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Pronet CanOpen user`s manual 1.02

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1. Index 6065 Name following error window Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units position units Value Range 0 7FFFFFFF h Default Value 256 ESTUN 5 1 Objects treated in this chapter Type Attr INT32 RO INT32 RO INT32 RO UINT32 RW UINT16 RW UINT32 RW UINT16 RW INT32 RO 37 Index 6066 Name following_error_time_out Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range 0 65535 Default Value 0 Index 60FA h Name control_effort Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value Index 6067 position window Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units position units Value Range Default Value 400 Index 6068 n Name position time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range 0 65535 Default Value 0 ESTUN 38 5 1 Objects treated in this chapter 38 6 1 State diagram State machine 6 Device Control The following chapter describes how to control the servo controller using CANopen i e how to switch on the power stage or to reset an error 6 1 State diagram State machine Using CANopen the co
2. Index 606E n Name velocity window time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 velocity_threshold The object velocity threshold determines the velocity underneath the axis is regarded as stationary As soon as the velocity actual value exceeds the velocity threshold longer than the velocity threshold time bit 12 is cleared in the statusword Index 606F n Name velocity threshold Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 10 R 10min ESTUN CU 7 3 PROFILE VELOCITY MODE ESTUN n velocity_threshold_time The object velocity threshold determines the velocity below the axis is regarded as stationary Its unitis ms As 7 3 PROFILE VELOCITY MODE soon as the velocity actual value exceeds the velocity threshold longer than the velocity threshold time bit 12 is cleared in the statusword Index 6070 n Name velocity threshold time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 target_velocity The object target_velocity is the setpoint for the ramp generator Index 60FF n Name target velocity Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0
3. 2 cob ib used bypdo transmission type UNE NO j Jj receive pdopaameer pot j J Umberofenres plos UNT8 no J p cb id used by pdorpdod UNTI2 NO 1403 1600 ESTUN transmission type rpdo4 UINT8 RW receive pdo mapping rpdol number_of_entries UINT8 RO St Mapped objec rpdot m w e scond mapped object uz w w e wa mapped objet m w e S fourth mapped onet pedot um ww wo e _ Subindex Index RECORD receive pdo mapping rpdo2 number of entries first mapped object rpdo2 second mapped object rpdo2 third mapped object rpdo2 7 4 PROFILE POSITION MODE Support wm w w e 1 w w e oo fourth mapped object rpdo2 1601 1602 1603 1800 ESTUN RECORD RECORD RECORD receive pdo mapping rpdo3 number of entries first mapped object rpdo3 second mapped object rpdo3 third mapped object rpdo3 fourth mapped object rpdo3 receive pdo mapping rpdo4 number of entries first mapped object rpdo4 second mapped object rpdo4 UINT32 RW UINT32 RW Lum 3 w y y wm w ww e wm w ww e Lum w e _ Pune aw Ce um
4. 00 x 0 x _ _ 0 1 1 1 18 Device control list ik KP X ERA n Notice X means this bit could be ignored 5 6 8 The definition of this 4 bit is different in different control mode Bit Control M ode profile position mode profile velocity mode homing mode 4 new set point reserved start homeing operation 5 change set immediatly reserved reserved 6 abs rel reserved reserved 8 Halt Halt Halt ESTUN C 42 Other bits all reserved 6 2 2 statusword Index 6041 statusword Object Code VAR Data Type UINT16 Access RO PDO Mapping YES Units Value Range Default Value Explanation of statusword bit is as below 3 Bits Bit6 bit name 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 9 8 Not used now 10 Target reached 11 Internal limit active 13 12 Operation mode specific 15 14 Not used now The combination of these bit indicates the status of drives ESTUN 43 6 2 controlword 43 6 2 controlword Bit4 Voltage enabled Main power is on when this bit is 1 Bit5 Quick stop Driver will follow setting 605A quick st
5. 28 28 3 7 Network management NMT service 4 Conversion factors Factor Group Servo controllers will be used in a huge number of applications As direct drive with gear for linear drives To allow an easy parameterization for all kinds of applications the servo controller can be parameterized in such a way that all values like the demand velocity refer to the driven side of the plant The necessary calculation is done by the servo controller Position User units Internal units position units position factor Increments Velocity speed units velocity factor d 0 1 Acceleration acceleration units acceleration factor IT TIME 0 Irpm s The default setting of the Factor Group is as follows Value Name Unit Remark Length position units Increments Increments per revolution Velocity speed units 1 10min 0 1rpm Acceleration 1R 10min s 0 1rpm s Acceleration units Common incremental encoder 10000P R Resolver 65536P R 17 bit incremental encoder 131072P R 17 bit absolute encoder 131072P R ESTUN UU 4 1 Objects treated in this chapter 4 1 Objects treated in this chapter Index Object Name Type Attr 6093 n ARRAY position factor UINT32 RW 6094 n ARRAY velocity factor UINT32 RW 6097 n ARRAY X acceleration factor UINT32 RW 4 1 1 position factor The object position factor converts all values of length of the application from Position units
6. ESTUN 63 63 7 4 PROFILE POSITION MODE 7 4 1 Control word of profile position mode 7 4 PROFILE POSITION MODE 15 9 8 7 6 5 4 3 0 N Halt abs rel ee immediately set point referred to previous chapter New Does not assume target position set point Assume target position Change set Finish the actual positioning and then start the next positioning Interrupt the actual positioning and start the next positioning immediately 1 mem Target position is a relative value Execute positioning Stop axle with profile deceleration if not supported with profile acceleration Target position is an absolute value Halt 7 4 2 Status word of profile position mode 15 14 13 12 11 10 Following error Set_point Target reached acknowledge referred to previous chapter Name wawe beseipion Target Halt 0 Target position not reached Halt 1 Axle decelerates reached 1 Halt 0 Target position reached Halt 1 Velocity of axle is 0 Set point Trajectory generator has assumed the positioning values yet acknowledge 9 Trajectory generator has assumed the positioning values Following 0 No following error error LX Following error ESTUN 7 4 PROFILE POSITION MODE 7 4 3 Objects of profile position mode Index Object
7. UNS NO _____ mesa UNI2 j _____ mask_tpdo2 number_of_entries UINT8 RO maskl tpdo2 UINT32 RW um w w Imm _____ _ number_of_entries maskl tpdo3 mask2 tpdo3 mask tpdo4 number_of_entries mask1_tpdo4 UINT32 UINT32 mask2_tpdo4 1 Po Ow RW 85 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support Unit ar Ww eene X T e CCCs Ww ewowed m 6 S S S Ww quick stop option code w no e shutdown option code disable operation option code stop option code fault reaction option code U m om poston vais ermm em position window position units ms speed units e sewis e e e e mw position units position_window_time velocity_sensor_actual_value NE NE ums NE ume NE ume MN NM E Subindex Object 607B 1 2 607 gt 22 7 4 PROFILE POSITION Name Support Type ae _ le une m wo e F wm m w _ wm w w o stets position range limit number of entries min position range limit max position range limit home of
8. Sub Index Description third_mapped_object_tpdol Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value See table Sub Index 04 n Description fourth mapped object 1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value See table ESTUN 1 T PDO1 Index 1800 h 004 1800 h 0ln 1800 h 02n 1800 h 03 h 1800 h 05 h 1400 h_00h 1A00 _01 1A00 h_02h 1A00 h_03h 1400 04h 2 T PDO2 Index 1801 _ 0 18015 0ln 1801 02n 1801 _ 1801 05 1 01 h_00h 1 01 014 1401 02 1A01 h_03h 1401 04 3 Index 1802 00h 1802 01 1802 02 1802 h 034 1802 05 h 1402 h_00h 1402 014 1402 02n 1402 034 1402 04 ESTUN Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fo
9. o w wef m o pe UINT32 third_mapped_object_rpdo4 UINT32 fourth_mapped_object_rpdo4 transmit_pdo_parameter_tpdol number of entries tpdol cob id used by tpdol transmission type 1 inhibit time 1 event timer 1 UINT32 um w w e 3 um w w e wm w v e wm wm no e ums w e 1 _ 82 82 RECORD transmit_pdo_parameter_tpdo2 number of entries tpdo2 cob id used by pdo tpdo2 transmission type tpdo2 inhibit time tpdo2 7 4 PROFILE POSITION MODE Support uintzz NO um NO w J j j o event_timer_tpdo2 1801 1802 RECORD ESTUN RECORD RECORD pom 1 __2 __3 0 1 __2 2 4 35 gt 0 1 3 5 Ooo 0 __1 __2 __3 transmit_pdo_parameter_tpdo3 number of entries tpdo3 cob id used by pdo tpdo3 transmission type tpdo3 inhibit time tpdo3 event timer tpdo3 transmit pdo parameter tpdo4 number of entries tpdo4 cob id used by pdo tpdo4 transmission type tpdo4 UINT16 RW UINT16 RW uw mo wo j qd uintzz NO j s umns w NO j ume w NO j j JJ ume w NO j j J9 __ j uvm m NO lt
10. ESTUN Comment number of entries tpdo_2_transmit_mask_low tpdo 2 transmit mask high 20 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT32 Type UINT8 UINT32 UINT32 Type UINT8 UINT32 UINT32 Type UINT8 UINT32 UINT32 Acc Acc RO RW RW Acc RO RW RW Acc RO RW RW Acc RO RW RW 3 3 PDO Default Value 04h 00000281 FF h 64 n 02h 60640020 60610010 n 00 n 00 n Default Value 02h FFFFFFFF FFFFFFFF Default Value 02h FFFFFFFF FFFFFFFF Default Value 02h FFFFFFFF FFFFFFFF Default Value 02h FFFFFFFF FFFFFFFF 1 R PDO1 Index 1400 h _00h 1400 014 1400 h _02 h 1600 h 00n 1600 _ 1 1600 h 02n 1600 h 03n 1600 h 04n 2 R PDO2 Index 1401 _ 0 1401 1 1401 02 1601 _00 1601 _01 1601 _02 1601 _ 1601 _04 3 R PDO3 Index 14025 00n 1402 0ln 1402 h_02h 1602 h 004 1602 01h 1602 02 1602 034 1602 04 4 R PDO4 Index 1403 h_00h 1403 0ln 1403 h 024 1603 h 004 1603 0ln 1603 h 02 h 1603 h 03 h 1603 04h ESTUN Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objec
11. target position 607A profile velocity end velocity and profile acceleration are transferred to the servo controller 2 The host can start the positioning motion by setting the bit4 new set point in the controlword as 1 bit5 change set immediately as 0 and bit6 as absolute or referential type according to target position type absolute or referential 3 This will be acknowledged by the servo controller by setting the bit set point acknowledge in the statusword when the positioning data has been copied into the internal buffer M otion could be started now When the target is reached drive will be acknowledged by bit 10 target reached in status word And then it will run gapless according to program or accept a new target position t t t t Time Gapless sequence of Positioning job At first set NMT as Operational and control mode parameter 6061h as 1 1 At first the positioning data target position 607An profile velocity end velocity and profile acceleration are transferred to the servo controller 2 The host can start the positioning motion by setting the bit4 new set point in the controlword as 1 bit5 change set immediately as 0 and bit6 as absolute or referential type according to target position type absolute or referential 3 This will be acknowledged by the servo controller by setting the bit set point acknowledge in the statusword when the positioning data has been copied into the internal buffer M
12. 00 00 00 00 00 RPDO2 stop Second RPDO 301 601 23 01 16 01 20 00 7A 60 607Ah and 6081h 601 23 01 16 02 20 00 81 60 601 2F 01 16 00 02 00 00 00 RPDO2 enable And then set the transmit PDO as SYNC or Timing method The default setting is Time method After configuring the PDO if you need to activate the configuration you need to reset the communication NM T management 00 82 01 Reset the servo drive with the axis address as much as 1 Reactivate the communication 00 0101 Attention 1 Before configuration please stop PDO For example Cleaning the value with index 1600h and sub index 00 cleaning the value to 0 is necessary After configuration please set a correct number of PDO For example set the value with index 1600h and sub index 00 as 1 to activate the PDO 2 Please pay attention to the data length and number Wrong setting will lead to wrong configuration 3 After configuration resetting communication is necessary to activate the PDO 9 3 Profile Position Mode At first please configure PDO according to the example above and activate the communication And then please set the control mode 601 2F 60 60 00 01 00 00 00 set 6060h as 1 position contrl is PP And then set status machine 601 2B 40 60 00 06 00 00 00 set 6040h as 6 601 2B 40 60 00 07 00 00 00 set 6040h as 7 601 2B 40 60 00 OF 00 00 00 set 6040h asF servo on And then send data by PDO Let servo motor rotate for 5 revolutions Set PDO1
13. 09 00 36 08 00 00 20 08 00 00 21 08 00 00 22 08 00 00 23 IXO 1 1 SU 80 IXO IX1 SU FO F1 F2 Error token code 4 Byte Description Toggle bit not alternated Client server command specifier not valid or unknown Unsupported access to an object Attempt to read a write only object Attempt to write a read only object Object does not exist in the object dictionary Object cannot be mapped to the PDO The number and length of the objects to be mapped would exceed PDO length General internal incompatibility in the device Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Sub index does not exist General parameter incompatibility Access failed due to an hardware error Value range of parameter exceeded Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value Data cannot be transferred or stored to the application di Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state No Object Dictionary is present ESTLI1 B 3 3 PDO 3 3 PDO PDO is applied to transferring real time data which will be conveyed from a producer to one multiple clients Data transferring wil
14. 1A00 n 1 01 as legal number number of PDO s mapping objects 4 PDO mapping completing There are multiple ways to transmit PDO Synchronous Synchronization by receiving SYNC object Cycle Transmit triggered after every 1 to 240 SYNC messages Asynchronous Transmit triggered by special object event regulated in sub object protocol Transmit type of PDO Transmit Type Description PDO 0 Reserved 1 240 SYNC It represents the number of SYNC objects between 2 TPDO RPDO PDOs 240 253 Reserved 254 Bsynenrondus the content of PDO has changed TPDO transmit will be triggered Asynchronous 255 The content of PDO will be periodically updated and TPDO RPDO transmitted One PDO could set a frozen time which is the shortest interval time between 2 continuous PDO It could ESTUN B 3 3 prevent the bus from being occupied by amount of data with high priority Frozen time is defined by 16 bit unsigned integer number and its unit is 100us One PDO could set a timing period When the regulated time is violated a PDO transmit could be triggered without a trigger bit Object timing period is defined as 16 bit unsigned integer and its unit is 1ms ESTUN i 3 3 PDO PDO mapping case Map the 3 objects to PDO1 transmit PDO1 transmit is required to be asynchronous periodic type with period time as much as 10ms and frozen time as much as 2ms O
15. 51 1 2 2 Status word of homing mode ertet 51 7 2 3 Relevant parameter of homing mode nennen nnns 53 7 2 4 Homing seguEntES escasea E E A 56 1 3 PROFILE VELOCITY MODE rete Re Cet tert tee restat bere bur 59 7 3 1 Control word of profile velocity mode sse 59 7 3 2 Status word of velocity mode sse nennen nnne nnn 59 7 3 3 Objects of profile velocity nnns 59 ESTUN C CANopen User s Manual 7 4 PROFILE POSITION M ODE ec antra ni dus 64 7 4 1 Control word of profile position mode 64 7 4 2 Status word of profile position mode seen ene ener nnns 64 7 4 3 Objects of profile position mode sse 65 7 4 4 Functional nnne nnne nnn nnns 67 7 5 interpolation position mode essen nnn nnne nnne 69 7 5 1 Control word of interpolation position mode sees 69 7 5 2 Status word of interpolation position 00 69 7 5 3 Parameters of position interpolation control seen 71 7 5 4 F nctlon tre d cte 72 8 Parameters of the CAN 1 nee tnn nennen nennen 75 9 CAN communicat
16. Access RW PDO Mapping YES Units position units Value Range Default Value 0 homing method The negative and positive limit switch the reference switch and the periodic zero impulse of the angle encoder Index 6098 n Name homing method Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 2 3 4 17 18 19 20 Default Value 1 Homing method value description Value Direction Target Ret renee tor DS402 Home position 1 Negative NOT Zero impulse 1 ESTUN UU 17 18 19 20 homing speeds Positive Negative Positive Negative Positive Negative Positive POT Zero impulse Reference switch Zero impulse Reference switch Zero impulse NOT NOT POT POT Reference switch Reference switch Reference switch Reference switch 17 18 19 20 7 2 HOMING MODE There are two kinds of speeds required to find reference point speed during search for switch and speed during search for zero Index 6099 Name homing_speeds Object Code ARRAY No of Elements 2 Data Type INT32 Sub Index 01 speed during search for switch Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 Sub Index 02n Name speed during search for zero Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed
17. Data Type UINT16 Access RW PDO Mapping NO Units ms Value Range 0 65535 Default Value 0 ESTUN CU gt 3 7 Network management NMT service 3 7 Network management NMT service Structure of the message Identifier Command Node ID wo 2 E Data length NMT State machine ESTUN ni CS 01n 02 80 81 82 N 12 Meaning Start Remote Node Stop Remote Node Enter Pre Operational Reset Application Reset Communication ESTLI1 Communication 3 7 Network management NMT service initialisation Reset Application Reset ESES Operational 2 7 Stopped 6 78 Operational Transition Target state 3 6 Operational 5 8 Stopped 4 7 Pre Operational 12 13 14 Reset Application 9 10 11 Reset Communication 27 Reset Application Reset Communication Initialising Pre Operational Operational Stopped ESTLI1 3 7 Network management NMT service SDO NMT No communication All CAN objects are set to their reset values application parameter set No communication The CAN controller will be re initialised State after Hardware Reset Reset of the CAN node sending of the Bootup message Communication via SDOs possible PDOs inactive No sending receiving Communication 5005 possible PDOs active sending receiving No communication except heartbeat NMT
18. PDO Mapping YES Value Range INT32 Default Value 0 Comment The second parameter of ip function 7 4 PROFILE POSITION MODE Interpolation time period Interpolation time period is used to reserve the time data of interpolation position Index 2105h Subindex 0 Object Code VAR Data Type UINT32 Access RW PDO Mapping NO Value Range 0 Default Value 4000 Comment Sync Period 7 5 4 Function description Some hints 1 gt In our servo drive there is no buffer for position data so in IP control all the position data needs to be updated by the controller To achieve synchronization controllers need to send the updated position at first and then use SYNC signal to make all the servo drive receive the synchronization information After receiving the synchronization information servo drive will synchronize its internal clock Please notice that the sync period should be not bigger than interpolation cycle period in order to keep the updating of interpolation data In IP mode the host should at first set the servo s PDO receiving method into sync mode Use SYNC frame to receive and send synchronization information Because SYNC is broad casted every servo drive will only update PDO data after receiving this signal Before SYNC is sent we need host to send position data Xi and control word to the servo drive When there is data delay servo drive will use the last sync date to do inte
19. Value Range Default Value 200000 R 10min s motion_profile_type The object motion_profile_type is used to select the kind of positioning profile At present only a linear profile is available Index 6086 h Name motion profile type Object Code VAR Data Type INT16 Access RW PDO Mapping YES Units Value Range 0 Default Value 7 4 4 Functional Description Two different ways to apply target positions to the servo controller are supported Single setpoints After reaching the target position the servo controller signals this status to the host by the bit target reached Bit 10 of controlword and then receives a new setpoint The servo controller stops at the target position before starting a move to the next setpoint Set of setpoints After reaching the target position the servo controller immediately processes the next target position which results in a move where the velocity of the drive normally is not reduced to zero after reaching a setpoint These Two methods are controlled by the bit4 and bit5 in the object controlword and set point acknowledge in the object statusword These bits are in a request response relationship So it is possible to prepare one positioning job while another job is still running Simple job positioning ESTLI1 7 7 4 PROFILE POSITION MODE At first set NM T as Operational and control mode parameter 60611 as 1 1 At first the positioning data
20. as 6040 status word as 607A position pulse number and 6081 velocity unit as much as 0 1rpm Send RPDO2 The data is as below 301 50 00 00 2C 01 00 00 50000 300 50 00 00 is position data that is 50000 pulses 2C 0100 00 is speed that 15 Send RPDO1 as below ESTUN 7 7 4 PROFILE POSITION MODE 1 201 0 00 Clear the bit4 of 6040 as 0 2 201 1F 00 Clear the bit4 of 6040 as 1 and servo motor is operating under absolute position M otor runs 3 201 OF 00 Clear the bit4 of 6040 4 201 5 00 Clear the bit4 of 6040 as 1 The servo motor runs under incremental position 5 201 OF 00 bit4 of 6040 as 0 Attention 1 The servo drive is using Tof 6040 s bit 4 to accept new position order So after every single operation the bit needs to be cleared Host needs to check bit12 of status word 6040 in the servo drive to decide whether or not to give new data to servo systems When status word 6041 in the servo drive s 0 it means the servo drive is ready for new data and order If the value is 1 the order won t be executed even if there is data for the servo drive to receive 2 In absolute approach continuous position updating is required If you want to change the operating distance you need to send RPDO2 again RPDO2 301 BO 3C FF FF 2C 01 00 00 50000 300 That is 50000 pulses 30rpm 9 4Interplate Position At first configure PDO receive 2 PDO by defa
21. into the internal unit increments 65536 Increments equals 1 Revolution It consists of numerator and divisor Index 6093 n Name position factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 014 Description numerator Access RW PDO Mapping YES Units Value Range Default Value When power on this value will be initiated to parameter Pn201 Sub Index 02 Description division Access RW PDO Mapping YES Units Value Range Default Value When power on this value will be initiated to parameter Pn202 ESTUN 30 30 4 1 Objects treated in this chapter To calculate the position factor the following values are necessary gear_ratio Ratio between revolutions on the driving side Rin and revolutions on the driven side Rour feed_constant Ratio between revolutions on the driven side Rout and equivalent motion in position_units e g 1 rev 360 The calculation of the position_factor is done with the following equation numerator gear_ratio encoder_resolution position factor division feed_constant ik Encoder type encoder resolution Unit Inc Common incremental encoder 10000 Resolver 65535 17 bit incremental encoder 131072 17 bit absolute encoder 131072P R 131072 ESTUN UU 4 1 Objects treated in this chapter 4 1 2 velocity factor The object velocity facto
22. lt lt UINT8 inhibit time tpdo4 UINT16 event_timer_tpdo4 transmit pdo mapping tpdol number of entries first mapped object tpdo1 second mapped object tpdol third mapped object 1 fourth mapped object 1 UINT16 w w e w ww e 1 w w e 1 wm w w 1 83 83 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support transmit pao tpoz ove ww wm we e obo WWE Wi third mapped object tpdo2 UINT32 fourth mapped object tpdo2 UINT32 transmit 000 mapang tpdo3 RECORD _ second mapped objet tpdo3 UINT2 RW NO _____ third mapped objet tpdo3 UINTZ2 RW NO pg fourth mapped objet tpdo3 NO j nent pi mapeig piot n mapped object tpdo4 UINT32 third mapped object tpdo4 UINT32 fourth mapped object tpdo4 UINT32 ESTUN 84 Subindex Object 2000 RECORD 2 0 2001 1 RECORD 2 0 2002 1 RECORD 2 0 2003 1 RECORD 2 ESTUN 7 4 PROFILE POSITION MODE Unit T masktpdol number_ofentries ume NO _____
23. previous chapters Halt Execute the motion 7 3 2 Status word of velocity mode 15 14 13 12 11 10 9 0 axSlippageError Speed Target reached Referred to previous chapters Name id Target Halt 0 Target ve ocity not yet reached Halt 1 Axle decelerates Halt 0 Target velocity reached Halt 1 Axle has velocity 0 Spes 0 Speeds norena _________ Maximum slippage not reached a r 7 3 3 Objects of profile velocity mode Index Object Name Type Attr 6069 n VAR velocity sensor actual value INT32 RO 606B n VAR velocity demand value INT32 RO 606C h VAR velocity_actual_value INT32 RO 609D VAR velocity_window UINT16 RW 606E n VAR velocity window time UINT16 RW 606F n VAR velocity threshold UINT16 RW 6070 n VAR velocity threshold time UINT16 RW 60FF n VAR target velocity INT32 RW ESTUN 59 59 7 3 PROFILE VELOCITY MODE velocity_sensor_actual_value The speed encoder is read via the object velocity_sensor_actual_value The value is normalised in internal units The velocity demand value can be read via this object Index 6069 velocity_sensor_actual_value Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units 0 Irmps _ 1R 10min Value Range Default Value velocity_demand_value The velocity demand value can be read via this object The unit
24. units Value Range Default Value 0 homing acceleration The objects homing acceleration determine the acceleration which is used for all acceleration and deceleration operations during the search for reference Index 609A n Name homing acceleration Object Code VAR Data Type INT32 Access RW ESTUN 54 54 PDO Mapping YES Units acceleration units Value Range Default Value ESTUN 55 7 2 HOMING MODE 55 7 2 HOMING MODE 7 2 4 Homing sequences Method 1 Negative limit switch using zero impulse evaluation If this method is used the drive first moves relatively quick into the negative direction until it reaches the negative limit switch This is displayed in the diagram by the rising edge Afterwards the drive slowly returns and searches for the exact position of the limit switch The zero position refers to the first zero impulse of the angle encoder in positive direction from the limit switch Index Pulse Negative Limit Switch Method 2 Positive limit switch using zero impulse evaluation If this method is used the drive first moves relatively quick into the positive direction until it reaches the positive limit switch This is displayed in the diagram by the rising edge Afterwards the drive slowly returns and searches for the exact position of the limit switch The zero position refers to the first zero impulse of the angle encoder in negativ
25. 0 Set 6040h as 6 601 2B 40 60 00 07 00 00 00 Set 6040h as 7 601 2B 40 60 00 OF 00 00 00 Set 6040h as F to servo on Activate the communicaiton 000101 The host send signals by the period of 1000us 301 10 00 00 00 16 pulses 201 1 00 IP 80 periodical sending 9 5 Profile Velocity M ode Set the control mode as homing control 601 2F 60 60 00 03 00 00 00 Set control mode as homing control Set the machine status 601 2B 40 60 00 06 00 00 00 601 2B 40 60 00 07 00 00 00 601 2B 40 60 00 OF 00 00 00 serve on We will use SDO to revise the speed parameters 0x60FF If we use PDO to revise the parameters please set mapping in advance Set the speed as much as 500rpm Unit 0 1 and the value should be 5000 601 23 FF 60 00 88 13 00 00 The servo motor will rotate as 500 If you want to stop the operation you could set Ox60FF speed as 0 or use bit 8 of control word 0x6040 Halt When it is 1 it means stop operation 9 6 Homing Set the control mode as homing control 601 2F 60 60 00 06 00 00 00 Set the control mode as homing control 601 2F 98 60 00 04 00 00 00 Use the fourth way to set the homing mode Set the status machine 601 2B 40 60 00 06 00 00 00 601 2B 40 60 00 07 00 00 00 ESTUN 7 7 4 PROFILE POSITION MODE 601 2B 40 60 00 OF 00 00 00 Servo Send data through PDO Set PDO1 as 6040 status word Set as 607A Position pulse number and 6081 Speed unit 0 1 Set the homing method as 1
26. 0rpm 601 23 99 60 02 64 00 00 00 Homing is started 201 1F 00 Cancel homing 201 OF 00 ESTUN 7 4 PROFILE POSITION MODE Appendix object dictionary Index Subindex Object Name Type Attr 000 Support A e morros wm w no e erortea wm no e 1005 1008 Le manufacturer device name STR RO NO ense jet weis e E manufacturer software veson sR ro NO cob id emergeny message Umm m no 1 sc w o e communication uz m w V V V V AR AR VAR VAR VAR AR VAR AR VAR VAR AR VAR VAR VAR VAR VAR synchronous_window_length_ UNT2 RW NO VAR VAR 1016 ARRAY UINT32 0 1029 ARRAY server_sdo_parameter 1200 RECORD RUSSE 1 cob id client server 2 ESTUN i 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support unit AU PP HM __ e 1400 RECORD Pane of ene dot Um 3m 1 A cb id used by pdorpdol NO poe c db _______ receive pdo parameter 1401 RECORD number of entries rpdo2 UINT8 cob id seg _by_pdo_rpdo2 UINT32 receive pdo_parameter RECORD um 4
27. 98 The maximum length of the bus is limited by the communication speed as follows Baud Rate Max Bus Length 1M bit s 25m 500k bit s 100 250k bit s 250m 125k bit s 500m 100k bit s 600m 50k bit s 1000 m The maximum theoretical number of nodes is 127 However in practice the maximum number depends on the capabilities of the CAN transceivers used Further information can be obtained from the CAN in Automation International Users and Manufacturers Group www can cia de ESTUN 7 1 3 Brief introduction of CANopen 2 Cabling and Wiring The layout of CN3 terminal Pin number Name Function 1 5V 5VDC power supply 2 5V 3 485 RS 485 communication terminal 4 DGND Grounding 5 DGND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal The layout of CN4 terminal Pin number Name Function 1 Reserved 2 Reserved 3 485 RS 485 communication terminal 4 DGND 5 DGND Grounding 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communication terminal CN3 is always the input terminal of communication cable and CN4 is always the output terminal of communication cable If connection to another communication node is necessary the cable will connect CN4 to next communication node If not a terminal resistor could be applied at CN4 When multiple P
28. CANopen User s Manual Pronet Series Servo Drive CANopen User s M anual CANopen Estun Limited Warranty This manual does not entitle you to any rights Estun reserves the right to change this manual without prior notice All rights reserved The copyright is held by Estun No part of this publication may be copied or reproduced without written permission from Estun ESTUN 1 CANopen User s Manual Content CANopen User s Manual oo D nea a 1 Le Briet INEFOQUELION 4 ELCAN ee D UE I EL 4 1 2 Terms and abbreviations used in this manual oo cece cence 4 1 3 Brief introduction of 5 3s CANOPEN COMMUIMCACION Rt i T e PF a REY Fa ER 8 3 LCAN identifier E 9 O 10 E 13 3 3 1 TERM 16 34 SYNC message etia dire eet et re 22 3 5 message DX EOD 23 3 6 HEARTBEAT MESSAGE 25 3 7 Network management NM T service nnn nnn 26 4 Conversion factors Factor GOUD nennen 29 4 1 Objects treated in this chapter nennen nen
29. ILE VELOCITY M ODE 6 HOMING M ODE ESTUN RW RO 49 7 1 Relevant parameter of control mode 7 1 2 modes_of_operation_display Drive current control mode could be read from parameters in modes of operation display Index 6061n Name modes of operation display Object Code VAR Data Type INT8 Access RO PDO Mapping YES Units Value Range 1 3 6 Default Value 0 Notice 1 The current control mode could be only known from parameters modes_of_operation_display 2 Only when it is at the status of TargetReached drive control mode could be switched form current mode to set control mode and then modes of operation dsiplay could be identical to modes of operation ESTUN C 7 7 2 HOMING MODE 7 2 HOMING MODE PRONET servo drive currently supports multiple homing mode and users could choose the suitable homing mode For example if an incremental encoder is applied in servomotor then homing mode of Zero impulse could be chosen and if serial encoder or resolver is applied in servomotor then Zero impulse homing mode couldn t be selected The user can determine the velocity acceleration and the kind of homing operation After the servo controller has found its reference the zero position can be moved to the desired point via the object home offset 607Ch 7 2 1 Control word of homing mode 15 9 8 7 5 4 3 0 home_start_operation i referred to previous ch
30. Incremental encoder error 7380 Resolver error 8100 CAN communication exception 8110 CAN bus overflow 8120 PASSIVE CAN bus turn to PASSIVE 8130 Heartbeat error 8140 CAN BUS OFF 8200 Length of CAN messages error 8210 Length of receiving PDO error 8311 Overload alarm 8480 Over speed alarm ESTUN UU 23 HIRE Index 1003 Name pre_defined_error_field Object Code ARRAY No of Elements 4 Data Type UINT32 Sub Index Olh Description standard_error_field_0 Access RO PDO Mapping NO Units Value Range Default Value Sub Index 02n Description standard error field 1 Access RO PDO Mapping NO Units Value Range Default Value Sub Index 03n Description standard error field 2 Access RO PDO Mapping NO Units Value Range Default Value Sub Index 04 Description standard_error_field_3 Access RO PDO Mapping NO Units Value Range Default Value ESTUN 24 3 5 Emergency message 24 3 6 HEARTBEAT message 3 6 HEARTBEAT message Structure of the heartbeat message Identifier 700h NMT state 1 R Message length Relevant parameter Index 1017 producer_heartbeat_time Object Code VAR
31. Name Type Attr 607A n VAR target position INT32 RW 6081 profile_velocity UINT32 RW 6082 n VAR end_velocity UINT32 RW 6083 n profile_acceleration UINT32 RW 6084 h VAR profile deceleration UINT32 RW 6085 VAR quick_stop_deceleration UINT32 RW 6086 h motion profile type INT16 RW target position The object target position determines the destination the servo controller moves to The target position target position is interpreted either as an absolute or relative position This depends on bit 6 relative of the object control word Index 607A n Name target position Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Default Value 0 profile velocity The object profile velocity specifies the speed that usually is reached during a positioning motion at the end of the acceleration ramp The object profile velocity is specified in speed units Index 6081 profile_velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 ESTUN bl i 7 4 PROFILE POSITION MODE end_velocity The object end_velocity defines the speed at the target position target_position Usually this object has to be set to zero so that the controller stops when it reaches the target position For gapless sequences of positionings a value unequal ze
32. apters Description Homing Homing mode inactive operation gt Start homing mode Homing mode active Interrupt homing mode Halt Execute the instruction of bit 4 3 Stop axle with homing acceleration 7 2 2 Status word of homing mode 15 14 13 12 11 10 9 0 ii homing error homing attained target reached referred to previous chapters ESTUN UU i 7 2 HOMING MODE Value Description SCS Target Halt 0 Home position not reached Halt 1 Axle decelerates 1 Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing Homing mode not yet completed attained 1 Homing mode carried out successfully Homing Ew No homing error error Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code ESTLI1 CU 7 7 2 HOMING MODE 7 2 3 Relevant parameter of homing mode Index Object Name Type 607C n VAR home offset INT32 RW 6098 VAR homing method INT8 RW 6099 n ARRAY X homing speeds UINT32 RW 609A VAR homing acceleration INT32 RW home offset The object home offset determines the displacement of the zero position to the limit resp reference switch position Home Zero Position Position home offset Index 607C n Name home offset Object Code VAR Data Type INT32
33. bject Index Sub index Description statusword 6041 00 h Status word Practical operational modes of operation display 6061h 00 n mode Position Acture Value 6064h 00 h Practical position 1 Clear number of mapped objects number of mapped objects 10A0 n 00 0 2 Set the parameter for mapping objects Index 6041 n Subin 00h Length 10 15 mapped object 10A0 011 60410010 Index 6061 n Subin 00h Length 08 25 mapped object 10A0 n 02 9260610008 n Index 60FDn Subin 00h Length 220 35 mapped object 10A0 n 03 n 260FD0020 h 3 Set number of mapped objects number of mapped objects 10A0 00 3 4 Set PDO communication parameter 0001 transmit is asynchronous periodical type transmission type 1800 p 02 h FF h Frozen time 2ms 20x100us 3 inhibit time 10A0 n 03 14 Period time 10ms 10x1ms 2 event time 1800 n 05 0 5 PDO mapping complete ESTUN nl 7 3 3 1 PDO parameter 3 3 PDO PRONET drive contains 4 transmit PDOs and 4 receive PDOs The detailed communication parameter and mapping parameter of the first transmit receive PDO is as below and those of the rest 3 transmit receive PDO the same as the first PDO Index 1800 h Name transmit_pdo_parameter_tpdol Object Code RECORD No of Elements 4 Sub Index 01 Description cob id used by tpdol Data Type UINT32 Access RW PDO Mappi
34. ched Halt 1 Axle decelerates 1 Halt 0 Position reached Halt 1 Axle has velocity 0 ESTUN 7 7 4 PROFILE POSITION MODE 7 5 3 Parameters of position interpolation control Index Object Name Type 6060 n VAR Interpolation sub mode select INT16 RW 60C1 n ARRAY Interpolation data record INT32 RW 60C2 RECORD Interpolation time period RW Interpolation sub mode select Interpolation sub mode select is used to select the method of interpolation under IP control Pronet servo drive only offers linear interpolation Index 60COh Name Interpolation sub mode select Object Code VAR Data Type INT16 Access RW PDO M apping NO Value Range 0 Default Value 0 Comment 0 Linear interpolation Interpolation data record Interpolation data record is used to reserve interpolation potion data Our servo drive s interpolation command only uses the first data whose subindex is 1 Index 60 1 Subindex 0 Object Code ARRAY Data Type INT32 Access RO PDO Mapping YES Value Range INT8 Default Value 2 Comment number of entries Index 60 1 Subindex 1 Object Code ARRAY Data Type INT32 Access RW PDO Mapping YES Value Range INT32 ESTUN UU Default Value 0 Comment the first parameter of ip function Index 60C1h Subindex 2 Object Code ARRAY Data Type INT32 Access RW
35. drive Parameters can be read and programmed with the drive control panel or through the NCAN 02 Module Process Data Object a type of COB Used for transmitting time critical data such as control commands references and actual values Denotes read only access Denotes read write access ESTUN 1 3 Brief introduction of CANopen 500 Service Data Object a type of Used for transmitting non time critical data such as parameters 1 3 Brief introduction of CANopen CANopen is a higher layer protocol based on the CAN Control Area Network serial bus system and the CAL CAN Application Layer CANopen assumes that the hardware of the connected device has a CAN transceiver and a CAN controller as specified in ISO 11898 The CANopen Communication Profile DS 301 includes both cyclic and event driven communication which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times High communication performance can be achieved at relatively low baud rates thus reducing EMC problems and cable costs CANopen device profiles define both direct access to drive parameter and time critical process data communication The NCAN 02 fulfils CAN in Automation standard DSP 402 Drives and otion Control supporting the Manufacturer Specific operating mode only The physical medium of CANopen is a differentially driven two wire bus line with common return according to ISO 118
36. e direction from the limit switch Index mak 1 Positive Limit Switch __ a ESTUN ni gt 7 2 HOMING MODE Methods 3 and 4 Reference switch and zero impulse evaluation These two methods use the reference switch which is only active over parts of the distance These reference methods are particularly useful for round axis applications where the reference switch is activated once per revolution In case of method 3 the drive first moves into positive and in case of method 4 into negative direction Depending on the direction of the motion the zero position refers to the first zero impulse in negative or positive direction from the reference switch This can be seen in the two following diagrams Index Pulse Home Switch Method 17 20 Homing operation to the negative limit switch If this method is used the drive first moves relatively quick into the negative direction until it reaches the negative limit switch This is displayed in the diagram by the rising edge Afterwards the drive slowly returns and searches for the exact position of the limit switch The zero position refers to the descending edge from the negative limit switch Home Switch Method 35 set current position as the homing point ESTUN CU 7 2 HOMING MODE ESTLI1 7 7 3 PROFILE VELOCITY MODE 7 3 PROFILE VELOCITY MODE 7 3 1 Control word of profile velocity mode 15 9 8 7 4 3 0 Halt referred to
37. eu i Functions and content discription required control method Pn006 Hexadecimal required Pn703 0 CANopen baud rate 0 50Kbps 1 100Kbps 2 125Kbps 3 250Kbps Pn703 Hexadecimal required ALL 4 500Kbps 5 1M bps Pn703 1 Reserved for extension Pn703 2 Reserved for extension Pn703 3 Reserved for extension Pn704 Axis address required ALL CANopen axis address 9 communication example All the test below is based on two conditions 1 Communication has been established correctly 2 The address of the servo drive is 1 9 1 SDO configuration SDO operation is to read and write parameters 06001t host sends 0581 slave sends Address 0x3022 034 Write 1000 And then read this parameter Activate the downloading process 2B 3022 00 FC18 That 15 601 2B 22 30 00 18 FC 00 00 The servo drive should respond 60 3022 00 00 00 00 00 That is 581 60 22 30 00 00 00 00 00 Activate the uploading 40 3022 00 0000 That is 601 40 22 30 00 00 00 00 00 The servo drive needs to respond 43 3022 00 FC18 That is 581 43 22 30 00 18 FC 00 00 ESTUN us 7 4 PROFILE POSITION MODE 9 2 PDO Configuration pulse Speed 0 1 Example To configure two RPDO one of which is 6040h and the other are 607A and 6081h RPDO MAPPing 601 2F 00 16 00 00 00 00 00 RPDO1 stop first RPDO 201 601 23 00 16 01 10 00 40 60 6040h 601 2F 00 16 00 01 00 00 00 RPDO1 enable 601 2F 01 16
38. ff and Power Enabled the power stage is live The area Fault contains all states necessary to handle errors of the controller The most important states have been highlighted in the Figure After switching on the servo controller initializes itself and reaches the state SWITCH ON DISABLED after all In this state CAN communication is possible and the servo controller can be parameterized e g the mode of operation can be set to velocity control The power stage remains switched off and the motor shaft is freely rotatable Through the state transitions 2 3 and 4 principally like the controller enable under CANopen the state OPERATION ENABLE will be reached In this state the power stage is live and the servo controller controls the motor according to the parameterized mode of operation Therefore previously ensure that the servo controller has been parameterized correctly and the according demand value is zero The state transition 9 complies with disabling the power stage i e the motor is freely rotatable Status Description Not Ready to Switch On The servo controller executes its self test The CAN communication is not working Switch On Disabled The self test has been completed The CAN communication is activated Ready to Switch On Servo driver is waiting for the state of Switch and servo motor is not at power stage Switched On The power stage is alive Operation Enable The motor is under voltage and is controlled according to operational
39. for 8B x ihn UINTS INT8 Subindex hax Command 40 IXO IX1 SU 2F 1 0 1 1 SU DO Answer 4F IXO IX1 SU DO 60 IXO IX1 SU UINT16 rema Command 40 IXO IX1 SU 28 1 0 IX1 SU DO 01 Answer 4B IXO 1 SU DO 01 60 IXO IX1 SU UINT32 INT32 p m Command 40 IXO IX1 SU 23 IXO SU DO 01 02 Answer 43 IXO 1 1 SU DO 01 D2 03 60 IXO 1 1 SU E Token tor 32 Bil ESTLI1 7 Reading of Obj 6061 00 UINTS INT8 Returning data 01 Command 40 61 60 00 Answer 48 61 60 00 01 Reading of Obj 6041 00 Returning data 1234 40 41 60 00 4B 41 60 00 34 12 UINT16 INT16 Command Answer Reading of Obj 6093_01 UINT32 INT32 Returning data 12345678 Command 40 93 60 01 43 93 60 01 78 56 34 12 Answer ESTUN id 3 2 SDO Writing of Obj 1401 02 Data EF 2F 01 14 02 EF 60 01 14 02 Writing of Obj 5040 00 Data 0358 2B 40 60 00 E8 03 60 40 60 00 Writing of Obj 6093 01 Data 12345678 23 93 60 01 78 56 34 12 60 93 60 01 3 2 SDO SDO error messages Command Answer Error code F2 F1 FO 05 03 00 00 05 04 00 01 06 01 00 00 06 01 00 01 06 01 00 02 06 02 00 00 06 04 00 415 06 04 00 42 06 04 00 47 06 07 00 10 06 07 00 12 06 07 00 13 06 09 00 11 06 04 00 43 06 06 00 00 06 09 00 30 06 09 00 31 06 09 00 32 06
40. fset 6081 profile velocity 6082 6093 1 2 0 6094 0 1 1 VA VA VA VA VA VA VA 6097 Y 2 2 R ESTUN end_velocity profile_acceleration profile deceleration quick stop deceleration motion profile type position factor number of entries numerator divisor velocity encoder factor number of entries numerator divisor acceleration factor number of entries numerator divisor homing method INT32 RW YES position units UINT32 RW YES speed units UINT32 RW YES speed units uw w ws ___ accelerationunits w xs ___ acceleationunits umm m vs acceleraionunits we w w EESE __ le UN UINT32 UINT32 RW UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 RW RW RW RW RW RW RW 87 7 4 PROFILE POSITION MODE Index Subindex Object Name Type Attr Support Unit A 7 pue qp ox cw number of entries of_entries DIEM during search for switch speed during search for zero homing acceleration UINT32 control effort INT32 position demand value INT32 VAR target CA sies NT number of entries of number of entries ARRAY the first em of ip function fi
41. hed function description Figure below shows how the window function is defined for the message position reached The position range between xi x0 and xi4x0 is defined symmetrically around the target position target position xi For example the positions xt0 and xt1 are inside this position window position window If the drive is within this window a timer is started If this timer reaches the time defined in the object position window time and the drive uninterruptedly was within the valid range between xi x0 and xi4x0 bit 10 target reached will be set in the statusword As far as the drive leaves the permissible range bit 10 is cleared and the timer is set to zero Position x X 5 Position reached ESTUN sd i 5 1 Objects treated in this chapter Index Object Name 6062 n position demand value 6063 n VAR position actual value 6064 n VAR position actual value 6065 n VAR following error window 6066 n VAR following error time out 6067 n VAR position window 6068 n VAR position time 60FA h VAR control effort Index 6062 n Name position demand value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units position units Value Range Default Value Index 6064 n Name position actual value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units position units Value Range Default Value
42. ied to other fieldbus system like Probis and Interbus S CANopen communication could access to all the parameter of drivers through object dictionary Please notice object dictionary is not one part of CAL instead of which it is realized in CANopne CANopen communication defines several types of objects as below Abbreviation Full Spell Description 500 Service Data Object Used for normal parameterization of the servo controller Process Data Object Fast exchange of process data e g velocity actual value possible Synchronization Message Synchronization of several CAN nodes Emergency M essage Used to transmit error messages of the servo controller Network Management Used for network services For example the user can act on all controllers at the same time via this object type Heartbeat Error Control Protocol Used for observing all nodes by cyclic messages CAN employs data frames for transferring data between the host controller and the nodes on the bus The following figure presents the structure of the data frame Start ARBITRATION FIELD CYCLICAL Control REDUNDANCY Acknowledged of Date Field COB ID Field CHECK frame 187 110R29BITS 1BIT 68715 0 8 16815 2815 7815 Our drivers doesn t support remote frame currently The details of COB ID is as below FUNCTION CODE NODE ID 10 9 8 7 6 5 4 3 2 1 0 ESTUN i 3 1 CAN identif
43. ier list 3 1 CAN identifier list Object SOE ID BIO 7 COB ID Index in OD binary hex NMT 0000 0004 SYNC 0001 080h 10054 1006 1007h TIM E STAM P 0010 100h 1012 1013h CY 0001 081p OFF 1024s 1015 PDOI Ctransimit gt 0011 181p 1FFh 1800 PDO1 receive 0100 201 27Fh 1400 PDO2 Ctransimit 0101 281h 2FFh 1801h PDO2 receive 0110 301p 37Fh 1401h 500 transimit 1011 581h 5FFh 1200h SDO receive 1100 601 67 1200 Heartbeat 1110 701 77Fh 1016 1017h ar ik Ash 1 PDO SDO 5 send receive is observed by slave CAN 2 Our drive s CANopen protocol currently supports 2 transimit PDO and 2 receive PDO ESTUN 7 3 2 SDO 3 2 00 500 is used to visit the object dictionary of a device Visitor is called client The CANopen device whose object dictionary is visited and required to supply the asked service is called server CANopen messages from a client and servo all contain 8 bits Not all of them are meaningful A request from a client must be confirmed by a server There are 2 method of convey for SDO Expedited transfer Contains 4 bytes at maximum Segmented transfer contains more than 4 bytes Basic structure of SDO Byte0 Bytel 2 Byte3 Byte4 7 SDO Object reference Sub object reference data SDO read write command structure Read commands Write commands Low Byte of main index hex High Byte of main index hex T
44. in this chapter ESTUN B 4 1 Objects treated in this chapter 4 1 3 acceleration factor The object acceleration_factor converts all acceleration values of the application from acceleration units into the internal unit 0 1rpm It consists of numerator and divisor Index 6094 acceleration factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01 Description numerator Access RW PDO Mapping YES Units Value Range Default Value 1 Sub Index 02h Description division Access RW PDO Mapping YES Units Value Range Default Value 1 The calculation of the acceleration factor is also composed of two parts A conversion factor from internal units of length into position units and a conversion factor from internal time units squared into user defined time units squared e g from seconds2to minutes The first part equals the calculation of the position factor For the second part another factor is necessary for the calculation time factor a Ratio between internal time units squared and user defined time units squared ZB 1min 1min min 60s 1min 60 10 10min 5 gear ratio Ratio between revolutions on the driving side and revolutions on the driven side Rour feed constant Ratio between revolutions on the driven side Rour and equivalent motion in position units e g 1 2360 The calcula
45. ion example tentent nennen tentent tne nennen tentent nnns 75 Appendix object dictionary sess nennen tentent tentent rennen nennen tens 80 ESTUN Li 1 1 main files 1 Brief introduction 1 1 CAN main files Document Name Source DS 301 V 4 01 CiA CANopen Communication Profile for Industrial Systems based on CAL CiA DSP 402 V 2 0 CiA CANopen Device Profile 1 2 Terms and abbreviations used in this manual CAN CiA COB EDS NMT OD Parameter PDO RO RW Controller Area Network CAN in Automation International Users and Manufacturers Group Communication Object a unit of transportation on a CAN network Data is sent across a network inside a COB The COB itself is part of the CAN message frame Electronic Data Sheet a node specific ASCII format file required when configuring the CAN network The EDS file contains general information on the node and its dictionary objects parameters Layer Management one of the service elements of the CAN Application Layer in the CAN Reference Model It serves to configure parameters for each layer in the CAN Reference M odel Network M anagement one of the service elements of the CAN Application Layer in the CAN Reference M odel It performs initialization configuration and error handling a CAN network A local storage of all Communication Objects COB recognized by a device A parameter is an operating instruction for the
46. l be limited to 1 to 8 bytes There is no hand shake restriction in PDO communication which means data has been redefined so clients could process the received data for vary short time PDO content will be only defined by its CAN ID assuming producers and clients know PDO content from its CAN ID 2 objects in object dictionary are used for each PDO PDO communication parameter It contains COB ID transferring type restriction time and cycle of timer used by PDO PDO mapping parameter It contains a list of objects in the object dictionary This objects are mapped into PDO includes their data length in bits Producers and clients must know this mapping to explain the content of PDO The content of PDO s message is predefined or configured when the network initializes M apping application object into PDO is described in object dictionary If a device producer and client support dynamic ways SDO could be used to configure PDO s mapping parameter Our servo drive supports dynamic PDO mapping There are 2 rules for PDO mapping to follow 1 Each PDO could be mapped into 4 objects 2 Thelength of each PDO will be no more than 64 bits PDO mapping process 1 Set the sub index of PDO coordinated mapping parameter 1600 1601 1 00 or 14014 as o 2 Revise the sub index from 1 to 4 of PDO coordinated mapping parameter 1600 1601 4 1A00 or 1 01 3 Set the sub index 0 of PDO coordinated mapping parameter 1600 1601 n
47. mode Quick Stop Active Servo driver will be stopped through its fixed way Fault Reaction Active Servo driver tests error and will be stopped through its fixed way with motor s power stage alive ESTUN C 6 2 controlword Fault An error has occurred The power stage has been switched off 6 2 controlword Index Object Name Type Attr 6040 n VAR controlword UINT16 RW 6041 statusword UINT16 RO 605A h VAR quick stop option code INT16 RW 6058 n VAR shutdown option code INT16 RW 605C n VAR disabled operation option code INT16 RW 6050 VAR halt option code INT16 RW 605E n VAR fault reaction option code INT16 RW ESTUN id 6 2 controlword 6 2 1 controlword Index 6040 n Name controlword Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units Value Range Default Value 0 Controlword bit description is as below 15 11 10 9 8 7 2 1 0 manufacturer reserved halt Fault Operation Enable Quick Enable Switch specific resel mode specific operation slop vollage on 3 Pes E 5 tS fick AZ Transmit of status machine is triggered by 5 bits coordinated control code as below Bit of the controlword p reveal e a me operation voltage shutdown __ x 266 swichon __ 1 t 1 Bano t _ vorage o x x
48. motor stops ESTUN deceleration 45 45 6 2 controlword 6 2 4 disable operation option code The object disable operation option code determines the behaviour if the state transition 5 from OPERATION ENABLE to SWITCHED ON will be executed Index 605C n Name disable operation option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 Default Value 0 EL 0 Power stage will be switched off Motor is freely rotatable 1 Switch off the power stage after the motor stops deceleration 6 2 5 quick stop option code The object quick stop option code determines the behaviour if a Quick Stop will be executed Index 605A n Name quick stop option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 2 5 6 Default Value 0 value Description 0 Power stage will be switched off Motor is freely rotatable Switch off the power stage after the motor stops deceleration ESTUN ni ESTUN Power stage will be shut down after the motor decelerates to still urgently QuickStop is alive after the motor decelerates to still QuickStop QuickStop is alive after the motor decelerates urgently to still 47 6 2 controlword 47 6 2 controlword 6 2 6 halt_option_code Halt_option_code determines how to stop when bit 8 halt of controlword i
49. mplete control of the servo is done by two objects Via the controlword the host is able to control the servo as the status of the servo can be read out of the statusword The following items will be used in this chapter State State Transition Command State diagram ESTUN The servo controller is in different states dependent on for instance if the power stage is alive or if an error has occurred States defined under CANopen will be explained in this chapter Example SWITCH_ON_DISABLED Just as the states it is defined as well how to move from one state to another e g to reset an error These state transitions will be either executed by the host by setting bits in the controlword or by the servo controller itself if an error occurs for instance To initiate a state transition defined bit combinations have to be set in the controlword Such bit combination are called command Example Enable Operation All the states and all state transitions together form the so called state diagram A survey of all states and the possible transitions between two states 39 39 6 1 State diagram State machine Power Fault Disabled Fault Reaction Active Switch On Disabled Ready to Switch On A Power Enahled Quick Stop Acts State diagram of the servo controller The state diagram can be divided into three main parts Power Disabled means the power stage is switched o
50. n demand value is named trailing error If for a certain period of time this trailing error is bigger than specified in the trailing error window following error window bit 13 following error of the object statusword will be set to 1 Possim x X X Trailing error following error The permissible time can be defined via the object following error time out Figure above shows how the ESTUN 7 gt 4 1 Objects treated in this chapter window function is defined for the message following error The range between xi x0 and xi x0 is defined symmetrically around the desired position position demand value xi For example the positions xt2 and xt3 are outside this window following error window If the drive leaves this window and does not return to the window within the time defined in the object following error time out then bit 13 following error in the statusword will be set to 1 2 Position Reached This function offers the chance to define a position window around the target position target position If the actual position of the drive is within this range for a certain period of time the position window time bit 10 target reached will be set to 1 in the statusword position difference position demand value 6062 position actual value 6064 position window 6067 0 position window 8067 position_window_time 6068 statusword 10 6041 1 C Position reac
51. nen nnne nnn enean 30 4 1 1 TACK OM since eei Per ve n 30 43 2 dne creat EE Op Ud 32 413 factor iced iiec deca rette eet feelin er teen 34 5 Control RUNCHON cocta teri tt ctr od e e ani Ert EE n e Ee ELE ERE E E diate 35 5 1 Objects treated in this chapter nennen enne nennen nens 37 Ox DEVICE ihrer cite tech as tete Fe rp ete pe eti eed erc tree rev e EE ais Deo rc pd ae 39 6 1 State diagram State machine enne nennen enne 39 0 2 E E A A 41 6 2 1 controlword 42 2 25 5 0 43 6 2 3 sh tdown Option eod innn E RU daa Rs 45 6 2 4 disable operation code inerte itte rt riae 46 6 2 5 quick stop eaa He Ra etae na 46 6 2 Oihalt Option ni pii ide p t ee lest ved per reg t Hee Re t Ed Pec 48 6 2 7 fault reaction Option sepe mo ni Db OR b deo WE I 48 repellere 49 7 1 Relevant parameter of control 4 neni nnn 49 14 modes Of operationis ioi mo Dan ee p ie tO 49 7 1 2 modes of operation 2 50 7 2 HOMING MODE REM 51 7 2 1 Control word of MOMING MOE terere terret eie
52. ng NO Units Value Range 181 h 1FF n Bit 31 may be set Default Value 181 Sub Index 02 Description transmission type 0001 Data Type UINT8 Access RW PDO Mapping NO Units Value Range 1 240 254 255 Default Value 255 Sub Index 03 Description inhibit_time_tpdol Data Type UINT16 Access RW PDO Mapping NO Units 100us Value Range Default Value 100 ESTUN Sub Index 05 Description event_time_tpdol Data Type UINT16 Access RW PDO Mapping NO Units Ims Value Range Default Value 10 Index 1A00 n Name transmit 000 mapping 0001 Object Code RECORD No of Elements 2 Sub Index 00 n Description number of mapped objects 1 Data Type UINT8 Access RW PDO Mapping NO Units Value Range 0 4 Default Value 2 Sub Index Olh Description first_mapped_object_tpdol Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value See table Sub Index 02 Description second mapped object tpdol Data Type UINT32 Access RW PDO Mapping NO Units Value Range ESTUN 3 3 PDO 3 3 Default Value See table
53. of this object is the unit of user s speed unit The velocity demand value can be read via this object Index 606B Name velocity_demand_value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value velocity_actual_value The actual velocity value can be read via the object velocity_actual_value The velocity demand value can be read via this object Index 606 velocity_actual_value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value ESTUN C 7 7 3 PROFILE VELOCITY MODE velocity_window With the object velocity_window a tolerance window for the velocity actual value will be defined for comparing the velocity actual value 606C with the target velocity target velocity object 60FFh If the difference is smaller than the velocity window 606D fora longer time than specified by the object velocity window time 606E bit 10 target reached will be set in the object statusword Index 6060 n Name velocity window Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 20 R 10min velocity_window_time The object velocity window time serves besides the object 606Dn velocity window to adjust the window comparator
54. op option code to halt when this bit is 0 Bit7 Warning Driver detects alarm when this bit is 1 Bit10 Target reached In different control modes the meaning of this bit is different In profile position mode when set position is reached this bit is set When Halt is booted speed is reduced to 0 and this bit will be set When new position is set this bit will be cleared In profile Velocity Mode when the speed reaches the targeted speed this bit will be set When Halt is booted and speed is reduced to 0 this bit is set Bit11 Internal limit active When this bit is 1 it indicates that internal torque has surpassed the set value Bit12 13 These 2 bits mean different in different control mode Bit Control mode profile position mode profile velocity mode homing mode 12 Set point acknowledge Speed Homing attained 13 Following error Max slippage error Homing error Other bits All reserved ESTUN 6 2 controlword 6 2 3 shutdown_option_code The object shutdown_option_code determines the behaviour if the state transition 8 from OPERATION ENABLE to READY TO SWITCH ON will be executed Index 605B n Name shutdown option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 Default Value 0 Value Name 0 Power stage will be switched off Motor is freely rotatable 1 Switch off the power stage after the
55. otion could be started now 4 Second positioning data target position 607A profile velocity end velocity and profile acceleration are transferred to the servo controller 5 The host can start the positioning motion by setting the bit4 new set point in the controlword as 1 bit5 change set immediately as 0 and bit6 as absolute or referential type according to target position type absolute or referential 6 When the 1 target is reached driver will move forward to second target position When the second target position is reached drive will be acknowledged by bit10 target reached in status word And then it will be executed by program or accept another new target position ESTUN T 7 4 PROFILE POSITION MODE to t t Time 7 5 interpolation position mode 7 5 1 Control word of interpolation position mode 15 9 8 7 6 5 4 3 0 Halt Enable ip mode Please refer to the chapters ahead Name Enable ip Interpolated position mode inactive Interpolated positian mode active Halt Execute the instruction of bit 4 ____________ 7 5 2 Status word of interpolation position mode 15 14 13 12 11 10 9 0 P Target reached active Please refer to the chapters ahead 69 ESTUN C 7 4 PROFILE POSITION MODE Name Valve Description Target Halt 0 Position not yet reached rea
56. r converts all speed values of the application from speed_units into the internal unit revolutions per 4096 minutes It consists of numerator and divisor Index 6094 n Name velocity factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index Olh Description numerator Access RW PDO M apping YES Units Value Range Default Value 1 Sub Index 02n Description division Access RW PDO Mapping YES Units Value Range Default Value 1 In principle the calculation of the velocity factor is composed of two parts A conversion factor from internal units of length into position units and a conversion factor from internal time units into user defined time units e g from seconds to minutes The first part equals the calculation of the position factor For the second part another factor is necessary for the calculation time factor v Ratio between internal and user defined time units z B 1 min 1 1010 min gear ratio Ratio between revolutions on the driving side Rin and revolutions on the driven side Rout feed constant Ratio between revolutions on the driven side Rour and equivalent motion in position units e g 1 R 2360 The calculation of the velocity factor is done with the following equation numerator gear_ratio time_factor_v velocity factor division feed_constant ESTUN UU 7 4 1 Objects treated
57. ro can be set The object end_velocity is specified in speed_units like the object profile_velocity Index 6082 end_velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 profile_acceleration The object profile acceleration determines the maximum acceleration used during positioning motion It is specified in user specific acceleration units acceleration units Index 6083 n Name profile acceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 100000 R 10min s profile_deceleration The object profile_deceleration specifies the maximum deceleration used during a positioning motion This object is specified in the same units as the object profile_acceleration Index 6084 n Name profile deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 100000 R 10min s ESTUN 66 66 7 4 PROFILE POSITION MODE quick_stop_deceleration The object quick_stop_deceleration determines the deceleration if a Quick Stop will be executed Index 6085 n Name quick_stop_deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units
58. roNet devices connected it is forbidden to connect the CN3 terminals of different drives directly For example a network is composed of one PLC three ProNet drives called A B and C The cabling network is as below PLC CN3ofdriveA CN4ofdriveA gt CN3ofdriveB CN4ofdriveB gt CN3 of drive C of driveC 120 resistor The two ends of the CAN cable have to be terminated by a resistor of 120 596 as below CAN SHIELD CAN SHIELD CAN SHIELD MEE AN GND c GND uM GND a oper 1200 h om D lE E 1 Please select the bus cable with double twisted pair cables and shielding layer one pair for connecting ESTUN 1 3 Brief introduction of CANopen CAN L and CAN H another pair for grounding ESTUN 1 3 Brief introduction of CANopen 3 CANopen Commuinication CaL supplies all network management service and message transferring protocol with defining the content of object or type of object for communication It defines how instead of what which is the strength of CANopen CANopen is developed based on CAL It applies CAL protocol subsets for communication and service and creates a solution to DCS CANopen could freely extend the node function to simplicity or complex while the network nodes are accessible and available to each other The key concept of CANopen is object dictionary This way of object description is also appl
59. rpolation After one sync period if there is no further data updating interpolation cycle overtime alarm will happen And then servo drive will stop ESTUN v 7 Recommended RPDO configuration When you use only one RPDO 7 4 PROFILE POSITION MODE Control word index 6040h subindex Oh 32bit position reference index 60C1h subindex 01h When you use two RPDO Control word index 6040h subindex 0h 32bit position reference index 60C1h subindex 01h Configuration process 1 Configure PDO dynamically RPDO1 is configured as index 6040h subindex Oh RPDO2 is configured as index 60c1h subindex 1h 2 Set interpolation cycle time 2105h the unit is micro send us 3 Set sync cycle time 1006h the unit is micro send us 4 Set PDO as Sync mode Set the object dictionary index 1400h subindex 02h as 1 Set object dictionary index 1401h subindex 02h as 1 If sending PDO needs to be in sync mode as well we need to set object dictionary index 1800h subindex 02h as 1 and index 6060h subindex Oh as 1 as well 5 Set contro mode as position interpolation mode Set object dictionary index 6060h subindex 0h as 7 6 Reset the communication and then reactivate the communication ESTUN 73 73 7 4 PROFILE POSITION MODE ESTUN 7 4 PROFILE POSITION MODE 8 Parameters of the CAN interface Available for Parameter j
60. s set to 1 Index 605D h Name halt_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 1 2 Default Value Value Description 1 The motor decelerates to still 2 The motor decelerates urgently to still 6 2 7 fault_reaction_option_code When an error is occurred fault_reation_option_code determines how to stop Index 6050 fault_reaction_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 Default Value 0 Value Description 0 Power stage will be switched off Motor is freely ESTUN rotatable 48 48 7 1 Relevant parameter of control mode 7 Control mode PRONET drive currently supports 3 control modes in CANopen DSP402 HOMING MODE PROFILE VELOCITY PROFILE POSITION MODE This chapter mainly describes three control mode as above 7 1 Relevant parameter of control mode Index Object Name Type 6060 modes of operation INT8 6061 VAR modes of operation display INT8 7 1 1modes of operation Drive control mode will be determined by parameters in modes of operation Index 6060 n Name modes of operation Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 3 6 Default Value 0 Value Description 0 NOP MODE 1 PROFILE POSITION MODE 3 PROF
61. sts a COB ID with highest priority to ensure that synchronized signal could be transmitted properly Without transferring data SYNC message could be as short as possible The identifier the servo controller receives SYNC messages is fixed to 080 The identifier can be read the object cob id sync Index 1005 n Name cob id sync Object Code VAR Data Type UINT32 Access RW PDO Mapping NO Units Value Range 80000080 n 00000080 Default Value 00000080 ESTUN idi 3 5 Emergency message 3 5 Emergency message When an alarm occurs to drive CANopen will initiate an Emergency message to inform the current drive type and error code to clients The structure of Emergency message Identifier 80h error_code node number error register Obj 10014 81 8 1 t Number of data bytes Alarm code error_code um TS Description 2310 Over current 3100 Instantaneous power failure 3110 Over voltage 3120 Under voltage 5080 RAM exception 5210 AD sampling error 5420 Regenerative resistor error 5421 Regenerative resistor exception 5581 Parameter checksum exception 5582 electric gear error 5583 Motor type or drive type error 6100 Illegal error code 6120 PDO mapping error 6300 CAN communication error Address or communication baud rate error 7303 serial encoder error 7305
62. tion of the acceleration factor is done with the following equation numerator gear ratio time factor a acceleration factor division feed_constant ESTUN bd 4 1 Objects treated in this chapter 5 Position Control Function This chapter describes all parameters which are required for the position controller The desired position value position demand value of the trajectory generator is the input of the position controller Besides this the actual position value position_actual_value is supplied by the angle encoder resolver incremental encoder etc The behaviour of the position controller can be influenced by parameters It is possible to limit the output quantity control_effort in order to keep the position control system stable The output quantity is supplied to the speed controller as desired speed value In the Factor Group all input and output quantities are converted from the application specific units to the respective internal units of the controller The following subfunctions are defined in this chapter 1 Trailing error Following Error position_difference position demand value 6062 position actual value 6064 following error window 8065 0 following error window 8065 following_error_time_out 6066 Trailing error Following Error Function Survey The deviation of the actual position value position_actual_value from the desired position value positio
63. ts first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object 21 UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW 3 3 PDO Default Value 02h 00000201 FF h 02h 60400010 n 60FF0020 n 00 n 00 n Default Value 02n 00000301 n FF h 02h 60FF0020 n 60600010 n 00 n 00 n Default Value 02 00000301 n FFn 02n 60FF0020 n 60600010 n 00 n 00 n Default Value 02n 00000301 n FFn 02n 60FF0020 n 60600010 n 00 n 00 n 21 3 4 SYNC message 3 4 SYNC message Network synchronization The current input will be preserved and transmitted if necessary in the whole network Output value will be updated by previous SYNC message Client server mode CANopen sugge
64. ult RPDO1 6040 2 60C1 sub01 Send two PDO by default TPDO1 6041 TPDO2 6064 606C pulse Velocity 0 1 RPDO MAPPing 601 2F 00 16 00 00 00 00 00 RPDO1 stop first RPDO 201 601 23 00 16 01 10 00 40 60 6040h 601 2F 00 16 00 01 00 00 00 RPDO1 enable 601 2F 01 16 00 00 00 00 00 RPDO2 stop Second RPDO 301 601 23 01 16 01 20 01 C1 60 60C1h sub01 601 2F 01 16 0001 00 00 00 RPDO2 enable Configure 2 TPDO1 6041h TPDO2 6064h 606Ch RPDO MAPPing 601 2F 00 1A 00 00 00 00 00 1 stop first RPDO 181 601 23 00 1A 01 10 00 41 60 6041h 601 2F 00 1A 00 01 00 00 00 TPDO1 enable 601 2F 01 1A 00 00 00 00 00 RPDO2 stop Second RPDO 281 601 23 01 1A 01 20 00 64 60 6064h and 606Ch 601 23 01 1A 02 20 00 6C 60 601 2F 01 1A 00 02 00 00 00 TPDO2 enable Set Sync time 601 23 06 10 00 E8 03 00 00 1006h gt 1000us Configure the PDO receiving and sending both by the means of the sync step and sync frame ESTUN 7 7 4 PROFILE POSITION MODE Set 1400h 601 2F 00 14 02 01 00 00 00 1400 SYNC Set 1401h 601 2F 01 14 0201 00 00 00 1401 SYNC Set 1800h 601 2F 00 18 02 01 00 00 00 1800 SYNC Set 1801h 601 2F 01 18 02 01 00 00 00 1801 SYNC Reset the communication to active dynamic PDO configuration 00 82 01 reset communication Set control mode 601 2F 60 60 00 07 00 00 00 IP position control And then set the status machine 601 2B 40 60 00 06 00 00 0
65. urth mapped object Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Acc Acc Acc 3 3 PDO Default Value 04h 00000181 FF h 64 OA 02h 60410010 n 60640020 n 00 n 00 n Default Value 04 n 00000281 n FFn 64 n OA n 02 60640020 n 60610010 n 00 n 00 n Default Value 04 n 00000281 n FFn 64 n OA n 02 n 60640020 n 60610010 n 00 n 00 n 4 T PDO4 Index 1803 004 1803 0ln 1803 02n 1803 h _03 h 1803h 05n 1A03 h_00h 1A03 h_O1h 1A03 h_02h 1A03 h_03h 1A03 h_04h Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object tpdo 1 transmit mask Index 2000n 004 2000 4 014 2000h 02 number of entries tpdo 1 transmit mask low tpdo 1 transmit mask high tpdo 2 transmit mask Index 20015 00h 2001 _01 2001 02h number of entries tpdo_2_transmit_mask_low tpdo_2_transmit_mask_high tpdo_3_transmit_mask Index 2002 h_00h 2002 014 2002 02n number of entries tpdo 1 transmit mask low tpdo 1 transmit mask high tpdo 4 transmit mask Index 2003 004 2003 h_O1h 2003 h_02h
66. x1 see 60COh the parameter of ip function fip x1 Interpolation time period UINT8 RECORD iptimeindx time iptimeindx UINT8 ESTUN 6099 7 4 PROFILE POSITION MODE support unit Index Subindex Object w e m 89 VAR VAR VAR VAR VAR VAR 7 4 PROFILE POSITION MODE VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR NO e wm r min VAR ESTUN VAR VAR VAR VAR VAR 90 e jew e pe 90

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