbH Dachtmisser Str 10 21394 Kirchgellersen Tel 49 0 4135 12 88 Fax 49 0 4135 14 33 Kollmorgen Seidel GmbH amp Co KG Postanschrift Postfach 34 01 61 D 40440 D sseldorf Hausanschrift Wacholderstr 40 42 D 40489 D sseldorf Tel 49 0 203 99 79 0 Fax 49 0 203 99 79 155 Internet http www kollmorgen seidel de Gro britannien Great Britain Royaume Uni Motor Technology Ltd Unit 1 Chadkirk Industrial Estate Otterspool Road Romiley Stockport Cheshire SK6 3LE Tel 44 0 161 42 73 641 Fax 44 0 161 42 71 306 Niederlande Netherlands Pays Bas Kiwiet Ingenieurb ro Helenaveenseweg 35 5985 NK Panningen Grashoek Tel 31 0 77 30 76 661 Fax 31 0 77 30 76 646 Schweiz Switzerland Suisse Bobry Servo Electronic AG Zentralstr 6 6030 Ebikon Tel 41 0 41 440 77 22 Fax 41 0 41 440 69 43 Italien Italy Italie Servo Tecnica Viale Lombardia 20 20095 Cusano Milanino MI Tel 39 0 02 66 42 01 Fax 4 39 0 02 66 40 10 20 T rkei Turkey Turquie Robotek Otomasyon Teknolojileri Ali Nihat Tarlan CAD Kartal Sk No 16 7 Ustbostancy YSTANBUL Tel 90 216 464 50 64 pbx Fax 4 90 216 464 50 72 Griechenland Greece Gr ce Alpha Motion 5 7 Alkamenoys Str 104 39 Athens Tel 30 1 82 27 470
45. g mode set point homing speed must be set If the position or jogging mode is stored then the homing mode is set after a RESET of the servo amplifier A changing of the modes while the amplifier is enabled is only permitted at speed 0 N Never change the mode while the motor is running Set the setpoint to 0 before changing over 11 5 3 Process Data Messages Process Data Messages are implemented with the aid ofthe Process Data Object PDO see CANopen DS 301 Since CANopen only supports two transmit PDOs and two receive PDOs but the drive profile requires more than two PDOs SDOs can be used to activate the corresponding PDOs through mapping The system distinguishes between two transmission modes synchronous and asynchronous The transmission modes are parameterized through SDOs Process Data Objects are assigned to the transmission types with the aid of a Byte value 0 255 see CANopen DS 301 The table shows the various types of transmission Transmission type PDO transmission Transmission type PDO transmission 0 acyclic synchronous 253 asynchronous only RTR 1 240 cyclic synchronous 254 asynchronous 241 251 reserved 255 asynchronous 252 synchronous only RTR All transmission types are supported apart from type 252 whereby the transmission types 254 and 255 are event triggered asynchronous type and are therefore exceptions The tables that describe the PDOs show whic
46. h PDOs can be triggered from particular events Receive PDOs can be selected by the Objects 2600H 2601H and transmit PDOs by the Objects 2A00H 2A01H Apart from this the described default settings are valid see the corresponding Object Descriptions AN Caution in order to be able to perform PDOs the NMT status machine must be in the Operational state gt 111 4 1 PDOs should be used with a functional interlock i e after a change in the control word or the use of th eASCII channel there must be a wait for the next prompt gt The characteristics of the software mean that the PDOs with numbers above 32 may possibly be processed more quickly CANopen for SERVOSTAR 43 Software Protocol 08 99 Kollmorgen 111 5 3 1 Receive PDOs Receive PDOs are transmitted from the master in the direction of the SERVOSTAR The following table describes the communication parameters for the receive PDOs 111 5 3 1 1 111 5 3 1 2 44 Subindex hex Value range Description 0 4 no of entries 1 513 639 769 895 COB ID 2 0 240 255 transmission type 3 Unsigned16 inhibit time 4 0 ui CMS priority group PDO control word The PDO control word PDO number 1 Default PDO consists of the control word Unsigned16 This PDO can only be used to operate the status machine 111 4 1 The PDO can be used in all modes After switch on this PDO is mapped to PDO1 rx The table shows the
47. he extended status register Bit 17 reference point set IV 10 Switch on position control Control Index Sub COB ID Byte Low Byte High Byte index Data Comment 601 23 60 60 0 FF 00 00 00 pos control mode 581 60 60 60 o 100 00 00 oo POSION control is switched on IV 11 Map second Receive PDO Start motion block the motion blocks are already defined for the example 1 Receive PDO is set to the control word as default Control Index Sub COBAD Byte Low Byte High Byte index D f Comment 601 23 01 26 0 23 00 00 00 start motion block Object 581 60 01 26 0 00 00 00 00 motion block is running IV 12 Switch NMT status machine to operational COB ID Command specifier CS Node ID 0 1 1 IV 13 Contact second Receive Object COB ID Motiton block number Low Motion block number High 201 01 00 Response none the given motion block 1 will be processed IV 14 Motor Quick Stop COB ID Control Low Control High 201 07 00 Response none motor is stopped in t emerg CANopen for SERVOSTAR 53 User Notes and Examples 08 99 Kollmorgen IV 15 Inhibit controller COB ID Control Low Control High 201 03 00 Response none drive is without torque IV 16 Test for Sync telegrams Aims 1
48. igital servo amplifiers Title Publisher Setup Software SR600 EXE for SERVOSTAR 600 User Manual Seidel Digital servo amplifier SERVOSTAR 600 Assembly Installation and Commissioning Instructions Seidel Additional documentation Title Publisher CAN Application Layer CAL for Industrial Applications CiA e V Draft standards 102 201 207 301 CiA e V CAN Specification Version 2 0 Philips Semiconductors ISO 11898 Controller area network CAN for high speed communication Drive technology profile Profile 21 DRIVECOM Drive technology profile Servo 22 DRIVECOM This manual has the following requirements for qualified personnel Wiring Professionally qualified electrical technicians Programming Software developers CAN BUS project planners Training and familiarization courses are available on request Permitted use Use as directed of the CANopen interface Please consider the chapter Use as directed in the installation commissioning manual of the SERVOSTAR 600 The interface is a component of the digital servoamplifiers from the SERVOSTAR 600 series The CANopen interface serves only for the connection of the servo amplifier to a master via the CAN bus The servo amplifiers are components that are built into electrical apparatus or machinery and can only be commissioned as integral components of such apparatus or machinery Only when the components that we specify are used and the installati
49. in preparation 3 Fault in preparation 11 Internal limit active in preparation 4 Disable voltage 12 Operation mode dependent reserved 5 Quick stop 13 Operation mode dependent reserved 6 Switch on disabled 14 Manufacturer specific reserved 7 Warning in preparation 15 Manufacturer specific reserved States of the status machine State Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 switch on quick stop fault operation switched on ready to disable enable switch on Not ready to switch on 0 X 0 0 0 0 Switch on disabled 1 X 0 0 0 0 Ready to switch on 0 1 0 0 0 1 Switched on 0 1 0 0 1 1 Operation enabled 0 1 0 1 1 1 Fault not supported at present Fault reaction active not supported at present Quick stop active 0 0 0 1 1 1 The bits marked with X are irrelevant CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 4 3 3 Description of the other bits in the status word Bit 4 voltage disable The DC link voltage is present when this bit is canceled Bit 7 warning not supported at present There may be several reasons which have led to this warning and the setting of Bit 7 The reason for this warning can be revealed by using the Object 1002H manufacturer specific status register gt 111 5 2 2 3 Bit 9 remote not supported at present Bit 10 target reached not supported at present Bit 11 internal limit active not supported at present 111 5 Communication profile Thi
50. in the CANopen DS301 Communication Profile Caution N It is always necessary to wait for the response to an SDO that is sent to the SERVOSTAR before a new telegram can be sent to it There is no buffering of the commands CANopen for SERVOSTAR 19 Software Protocol 08 99 Kollmorgen 111 5 2 1 Description of the Object Dictionary The following table describes the Object Dictionary The first column includes the Index for the Object If the Object is a structure then the subindices are listed in the corresponding column according to the CANopen convention If it is not possible to process a component of a PDO e g because a limit is exceeded then the further processing of the PDO is interrupted and an EMERGENCY Object is transmitted An appro priate label for the faulty component is then entered in the manufacturer specific area of the Object gt 111 5 4 2 For certain parameters a reference in brackets points to the ASCII commands that are described in the reference manual fags Subin oa Index Description des Index des Description Reference Data type Access Communication profile area DS 301 1000H _ Unit type S 111 5 2 2 1 32 bit Int r 1001H Error register gt 111 5 2 2 2 8 bit Char r joai LAN epea 116233 32 bit Int r status register A 0 No of entries gt 111 5 2 2 4 8 bit Char r 1003M Predefined error feld 1 Last reported m i 32 bit Int r w 1005H COB
51. ing parameters 52 U Use as directed 7 CANopen for SERVOSTAR 57 Vertrieb und Service Sales and Service Agence et Services Bundesrepublik Deutschland Germany Allemagne Kollmorgen Seidel GmbH amp Co KG Verkaufsniederlassung Nord Heinrich Albertz Str 40 29221 Celle Tel 49 0 5141 98 10 40 Fax 49 0 5141 98 10 41 Kollmorgen Seidel GmbH amp Co KG Verkaufsniederlassung West Wacholderstr 40 42 40489 D sseldorf Tel 49 0 203 99 79 180 Fax 49 0 203 99 79 118 Kollmorgen Seidel GmbH amp Co KG Verkaufsniederlassung S d West Lessingstr 41 75015 Bretten Tel 49 0 7252 97 39 040 Fax 49 0 7252 97 39 055 Kollmorgen Seidel GmbH amp Co KG Verkaufsniederlassung S d Ost Landsbergerstr 17 86947 Weil Tel 49 0 8195 99 92 50 Fax 49 0 8195 99 92 33 Servo Dyn Technik GmbH nzgasse 10 01067 Dresden Tel 49 0 351 49 05 793 Fax 49 0 351 49 05 794 D nemark Denmark Danemark Italien Italy lItalie DIGIMATIC Ormhdjgaardvej 12 14 8700 Horsens Tel 45 76 26 12 00 Fax 45 76 26 12 12 Finnland Finland Finlande Drivematic OY Hevosenkenk 4 28430 Pori Tel 358 2 61 0033 11 Fax 358 2 61 00 33 50 Frankreich France France Kollmorgen Seidel GmbH 8 Co KG Parc technologique St Jacques 2 rue Pierre et Marie Curie 54320 Max ville Tel 33 0 3 83 95 44 80 Fax 33 0 3 83 95 44 81
52. ist of ASCII commands CANopen for SERVOSTAR 11 Installation Commissionin 08 99 Kollmorgen 11 2 A 12 Commissioning Only professional personnel with extensive knowledge of control and drive technology are allowed to commission the servo amplifier Check assembly installation Connect PC start Setup software Commission the basic functions Save parameters Start up the bus communication Test the communication gt Commission the position controller Check that all the safety instructions in the installation instructions for the servo amplifier and this manual have been observed and implemented Check the setting for the station address Use the Setup software SR600 EXE to set the parameters for the servo amplifier Start up the basic functions of the servo amplifier and optimize the current and speed controllers This section of the commissioning is described in detail in the installation and commissioning instructions for the servo amplifier When the parameters have been successfully optimized save them in servo amplifier The altered parameters will only become effective after a software reset Warmboot To do this change to the screen page Status and operate the reset button Requirement the software protocol described in Chapter III must be implemented in the master Adjust the baud rate of the SERVOSTAR to match the master Recommendation request the Emergency Obj
53. it 1 Bit 5 set ready to Switch On Switched On Quick Stop IV 6 Enable Operation COB ID Control Byte Index Subindex Data Comment Y Low Byte High Byte 601 23 40 60 0 OF 00 00 00 control word 581 60 40 60 0 00 00 00 00 OK message Control word Ox000F Interpretation Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 set gt Switch On Disable Voltage off Quick Stop off Enable Operation on IV 7 Mode query COB ID Control Byte Index Subindex Data Comment Y Low Byte High Byte 601 40 61 60 0 mode 581 4F 61 60 0 F9 00 00 00 homing mode IV 8 Homing parameters Con Index Sub COB ID trol Byte Low Byte High Byte er e 601 23 24 20 imac nd e DES resolver zero point 581 60 24 20 1 00 00 00 00 OK 601 23 24 20 2 00 00 00 00 negative direction of travel 581 60 24 20 2 00 00 00 00 OK 601 23 24 20 3 10 27 00 00 v 10mm sec 581 60 24 20 3 00 00 00 00 OK 601 23 24 20 4 32 00 00 00 acceleration ramp 50ms 581 60 24 20 4 00 00 00 00 OK 601 23 24 20 5 32 00 00 00 braking ramp 50ms 581 60 24 20 5 00 00 00 00 OK 601 23 24 20 6 30 75 00 00 reference offset 30000um 581 60 24 20 6 00 00 00 00 OK 52 CANopen for SERVOSTAR Kollmorgen 08 99 User Notes and Examples IV 9 Start homing Control Index Sub COB ID Byte Low Byte High Byte index Data ommo 601 23 40 60 0 1F 00 00 00 mode 581 60 40 60 o 100 00 o0 oo eng runs until the reference condition is met The homing status can be seen from t
54. l current reserved reserved reserved Analog speed reserved reserved reserved Analog current reserved reserved reserved Trajectory reserved reserved reserved Homing start homing reserved reserved Jog mode reserved reserved reserved CANopen for SERVOSTAR 17 Software Protocol 08 99 Kollmorgen 111 4 2 4 111 4 3 111 4 3 1 111 4 3 2 18 Description of the other bits in the control word The other bits of the control word are described below Bit 8 Pause If Bit 8 is set then the drive is stopped paused in all modes The setpoints speed for homing or jogging motion task number setpoints for digital mode for the individual modes are retained Bit 9 10 These Bits are reserved for the drive profile DS402 Bit 11 Acknowledge error Setting Bit 11 acknowledges the response monitoring and or the contouring error Bit 12 reset the position taking into account the reference offset see also homing type number 6 in object 2024H subindex 1 Bit 13 14 15 These bits are manufacturer specific and reserved at present Status word The momentary state of the status machine can be read out with the aid of the status word gt 111 4 3 Bit assignments of the status word Bit Name Bit Name O jReady to switch on 8 Manufacturer specific reserved 1 Switched on 9 Remote in preparation 2 Operation enable 10 Target reached
55. limiting acceleration Dimensional unit ms Access rw PDO mapped Data type Unsigned16 Value range 1 65535 Default value 0 Description This index is used to define the form of the acceleration ramp The value must be set to less than half of the accel time subindex 6 The following diagram illustrates the relationship aA T t T T4 correponds to subindex 6 T2 to subindex 8 For T2 0 the curve that is followed is a trapezoidal ramp for T2 zh is approximately a sin curve Subindex 09H Brief description rate of change limiting braking Dimensional unit ms Access rw PDO mapped Data type Unsigned16 Value range 0 65535 Default value 0 Description This index is used to define the form of the braking ramp The value must be set to less than half of the braking time subindex 7 The rate of change limiting has the same effect here as for acceleration Subindex OAH Brief description number of the following task Dimensional unit Access rw PDO mapped no Data type Unsigned16 Value range O 180 192 255 Default value 0 Description 32 This index is used to set the number for a following task The setting of subindex 3 Bit 3 determines whether this is used to continue CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol Subindex O
56. mapped no Data type Integer32 Value range 22 1 2 1 Default value 0 Description This index is used to define the homing speed Subindex 04H Brief description acceleration ramp for jogging homing Dimensional unit ms Access rw PDO mapped no Data type Unsigned16 Value range 1 32767 Default value 10 Description This index is used to set the acceleration ramp for homing and jogging operations It is implemented as a trapezoidal curve form The time that is set refers to the speeds that are set for homing and jogging Subindex 05H Brief description braking ramp for jogging homing Dimensional unit ms Access rw PDO mapped no Data type Unsigned16 Value range 1 32767 Default value 10 Description This index is used to set the braking ramp for homing and jogging operation It is implemented as a trapezoidal curve form The time that is set refers to the speeds that are set for homing and jogging operations When homing to a hardware limit switch the emergency ramp ASCII parameter DECSTOP is used CANopen for SERVOSTAR 35 Software Protocol 08 99 Kollmorgen 111 5 2 2 13 36 Subindex 06H Brief description reference offset Dimensional unit m Access rw PDO mapped no Data type Integer32 Value range 23 1 2 1 Default value 0 Description This index is us
57. on This index be used to read the momentary ballast power CANopen for SERVOSTAR Software Protocol 08 99 Kollmorgen 111 5 2 2 15 40 Subindex OFH Brief description I T loading Dimensional unit Access r PDO mapped no Data type Integer32 Value range 2224 294 Default value 0 Description This index can be used to read the lt loading Subindex 10H Brief description operating time Dimensional unit min Access r PDO mapped no Data type Integer32 Value range 231 4 231 1 Default value 0 Description This index can be used to read the operating time counter of the servo amplifier Object 2600H 1 receive PDO select Index 2600H Brief description selection of the first receive PDO Access rw Data type Unsigned8 Value range 1 21 24 32 Default value 1 Description This Object is used to map a predefined receive PDO to the Objects 1400H 1st receive PDO parameter and 1600H 1st receive PDO mapping with the aid of the PDO number This Object enables a variable mapping of predefined PDOs The selectable PDOs that are available are described in the following table PDO number PDO name Reference 1 PDO control word gt 111 5 3 1 1 2 20 reserved 21 ASCII channel 2 111 5 3 1 2 22 31 reserved 32 PDO setpoint gt 111 5 3 1 4 33 PDO trajectory gt 111 5 3
58. on regulations are followed can we guarantee the conformity of the servo amplifier with the following standards for industrial areas EC EMC Directive 89 336 EEC EC Low Voltage Directive 73 23 EEC CANopen for SERVOSTAR 7 General 08 99 Kollmorgen 1 3 Features of the CANopen communication profile When working with the position controller in the SERVOSTAR 600 digital servo amplifier the fol lowing functions are available Setting up and general functions homing set reference point jogging with a variable speed provision of a digital setpoint for speed and torque control Positioning functions execution of a motion task from the motion block memory of the servo amplifier execution of a direct motion task absolute trajectory in preparation Data transfer functions transmit a motion task to the motion block memory of the servo amplifier A motion task consists of the following elements position setpoint absolute task or path setpoint relative task speed setpoint acceleration time braking time rate of change limiting if required type of motion task absolute relative number of a following task with or without pause read a motion task from the motion block memory of the servo amplifier read actual values read the error register read the status register read write control parameters via the ASCII channel System requirements Servo amplifie
59. on software version Access r Data type Visible string Description The interface software version consists of four ASCII characters e g 0 04 Object 100BH Node ID Index 100BH Brief description station address Access r Data type Unsigned32 Value range 1 63 Description The station address can be output through the Object Node ID CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 2 2 8 Object 100CH Guard Time Index 100CH Brief description uard time Access rw Data type Unsigned16 Value range 0 65535 Description The product of the Objects Guard Time and Lifetime Factor is the response monitoring time The Guard Time is given in milliseconds The response monitoring first becomes active with the first Nodeguard Object see CANopen DS301 If the value of the Guard Time Object is set to zero then the response monitoring is inactive 111 5 2 2 9 Object 100DH Lifetime Factor Index 100DH Brief description Lifetime Factor Access rw Data type Unsigned8 Value range 0 255 Description The product of the Objects Guard Time and Lifetime Factor is the response monitoring time The response monitoring first becomes active with the first Nodeguard Object see CANopen DS301 If the value of the Lifetime Factor Object is set to zero then the response monitoring is inactive CANopen for SERVOST
60. ot require an intermediate halt of the drive After Switch on this PDO is mapped to PDOZ rx Current normalization 3280 peak current of the controller 1640 rated current e g rated current 3A setpoint gt 1 0A gt 547 increments Speed normalization 2621447 875 x Speed min increments speed setpoint e g speed 3000min gt setpoint value The table shows the mapping of the PDO setpoint Subindex hex Value hex Description 0 2 no of entries 1 60400010 control word 2 20600110 current or speed setpoint 111 5 3 1 4 PDO Setpoint 2 The PDO Setpoint 2 PDO Nummer 32 is a time and date optimized PDO It contains only a 32 bit setpoint This PDO must only be used in the Digital speed or Digital current modes It will be recognized as a speed or current setpoint depending on the mode that is set digital cur rent or digital speed The PDO is executed immediately A repeated transmission of the PDO with various setpoint values does not require an intermediate halt of the drive After switch on this PDO is mapped to PDOZ rx Current speed normalization gt 111 5 3 1 3 The table shows the mapping of the PDO Setpoint 2 Subindex hex 479430 Description 0 1 no of entries 1 20600120 current speed setpoint CANopen for SERVOSTAR 45 Software Protocol 08 99 Kollmorgen 111 5 3 1 5 PDO trajectory in preparation The PDO Trajectory PDO 33 is a time
61. position for the motion Oo Jo Oo Jo 8 0 task the speed is changed to the value for the following task 4 The speed changeover is made so that the speed at the target position for the motion task has already reached the value for the following task 9 11 reserved 0 Accelerations are calculated from the acceleration and braking times of the motion 12 task 4 A global acceleration value is used to calculate the accel braking ramps in preparati on O The target position and target speed of a motion task are interpreted as increments 13 The target position and target speed are converted to increments before the start of 1 the motion task This is done by using the parameters PGEARI and PGEARO see subindex 02H 0 The programmed speed is used as the motion task speed 14 4 The speed for the motion task is determined by the voltage present at analog input SW1 when the motion task starts 15 reserved 30 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol Subindex 04H Brief description trajectory Dimensional unit Access rw PDO mapped PDO 33 rx Data type Integer32 Value range 221 1 231 4 Default value 0 Description In preparation Subindex 05H Brief description motion task number Dimensional unit Access rw PDO mapped PDO
62. ptimally The table shows the mapping of the PDO Trajectory Subindex hex Value hex Description 0 1 no of entries 1 20220420 incremental position This Object does not support transmission type 255 asynchronous 111 5 3 1 6 PDO motion block The PDO motion block PDO number 34 is put together from the position Signed 32 weighted speed Unsigned16 and the motion task type Unsigned16 The PDO starts a motion block from the volatile motion block memory motion block number 0 and can only be used in the Position mode The table shows the mapping of the PDO motion block Subindex hex Value hex Description 0 3 no of entries 1 20220120 position 2 20220210 speed 3 20220310 motion task type abs rel This Object only supports transmission type 255 asynchronous 46 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 3 1 7 111 5 3 2 111 5 3 2 1 111 5 3 2 2 PDO start motion block The PDO motion block PDO number 35 consists of the motion task number Unsigned16 The PDO starts a motion block from the volatile motion block number 0 192 255 or perma nent motion block number 1 180 motion block memory This PDO can only be used in the Position mode The table shows the mapping of the PDO start motion block Subindex hex Value hex Description 0 2 no of entries 2 20220510 motion task number
63. ption Sl actual position value Dimensional unit m Access r PDO mapped PDO 22 tx PDO 32 tx Data type Integer32 Value range 224 294 Default value 0 Description This index reads the actual position in SI dimensional units The relationship between the actual distance travelled and motor turns is given by Lg PGEARI Ss Sino PGEARO whereby PGEARO index 2020 subindex 8 contains the number of increments that are travelled to produce the distance PGEARI index 2020 subindex 9 Note that here one turn corresponds to incremental number 220 1048576 Subindex 07H Brief description Sl actual speed value Dimensional unit m sec Access r PDO mapped no Data type Integer32 Value range 231 4 231 4 Default value 0 Description This index can be used to read the actual speed in SI dimensional units Subindex 08H Brief description contouring error Dimensional unit m Access r PDO mapped no Data type Integer32 Value range 271 4 27 44 Default value 0 Description This index can be used to determine the momentary contouring error in SI dimensional units Subindex 09H Brief description effective r m s current Dimensional unit mA Access r PDO mapped no Data type Unsigned32 Value range 0 2 rated current mA Default value 0
64. r SERVOSTAR 600 Master station with a CAN BUS interface e g PC with CAN interface Transmission procedure Bus connection and bus medium CAN Standard ISO 11898 CAN high speed transmission rate max 1Mbit s possible settings for the servo amplifier 10 20 50 100 125 250 333 500 666 800 1000kBaud 8 CANopen for SERVOSTAR Kollmorgen 08 99 A 4 031 1 36 General 1 4 Numerical format Not only parameter numbers but also parameter values are expected to be in the Little Endian Intel format see below INTEGER16 address n 0 bit 7 O LSB address n 1 bit 15 8 MSB INTEGER32 address n 0 bit 7 O LSB address n 1 bit 15 8 address n 2 bit 23 16 address n 3 bit 31 24 MSB Interpretation n address absolute LSB Least Significant Bit MSB Most Significant Bit Negative numbers are represented as 2 s complement 1 5 Bus cable In accordance with ISO 11898 you should use a bus cable with a characteristic impedance of 120 Q The usable cable length for reliable communication is reduced as the transmission rate is increased The following values that we have measured can be used as a guide They should not however be interpreted as limiting values Cable data characteristic impedance 100 120 Q cable capacitance max 60 nF km lead resistance loop 159 8 Q km Cable length dependent on the transmission rate ten rate max cable length m 1000 20 500 70 2
65. r turns in the shortest direction to the resolver zero point within a turn The reference point is set at the current setpoint position of the position control to the value 6 ofthe reference offset The new actual position retains the same distance to the setpoint position as before 34 The following must be observed For homing 1 and 3 a digital input must be configured as the zero position input Home Position For homing 2 and 4 a digital input must be configured as a hardware limit switch For homing types 1 5 the setting of the zero pulse offset for the ROD output is taken into account ASCII command ENCZERO i e the zero point is fixed so that the output of the zero pulse as well as the display of the O position is made in place of the zero pulse offset CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol Subindex 02H Brief description homing direction Dimensional unit Access rw PDO mapped no Data type Unsigned8 Value range 0 2 Default value 0 Description This index is used to define the direction of travel for homing types 1 to 5 The values have the following meaning 0 negative direction of travel 1 positive direction of travel 2 motor turns in the shortest direction to the resolver zero point within a turn Only relevant for homing type 5 Subindex 03H Brief description Speed for homing Dimensional unit m sec Access rw PDO
66. s Chapter does not describe the method of operation of the CANopen Communication Profile but the handling of the Objects that are implemented and used e g SDO PDO EMERGENCY The foundation for this is the CAL CAN Application Layer DS201 207 Four types of message Messages Objects can be distinguished according to their functionality s DS 301 They are described below O Administrative Messages Layer Management Network Management Identifier Distribution Messages Q Service Data Messages Q Process Data Messages O Predefined Communication Objects Synchronization Time Stamp Emergency Messages 111 5 1 Administrative Messages The network management is implemented according to the CANopen standard The corresponding status machine is implemented according to the state diagram that supports the four states of Initialization Pre operational Prepared Operational The status machine is operated with the cor responding NMT messages e g Start Remote Node 111 5 2 Service Data Messages In accordance with the CAL specification DS202 1 the following services are supported through the aid of the Service Data Objects SDO Domain Download Domain Upload Abort Domain Initiate Domain Download in preparation Download Domain Segment in preparation Initiate Domain Upload in preparation Upload Domain Segment in preparation The construction and method of operation of the SDOs can be found
67. shold bit being set Bit 23 of the manufacturer specific status register or the axis being stopped Going above software limit switch 2 manufacturer specific status register Bit 6 1 Subindex 06H Brief description Position register 3 Dimensional unit m Access rw PDO mapped no Data type Integer32 Value range 23 1 2 1 Default value 0 Description Depending on the configuration going above or below the preset position value results in a threshold bit being set Bit 24 of the manufacturer specific status register CANopen for SERVOSTAR 27 Software Protocol 08 99 Kollmorgen Subindex 07H Brief description Position register 4 Dimensional unit um Access rw PDO mapped no Data type Integer32 Value range 224 294 Default value 0 Description Depending on the configuration going above or below the preset position value results in a threshold bit being set Bit 25 of the manufacturer specific status register Subindex 08H Brief description Resolution denominator of the conversion factor Dimensional unit turns Access rw PDO mapped no Data type Unsigned32 Value range La f Default value 1 Description see Subindex 09H Subindex 09H Brief description Resolution numerator of the conversion factor Dimensional unit m Access rw PDO mapped no Data type Unsigned32 Value range 1 2
68. ssioning Never disconnect the electrical connections to the servo amplifier while it is live This could cause destruction of the electronics Residual charges in the capacitors can still have dangerous levels several minutes after switching off the supply power Measure the voltage in the DC link circuit and wait un til the voltage has fallen below 40V Even when the motor is not rotating power and control cables can still be live O Set up the station address for the servo amplifier on the CAN bus gt 11 1 2 O Assemble the servo amplifier as described in the installation instructions for SERVOSTAR Observe all safety instructions in the installation instructions that belong to the servo amplifier Follow all the notes on mounting position ambient conditions wiring and fusing overload protection The connections for the motor controls and power as well as advice on system layout for EMC conformance can be found in the installation instructions for the servo amplifier Connection methods Supply power motor analog setpoints digital control signals CAN connection see installa tion instructions for SERVOSTAR 600 Setting the station address The station address instrument address on the CAN Bus for the servo amplifier can be set up in two different ways by using the pushbuttons on the front panel see commissioning instructions for SERVOSTAR 600 by using the ADDR command see reference l
69. t power see Com PBAL 32 bit Int r 15 I T loading see Com I2T 32 bit Int r 16 Operational time see Com TRUN 32 bit Int r 2600H 1 receive PDO select gt 111 5 2 2 15 8 bit Char rw 2601H 2 receive PDO select c 111 5 2 2 16 8 bit Char r w 2A00H_1 transmit PDO select c 111 5 2 2 17 8 bit Char r w 2A01H 2 transmit PDO select gt 111 5 2 2 18 8 bit Char r w 3100H ASCII character direction gt 111 5 2 2 19 8 bit Char rw Device control DSP 402 6040H Control word gt 111 4 2 16 bit Int w 6041H Status word gt 111 4 3 16 bit Int r 605AH Quickstop option code gt 111 5 2 2 20 16 bit Int r w 6060H Modes of operation gt 111 5 2 2 21 8 bit Char w 6061H Modes of operation display gt 111 5 2 2 21 8 bit Char r CANopen for SERVOSTAR 21 Software Protocol 08 99 Kollmorgen 111 5 2 2 Description of the Objects 111 5 2 2 1 Object 1000H Device Type Index 1000H Brief description description of the type of device Access r Data type Integer32 Value range see below Description The type of device is defined by a 32 Bit data element MSB LSB Additional Information Device profile number Output stage ID Device type 402D 31 24 23 16 15 0 Device Profile Number 402D Device type 2D Servo Drive 111 5 2 2 2 Object 1001H Error register If an error bit is set in the error register then detailed information is made a
70. task for motion tasks This is selected by Bit 0 of the motion task type Bit 13 of the motion task type determines whether the value that is presented should be interpreted as an increment or as an Sl value Subindex 02H Brief description Set speed Dimensional unit increments sec or um sec Access rw PDO mapped PDO 34 rx Data type Integer32 Value range de Default value 0 Description This index is used to define the set speed for motion tasks If the value is defined as an SI dimensional unit by motion task type Bit 13 1 then the incremental speed viis given by PGEARO Where PGEARO Index 2020 Subindex 8 PGEARI 4000 contains the number of increments to be travelled and where the distance to be travelled is PGEARI Index 2020 Subindex 9 It must be noted that here one turn of the motor is equivalent to 2 1048576 increments i SI CANopen for SERVOSTAR 29 Software Protocol 08 99 Kollmorgen Subindex 03H Brief description type of motion task Dimensional unit Access rw PDO mapped PDO 34 rx Data type Unsigned16 Value range 0 65535 Default value 0 Description This index is used to set motion parameters for the motion task In this case the bits have the following interpretations Bit Val Interpretation O__ The given position value Subindex 1 is evaluated as an absolute position 0 The given position value is evaluated as
71. tion function is enabled depending on the Enable Operation command mode that is set Bit 3 is canceled Motion function is inhibited Drive is stopped 5 S a using the relevant ramp mode dependent Disable Operation command ORE er The current position is maintained 6 en Output stage is disabled Motor has no torque Bits 1 2 are canceled Quickstop 7 RAE none Disable Voltage command 8 Bit 0 is canceled Output stage is switched off disabled Shutdown command Motor has no torque 9 Bit 1 is canceled Output stage is disabled Disable Voltage command Motor has no torque 10 Bits 1 2 are canceled Quickstop Motion function is enabled depending on the Disable Voltage command mode that is set Drive is stopped with the emergency braking ramp The output stage remains enabled 411 Bit 2 is canceled Setpoints are canceled motion block number Quickstop command digital setpoint speed for jogging or homing Bit 2 must be set again before any further moti on tasks can be performed 12 Bit 1 is canceled Output stage is disabled Disable Voltage command Motor has no torque 13 not supported at present none 14 not supported at present none 15 not supported at present none 16 Bit 2 is set Motion function is enabled again Caution If the servo amplifier is operated through the control word status word then no con trol commands may be sent through another communication channel RS232 CANo pen
72. us CANopen for SERVOSTAR 47 Software Protocol 08 99 Kollmorgen 111 5 3 2 3 111 5 3 2 4 111 5 3 2 5 48 PDO actual position The PDO actual position PDO 22 consists of the status word Unsigned16 actual position Unsigned24 and turns per minute Unsigned24 This PDO can be used to establish the position in the Digital speed or Digital current modes After switch on this PDO is mapped to PDO2 tx The table shows the mapping of the PDO actual position Subindex hex Value hex Description 0 3 no of entries 1 60410010 status word actual position resolution 20 bits turn 3 20700218 speed resolution 1 bit 1875 262144 min 2 20700118 PDO extended status The PDO extended status PDO number 23 consists of the status word Unsigned16 and a status register Unsigned32 This PDO can also be triggered by an event in the area of the status register An additional status register mask is available for this purpose that enables a triggering from individual bits in the status register see index 2090H subindex 12 This PDO is not dependent on the mode The table shows the mapping of the PDO extended status Subindex hex Value hex Description 0 2 no of entries 1 60410010 status word User defined 2 10020020 status register PDO actual position 2 The PDO actual position 2 PDO number 32 is a time and date optimized PDO comp
73. vailable in Object 1003H Index 1001H Brief description error register Access r Data type Unsigned8 Value range see below Description The bit assignments in the error register are described below Bit Description generic error current voltage temperature communication error device profile specific reserved manufacturer specific NX O Or NJ O 22 CANopen for SERVOSTAR Kollmorgen 08 99 Software Protocol 111 5 2 2 3 Object 1002H Manufacturer Status Register Warnings Index 1002H Brief description manufacturer specific status register Access r Data type Unsigned32 Value range see below Bit assignments it Value Description 1 Warning 1 Pt signal threshold exceeded Warning 2 ballast power reached Warning 3 contouring error Warning 4 response monitoring is active Warning 5 supply phase missing Warning 6 software limit switch 1 was triggered Warning 7 software limit switch 2 was triggered Warning 8 faulty motion task started Warning 9 no reference point set at start of motion task Warning 10 PSTOP active Warning 11 NSTOP active Warning 12 motor default values were loaded Warning 13 expansion board not functioning correctly Warning 14 reserve Warning 15 reserve Warning 16 reserve motion task active reference point set actual position Home Position In Position

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