CANopen User`s Manual
Contents
1. User units Position Internal units gt position units position factor Increments V elocitv gt 1 speed units velocity factor 0 lrpm p 10min Acceleration 2 10 mi acceleration units acceleration factor sec 0 Irpm s Default internal unit Object name unit instruction length position units Increments HCH speed speed units 1R 10min 0 1rpm accelera Acceleration units 1R 10min s 0 1rpm s tion Note Normal incremental encoder will output 10000 pulses every revolution ESTUN 28 V 1 0 7 Control mode 4 1 Measuring unit conversion parameter Index Object Name Type Attr 6093 h ARRAY position factor UINT32 RW 6094 h ARRAY velocity factor UINT32 RW 6097 h ARRAY acceleration factor UINT32 RW 4 1 1 Position factor Position factor module could convert all the measuring units of client into internal unit of servo drive pulse and at the same time convert the unit pulse of all the output from the drive into the measuring unit of clients position units Position factors includes numerator and division Us 0 Value Range Default Value Initialized to 1 when power on Wawr 8 ES TIM 29 V 1 0 7 Control mode A amp 1 E 2 x in position units e g degree or x in position units e g mm For calculating the position factors easily 2 parameters as below are defined gear_ratio2. A Data lenath Network management status conversion graph ES TU 25 V 1 0 7 Control mode Initialisation d c 14 Pre 11 Operational N _ 3 4 5Y 7 A 13 10 Stopped d A 6 pe 12 D 9 Operational a CS Meaning Transition Target state 01 Start Remote Node 3 6 Operational 02 Stop Remote Node 5 8 stopped 80 Enter Pre Operational 4 7 Pre Operational 81 Reset Application 12 13 14 Reset Application 82 Reset Communication 9 10 11 Reset Communication ESTUN 26 V 1 0 7 Control mode Name Meaning SDO PDO NMT Reset Application No communication All CAN objects are set to their reset values application parameter set Reset No communication communication The CAN controller will be re initialised Initialising State after Hardware Reset Reset of the CAN node l sending of the Bootup message Pre Operational Communication via SDOs possible X X PDOs inactive No sending receiving Operational Communication via SDOs possible X X X PDOs active sending receiving Stopped No communication except heartbeat NMT A ESTUN 27 V 1 0 7 Control mode 4 measuring unit conversion Factor Group Servo drives are widely used in different applications For setting parameters easily in different applications our clients could use the internal measuring unit conversion module to converse any users parameters into drive s internal unit
3. spo service Data Object No real time but important data like parameters ha Process Data Object Real time key process data reference value control word and status information Synchronization of CAN node Alarm message transferring CANopen Network management Supervising the availability of all nodes CAN transmits data between host controller and the bus nodes through data frames Struction of data frame is as below Frame control Checksum Response Frame COB ID RTR Data area head area area area tail 1bit 11or29bits 1bit Gbit 0 8byte 16 bits 2 bits 7 bits EDC doesn t support remote frames temporarily COB ID s structure is as below NODE ID node address 10 9 8 7 6 8 4 3 2 1 0 ESTUN 8 V 1 0 7 Control mode 3 1 CAN identifier list f f nas Function code COB ID Ulan Communication bit10 7 COB ID correspondent Object hex communication binary parameters in OD oo mwm m Notice 1 PDO SDO s sending and receiving is detected by Can slave nodes ES TU 9 V 1 0 7 Control mode 3 2 SDO SDO is used to visit the object dictionary of a device A visitor is called a client A CANopen device whose object dictionary is accessed will offer the required service and this devise is called a server CAN messages from client or server always contain 8 bit data even if not each of them is meaningful A client s requirement must have a answer from the server SDO has 2 tra
4. ESTUN 35 V 1 0 7 Control mode i ESTUN 36 V 1 0 7 Control mode 6 Device control This chapter describes how the host could control the servo drive through CANopen like enabling servo on and clearing alarms 6 1 Control state machine The host could control the servo drive through controlword It could know the current status of the servo drive through reading the statusword of the servo drive This chapters will use the terms as below State When the main circuit is activated or alarms happen the servo drive is in different status This chapter is mainly about the state machine controlled by CANopen For example SWITCH_ON DISABLED State Transition Status machine also describes how to transit from one state to another state State transition mainly relies on controlword controlled by the host or servo drive itself for example alarm Command For initialling State Transition the bit composition of control word is defined This bit composition is called Command State diagram All the States and State Transitions compose a State diagram ES TIM 37 V 1 0 7 Control mode Power Disabled Fault Reaction Active Not Ready to Switch On Switch On Disabled Ready to Switch On Operation Quick Stop Enable A Activ State machine graph As above state machine could be divided into 3 parts Power Disabled Power Enabled and Faullt All the states will transit to Fault after
5. home offset home offset could set the distance between reference point and homing point Home Zero Position Position home offset a 1 2 Value Range gt Default Value LO homing method This parameters defines several kinds of homing methods Index 6098 h Data Ivpe INT8 Access us ESTUN 49 V 1 0 7 Control mode Homing method form reference Method direction Target position D DS402 position Reference point 3 Negative C pulse 3 switch Reference point 4 Positive C pulse 4 switch Reference point Reference point 19 Negative 19 switch switch Reference point Reference point 20 Positive l i 20 switch switch homing_speeds There are 2 kinds of relevant speeds homing speed and acceleration homing speed RW Value Range Default Value VaueRange E Default Value Jo homing_acceleration Homing_acceleration will define both the acceleration speed and deceleration speed at the process of homing ES TIS 50 V 1 0 7 Control mode Access aus Baras GC 0 ES TIM 51 V 1 0 7 Control mode 7 2 4 homing method Method 3 and 4 C pulse and reference point switch ZPS signal The initial moving direction of the servo drive relies on the state of reference point switch Targeted homing position is on the left or right side of the reference point switch one C pulse far away from the reference point switch 14 Index Pulse 1 Y Home Swit
6. J Det Dei Other bit all are reserved bits ESTUN 40 V 1 0 7 Control mode 6 2 2 statusword Access RO Uis E Value Range o Default Value The bit instruction of statusword is as below Ready to switch on owitched on Operation enabled Voltage enabled Quick stop owitch on disabled Warning reserved Operation mode specific reserved Bit0 3 Bits HI Bit6 The combination of these bits indicates the state of the servo drive XXXX xxxx x0xx 0000 Not ready to switch on XXXX xxxx xX1xx 0000 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on Operation enabled XXXX XXXx x00x 0111 XXXX xxxx x0xx 1000 ESTUN 41 V 1 0 7 Control mode Bit4 Voltage enabled 1 means the main circuit is powered on Bit5 Quick stop O means the servo drive will stop according to the settings 605A h quick stop option code Bit Warning 1 means the servo drive could detect alarms Bit10 Target reached In different control mode the definition is different In profile position mode when set position is reached the bit will be set After Halt is initiated and speed is reduced to 0 the bit will be set When new position is settled the bit will be cleared In Profile Velocity Mode when the speed reaches the targeted speed the bit will be set After Halt is initiated and speed is reduced to 0 this bit will be set Bit11 Internal limit active When th
7. o o unte RW NO e Eom pom dom eb o jo jo poo PUNT RO NO e puint32 RO NO e UINTS NO ej j j UINT16 Lo qo UINT16 NECEM CH Ro TUNTA2 RO E Ro NCHR 67 V 0 7 Control mode Index Subindex Object Name Type Attr support t uni E ET ETNE FT gt M UN 1A01 eent zi mapping ma St E cor frstmapped object f der Ursa RW No po second mapped object pio uNTs2 Rw No ia nepped ocios Juro rw wo a 1 1 AAA S E 1A02 H ESTUN 6 fourth mapped object tpdo2 UINT32 RW NO e FM E number of entries UINTS RO first mapped object tpdo3 UINT32 ORW RECORD second mapped object tpdo3 UINT32 RW third mapped object tpdo3 UINT32 RW fourth mapped object tpdo3 UINT32 RW transmit pdo mapping tpdo4 Pala VINTE RO first mapped object tpdo4 UINT32 RW RECORD second mapped object tpdo4 UINT32 RW third mapped object tpdo4 UINT32 RW fourth mapped object tpdo4 UINT32 RW oo I V 1 0 7 Control mode var Comespondemttoemooo IL NA eses EE KER MAS ERR SE EE a S O servo drive s current alarm 99 means no alarm now The other values are the alarm code of the servo drive ESTUN 69 V 1 0 7 Control mode Index Subindex Object Name Type Attr T mapping um vam mum GEES EE KE as va
8. Fault ESTUN 38 V 1 0 6 2 Parameters for device control Index 6040 h 6041 h 605A h 605B h 605C n 605D h 605E h ESTUN Object VAR VAR VAR VAR VAR VAR VAR Name controlword statusword quick stop option code shutdown option code disabled operation option code halt option code fault reaction option code 39 Type UINT 16 UINT 16 INT 16 INT 16 INT 16 INT 16 INT 16 Control mode Attr RW RO RW RW RW RW RW V 1 0 7 Control mode 6 2 1 Control word EE Value Range gt Default Value 0 SS Controlword bit explanation is as below 15 11 10 9 8 T 6 4 3 2 1 0 manufacturer served halt Fault Operation Enable Quick Enable Switch specific reset mode specific operation stop voltage on BitO 3 HI Bit7 The transmission of state machine is activated by the 5 bit correspondent control command Bit of the controlword Command Enah E Transitions Fault reset Enable Quick Enable Switch on operation stop voltage 1 Shutdown Switch on Switch on EE NN Disable voltage X X 00 o Quick stop 101 Disable operation 7 Enable operation Fault reset Device control command Note X means the bit could be ignored Bit4 5 6 9 ese 4 bit has different definition under different control mode Control mode Bit ES profile position mode profile velocity mode homing mode change set immediatly reserved 6 absiel reserved reseved 8
9. Tvpe UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Acc RO RW RW RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW RW RW 7 Control mode Default Value 04 h 00000181 h FF h 64 h OA h 02 h 60410010 h 60640020 h 00 h 00 h Default Value 04 h 00000281 h FF h 64 h OA h 02 h 60640020 h 60610010 h 00 h 00 h Default Value 04 h 00000281 h FF h 64 h OA h 02 h 60640020 h 60610010 h 00 h 00 h V 1 0 7 Control mode 4 T PDO4 Index Comment Type Acc Default Value 1803 h 00 hn number of entries UINT8 RO 04 h 1803 hn 01h COB ID used by PDO UINT32 RW 00000281 h 1803h_02h transmission type UINT8 RW FF h 1803h_03h inhibit time 100 us UINT16 RW 64 h 1803n 05n event time 1ms UINT 16 RW OA h 1403 h 00 h number of mapped objects UINT8 RW 02 h 1403 h 01h first mapped object UINT32 RW 60640020 h 1A03n 02h second mapped object UINT32 RW 60610010 h 1403 h 03h third mapped object UINT32 RW 00 h 1A03n 04h fourth mapped object UINT32 RW 00 h 3 4 SYNG message Synchronization in the network Any input into the network will be preserved and then transmitted if necessary Output will be updated according to the last SYNC message Host slave mode SYNC host node will send SYNC objects during each certain period SYNC slave node will execute SYNC mission after receiving the message CANopne advises to use a COB ID wit
10. SNE Word of CORT OL E 54 7 3 3 Parameters of speed control MOC cccccccccccnanonanononocococonononnnnn ano nononococononnnnnnnn ono nn nn tan nzznnrnn nn nn nnn nn 54 TA PROFILE POTIN 58 7 4 1 control word for position 100 ono rnnnnn nono nn rnnnnr rase ss esent rasan asser 58 7 42 MUS Word OF positon CONTO e e a i i Ai IA AAA A SARI ER UP Ud 58 V T NU AMO TOS Pe TON COMO an SAA AAA EE 59 TPES FONCION Ee SETA A inserida o EE E EEE nai EEEE EE noon E 60 8 CAN COMMUNICATION PARAMETERG ccccccssscsssssssssssssccssscsssscsescssssscsscssssscsssssssscsscssssscssssssssscssesssees 63 APPENDIX OBJECT DICTIONARY wisissisisssscatsscestncsussssecsncevace vacnsivesssevessessnasscasenupsesnsaesscvash eee i 64 ESTUN SEI V 1 0 7 Control mode 1 General introduction 1 1 CAN main related files Document Name Source CiA 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 Guide CAN Controller Area Network CiA CAN in Automation International Users and Manufacturers Group COB 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 EDS Electronic Data Sheet a node specific ASCIl format file required when configuring the CAN network The EDS file contains general information on the node and
11. any alarm happens After power on the servo drive will finish initializing and enter the state of SWITCH_ON_DISABLED Under this state CAN communication and servo drive configuration for example setting the work mode of the servo drive as PP mode are still available At then the main circuit is still shut down and motor is out of excitation After state Transition 2 3 and 4 it become OPERATION ENABLE And then the main circuit has been initialized and servo drive will control the servo motor according to the configured work mode Hence we have to confirm we have configured the servo drive s parameters correctly and we have set correspondent input value as O before this state State Transition 9 will shut down the power supply to the main circuit Once any alarms happens to the servo drive the state of the servo drive will enter FAULT state State Instruction Not Ready to Switch The servo drive is on the way of initialization and no CAN communication is On available Switch On Disabled Initialization is completed and CAN communication is available now Ready to Switch On ASNO alive waits to enter Switch On state and the servo motor is out of excitation Switched On The servo drive is inputing excitation signal to the servo motor and control Operation Enable the servo motor according to the control mode Quick Stop Active Servo drive will stop according to the set method Fault Reaction Active Alarm detects and servo motor is out excitation
12. could support PDO mapping 2 rules of PDO mapping have to be obeyed as below 1 One PDO could be used to map 4 objects at maximum 2 The length of each PDO has to be 64 bits or below PDO mapping procedures 1 Setting the correspondent mapping parameters of PDO 1600h 1601 h 1602n 1603h EK 1A00n 1A01n 1A02n 1A03n The content of sub reference 0 is o 2 Revise the content of sub index 1 4 1600n 1601h 1602n 1603h and 1A00h 1A01 hy 1402h 1A03 h which are PDO s correspondent mapping parameters 3 Set the content of sub index 0 of PDO correspondent mapping parameters as legal figures number of PDO s mapping objects 4 PDO mapping completed PDO could be transmitted in multiple ways Synchronous transmitting Synchronization through accepting SYNC objects Period Transmitting will be triggered after 1 to 240 SYNC messages Asynchronous transmitting opecial object incident defined in device sub protocol could trigger the transmitting PDO transmit defining list ad Les Description value 8 reserved AT SVNC method the number of SVNC objects between 1 240 2 PDOs TPDO RPDO 240 258 reserved le Asynchronous method If the content of PDO 254 o TPDO changes it will trigger PDO A h hod 255 sync EES method TPDO RPDO cyclical update and sending of PDO content ESTUN 13 V 1 0 7 Control mode One PDO could settle a frozen time that is the minimum time between 2 continuous PDOs which could avoid the hig
13. deceleration and relative parameters 2 Set bit4 new set point of the control word as 1 Set bit 5 change set immediately as 0 Set bp ESTUN 61 V 1 0 7 Control mode absolute relative according to the type of target position absolute relative 3 Set bit12 of status word set point acknowledge for servo drive response and then execute position control 4 Set the second target position target position 607A n objective speed acceleration deceleration speed and relative parameters 5 Set bit4 new set point of the control word as 1 set bitb change set immediately as 0 Set bit6 absolute relative according to the type of target position absolute relative 6 After reaching the first target the servo drive will keep moving forward to the second target position After reaching the second target position the servo drive will respond through bit 10 target_reached of status word And it will follow the program to keep moving or accept new targeted position t t t Time ES TIM 62 V 1 0 7 Control mode 8 CAN communication parameters CANopen parameters of EDC servo drive Parameter Re power on L l Function and instruction number required Axis address of CANopen communication When the ID on the drive s front panel was set as F this Pn063 Axis address yes parameter will be used as axis address When the ID is not F ID on the front panel will be used as axis address CANopen communicat
14. fej e em var target positon H rz rw ves 0 positon units ESTUN 70 V 1 0 7 Control mode Index Subindex Object Name Type Attr Support m uni mapping All PP PV HM meme Ye e mi poston range ii wr mw wo telt Tronas mar position range imt Tua RW No e _ postion M ECHRN Mi O gt et A rin sii mit wr No 2 __ ma position mi rz mw NO ore VAR mmy uns RW No el 6081 VAR wee velociy Luss Rw ves 6083 VAR pro ie_acceteration Luss RW ves 6084 VAR profie deceleration Luss RW YES Se Se M NE men Do ae VAR quick stop_deceleration UNTs2 RW ves ae VAR motion profile ype wrie Ro ves NE position tector numerator Luz Rw No aws umr Rw No MES velocity encoder factor memor une mw No I Le Luz Rw No S MH aceteratontaior mumerator Luz mw wo S mex TC m no 1 1 71 71 71777 ESTUN UT 7 Control mode mapping um m mmm LIE EIA A gt a IN speed during search forswicn UmTaz rw mo e lais speed during search for zero Tunas rw mo _ s speed units a EA etn B O 5 est bore var posttn demand vais wma Ro ves fel I te oe VAR Terve o H mw ves e C
15. makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times High communication performance can be achieved at relatively low baud rates thus reducing EMC problems and cable costs CANopen device profiles define both direct access to drive parameter and time critical process data communication The NCAN 02 fulfils CiA CAN in Automation standard DSP 402 Drives and Motion Control supporting the Manufacturer Specific operating mode only The physical medium of CANopen is a differentially driven two wire bus line with common return according to ISO 11898 The maximum length of the bus is limited by the communication speed as follows 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 c a de e V 1 0 7 Control mode 2 wiring and connections e EDC series appearance description Charge indicator Lights when the main circuit power supply 1s ON and stays lit as long as the main circuit power supply capacitor remains charged ch Power ON indicator SERVODRIVE When the control power supply is ON The green light the servo is in free run state The red light the servo is in fault state POWER LALV DE Rotary switch 1 Commu
16. the motor s encoder Position control will be influenced by parameter setting For Stabilizing the control system we have to limit the output of postion loop control effect This output will become the fixed speed for speed loop In Factor group all the input and output will be transformed into the internal measuring unit of the servo drive Below is the introduction of sub function for position control 1 following error position difference position demand value 6062 position actual value 6064 following eror window 6065 0 following error window 6065 following error time out 6066 following error function description Following error is the deviation between actual position position actual value and reference position position demand value As above if within following error time out the following deviation is bigger than following error windows the bit 13 of status word that is following error will be set as 1 X 2 X 3 Position x NM XQ XX following error for example Above is the description about how to define window function as to following error xi xOand xi x0 following error window are located symmetrically at each side of position demand value For example ESTUN 33 V 1 0 7 Control mode xt2 and xt3 are both out of following error window If the drive leaves the window and doesn t return back to the window in following error time out bit 13 following error o
17. 01 Data 12345678 23 934 60 01 78 56 34 12 60 93 60 01 7 Control mode SDO error message frame Command Answer Error code F3 F2 Fi FO 05 03 00 00 05 04 00 01 06 01 00 00 06 01 00 01 06 01 00 02 06 02 00 00 06 04 00 415 06 04 00 42 06 04 00 47 06 07 00 10 06 07 00 12 06 07 00 13 06 09 00 11 06 04 00 43 06 06 00 00 06 09 00 30 06 09 00 31 06 09 00 32 06 09 00 36 08 00 00 20 08 00 00 21 08 00 00 22 08 00 00 23 ESTUN id IXO IX1 SU 80 IXO IX1 SU FO F1 F2 FS A Error token AAA 4 Error 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 can
18. 1 h 1602 h 02h 1602 h 03h 1602 h 04h 4 R PDO4 Index 1403 hn 00h 1403 h_01 h 1403 h 02h 1603 h _00 h 1603 h_01 h 1603 hn 02h 1603 hn 03h 1603 h 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 objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object 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 Tvpe 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 7 Control mode Default Value 02 h 00000201 h FF h 02 h 60400010 h 60FF0020 h 00 h 00 h Default Value 02 h 00000301 h FF h 02 h 60FF0020
19. 7 Control mode EDC series Servo drive CANopen user s Manual CBN or 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 ES TIM 1 V 1 0 7 Control mode Contents EDC SERIES SERVO gl ul UE 1 CANOPEN USER S MANUAL 1 ccccccccccccccccccccsccccccccccccccccccccccccccccccccccsscccccccccsccccccccccccccssccccccccccccccssccccccccccccossscees 1 1 GENERAL INTRODUCTION A cccccccccccccccccssccsscccsccccccsscccssccccccscccsccsscccccccccccscosscccccccccccssscscccccceccccossccscccccecsccssscosccccers 4 LE NN NNN 4 1 2 TERMS AND ABBREVIATIONS USED IN THIS GUDDE ee e e e errar e rare rare e arena rare rare ease scan renda 4 1 3 CANOPEN GENERAL INTRODUCTION ete eer Lenert a SUAS da 5 2 WIRING AND CONNECTIONG cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccssscccccccccoscccscsscccccccssccsssscccecccoss 6 3 CANOPEN COMMUNICATION cccccccccccccccccccccscccccsccccccccccccccccccccccccsscccccccccccccccscccccceccccscccsssccccccccssccsssscccecccons 8 SLOAN IDEN ER NN 9 ED 10 e e a D O E A AE EIE EE E E AA AT A AS E NETE EE E A A E EE A 13 DO EE 16 A 21 AN eo od 22 3230 HEARTBEAT MESSAGE ise 24 3 7 NETWORK MANAGEMENT NMT EE 25 4 MEASURING UNIT CO
20. IELD CAN SHIELD ASA Ay r w A m m m m w w m m m m m m m m w L AJ ps ss fb zm mm zm mm mm zm zm ee w og GND GND K aw DX a aa CAN GND as ERR CANL 1200 CAN L DOS GANL EPS ae aert AN 1200 CAN H p Vel m CANH H p o oe CAN H ELLEN NEEDLE For cabling shielded cable with exactly two twisted pairs have to be used One twisted pair is used for CAN H and CAN L One twisted pair is used commonly for CAN GND ES TU 7 V 1 0 7 Control mode 3 CANopen communication CAL supplies all the network management service and message transport protocol However it didn t define the content of the object or the type of object that is communicating It defines how instead of what This is where CANopen could play an important role CANopen is based on CAL Through CAL s communication and service protocol set lt supplies a solution to distributive control system CANopen could ensure the interaction between network nodes and random extension of nodes functions lt could be easy or complicated CANopen s core value is Object Dictionary lt is applied also in other field bus systems like Profibus and Interbus S CanOpen could access to all the parameters of the drive through object dictionary Please notice that object dictionary is not one part of CAL instead of which it is realized in CANopen CANopen communication mode defines messages as below Communication objects
21. NVERSION FACTOR GROUP cccccccsccccsscccccccccccccccccccccccccccccccccccccsscscsscseees 28 4 1 MEASURING UNIT CONVERSION PAR AMETER E ANA ANN arara rara rr rn nr set eeseesee tee tee terere 29 ee EE 29 E MEC e 7 7 4 1 3 Acceleration EE 32 5 POSITION CONTROL FUNCTIO ccccccccccccccscccccsscccccccscccccccccccccccccccccccccccccccccccccccccccccccscsccccccccccossccsssscceee 33 5 1 PARAMETERS ABOUT POSITION CONTROL c ccsccsccceccecceccsccsccnccesceccescescceccescescesscecuscesccsscescescescesceescesceseeseesseusens 35 6 DEVICE EEN 37 6 1 CONTROL STATE MACHINE is 37 02 PARAMETERS POR DEVICE CONTROL iteoribecrun ines E E oEE nn Evae irai eben tana em eo CHVN M Essa Soc PIN epos Sen EP sees 39 TRE G8 113 86 00 RESORT 40 RAN LATE E 41 OZ e E ODIO E 43 6 2 4 disable operation option COce ono nnnoccocccnnnnnnna nono nnnnnanononn 44 02 5 QUICK STOD OPON CODO EN 44 AO MEMO DION EE 45 6 2 7 fault reaction option COQ O ssena EAE E EE E E E a 45 Te CONTROL MOD EE 46 7 1 PARAMETERS ABOUT CONTROL MOD 46 ES TU 2 V 1 0 7 Control mode 71 1 modes Ol OD CIATION E 46 Lo Le Modes OF ODOI QUOIT DIS adi ENE 47 TONIS ie 48 7 2 1 Control word of homing MOVE eeng 45 1 2 2 Status word of NOMING ice 48 7 2 3 Parameters of the homing NOOO ici dec 50 T EVO 881060 E II 73 PROFILE VELOCITY MODE ver 54 7 3 1 control word of velocity mode eene ennnnn nennen ne nnnn ener nenne senses nsns eene nan rnnnccnocininnnnnnns 54
22. Reduction ration between the load shaft and the motor shaft L when motor s revolution is n and load s revolution is m then gear ratio m n feed constant the distance of position units movement when load shaft rotates for one revolution position factor s calculating equation numerator gear ratio encoder resolution position factor s division feed constant Note Encoder type encoder resolution Unit Inc Normal incremental encoder 10000 ESTUN 30 V 1 0 7 Control mode 4 1 2 Velocity factor Velocity factor module will convert all the speed measuring unit at customer side into drive s internal measuring unit as much as 0 1rpm And at the same time it could transform the drive s output velocity unit 0 1rpm into user s velocity units Velocity factor parameters includes a numerator and a division Units ooo Value Range Default Value Uis 10 WeRage For calculating velocity factor easily 3 parameters are defined as below time factor v Ratio between drive s internal time unit and user s time unit For example 1min 1 10 10min gear ratio reduction ratio between load shaft and motor shaft when motor s revolution is n and load s revolution is m then gear ratio m n feed constant the distance of position units movement when load shaft rotates for one revolution velocity factor s calculating equation numerator gear ratio time factor v velocity facto
23. T eer var Supported drive modes onra mw wo e ESTUN 72 V 1 0
24. ch nr ES Method 19 and 20 Reference point switch ZPS signal Method 19 and 20 only use Home Switch ZPS signal for homing Homing method is very similar to method 3 and 4 Home Switch ES TU 52 V 1 0 7 3 PROFILE VELOCITY MODE 7 3 1 control word of velocity mode 15 9 8 7 4 3 0 Hat j Please refer to the previous chapters Name Value Description Halt EM Execute the motion 7 3 2 Status word of control mode 7 Control mode MaxSlippageErro Speed N Target reached Please refer to the previous chapters Value Description Target Halt 0 Target velocity not yet reached cida Halt 1 Axle decelerates Halt 0 Target velocity reached Halt 1 Axle has velocity O Speed Es Speed is not equal 0 Speed is equal 0 Max o Maximum slippage not reached psa Maximum slippage reached 7 3 3 Parameters of speed control mode Index Object Name Type 6069 h VAR velocity sensor actual value INT32 606B h VAR velocity demand value INT32 606C n VAR velocity actual value INT32 609D h VAR velocity window UINT16 606E h VAR velocity window time UINT16 606F h VAR velocity threshold UINT16 6070 h VAR velocity threshold time UINT16 GOFF n VAR target velocitv INT32 ESTUN a Attr RO RO RO RW RW RW RW RW V 1 0 7 Control mode ES TIM 54 V 1 0 7 Control mode velocity_sensor_actual_value The host could read velocity sensor actual value to know the current rota
25. d 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 third mapped object rpdo4 fourth mapped object rpdo4 transmit pdo parameter tpdo 1 number of entries tpdo1 cob id used by pdo tpdo1 transmission type tpdo1 inhibit time tpdo1 event timer tpdo1 7 Control mode II GT I uns ro No e us mw No Cue mw No Cum mw no Cum mw No AAA AA AA un ro No e III us mw No Two fe II E A E Ro Ro Ro 66 V 1 0 Subindex H H H H ESTUN Object Name transmit pdo parameter tpdo2 number of entries tpdo2 cob id used by pdo tpdo2 transmission type tpdo2 inhibit time tpdo2 event timer tpdo2 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 inhibit time tpdo4 event timer tpdo4 transmit pdo mapping tpdo1 number of entries first mapped object tpdo1 second mapped object tpdo1 third mapped object tpdo1 fourth mapped object tpdo1 7 Control mode EUM RER RE pe JJ PUNT RO NO e o UINT32 RO NO e f pp o ung RW NO e o unte RW NO e
26. e bit is 0 it means internal torque is bigger than the set value Bit12 13 These 2 bits have different definition under different control mode Control mode Bit profile position mode profile velocity mode Set point acknowledge Homing attained Following error Max slippage error Other bits All reserved 6 2 3 shutdown_option_code When Operation Enable state transits to Ready to Switch On state shutdown option code will determine how to stop the servo motor Index 605B h Name shutdown_option_code Object Code VAR Data Type INT16 Access W PDO Mapping NO Units Value Range Default Value value instruction Excitation of servo motor is shut down and the servo motor will rotate freely till stop ESTUN 42 V 1 0 7 Control mode 6 2 4 disable_operation_option_code When Operation Enable state transits to Switched On state disable operation option code will determine how to stop Index VAR Access PDO Mapping NO value instruction Excitation of servo motor is shut down and the servo motor will rotate freely till stop 6 2 5 quick stop option code When Operation Enable state transits to Quick Reaction Active state quick stop option code will determine how to stop Value Range Default Value us value instruction When the servo motor decelerates urgently to still QuickStop state is still kept ESTUN 43 V 1 0 7 Control mode 6 2 6 halt_option_code Wh
27. en the bit8 halt of the controlword is1 D halt option code will determine how to stop Index 605D h halt_option_code Data Type INT16 Access Uis Default Value 0 value instruction 2 Servo motor will decelerate urgently to still 6 2 7 fault reaction option code When alarms are detected fault reaction option code will determine how to stop RW NO Units value instruction Excitation of servo motor is shut down and the servo motor will rotate freely till stop ESTUN 44 V 1 0 7 Control mode EDC servo drive currently supports 3 control modes in CANopen DSP402 HOMING MODE PROFILE VELOCITY MODE PROFILE POSITION MODE This chapter mainly describes these three control modes as above 7 1 Parameters about control mode Index Object Name Type 6060 h VAR modes of operation INT8 6061 n VAR modes of operation display INT8 7 1 1 modes of operation 7 Control mode Attr RW RO The control mode of the servo drive will be determined by the parameter modes of operation Value Range Default Value Us E DO 7 Value Instruction 0 NOP MODE 1 PROFILE POSITION MODE 3 PROFILE VELOCITY MODE 6 HOMING MODE ESTUN C V 0 7 Control mode 7 1 2 modes of operation display The current control mode of the servo drive could be known by reading the parameter modes of operation display Access ES TIM 46 V 1 0 7 Control mode 7 2 HOMING MODE EDC servo drive currenl
28. f the statusword will be set as much as 1 2 Position reached This function defines the position window near target position If the servo drive s actual position is set stably in the position window bit 10 of status word target_reached will be set as 1 position difference position demand value 6062 1 position actual value 6064 position window 6067 0 position window 6067 position window time 6068 Position reached function description As below position windows is located symmetrically at places near target position that is between xi x0 and xi x0 For example xt0 and xt1 are in the position windows If the servo drive is in the windows one timer starts working If the timer reach position window time when the servo drive is in the windows bit10 of statusword target reached will bet set as much as 1 Once the servo drive leaves this window bit10 target_reached of the status will be cleared to 0 Position x X X X X TX i Position reached example ES TIM 34 V 1 0 7 Control mode 5 1 Parameters about position control Index Object Name Type Attr 6062 h VAR position demand value INT32 RO 6063 h VAR position actual value INT 32 RO 6064 h VAR position actual value INT 32 RO 6065 h VAR following_error_window UINT32 RW 6066 h VAR following error time out UINT16 RW 6067 h VAR position_window UINT32 RW 6068 h VAR position time UINT16 RW Acess ro 6062 n RQ
29. h 60600010 h 00 h 00 h Default Value 02 h 00000301 h FF h 02 h 60FF0020 h 60600010 h 00 h 00 h Default Value 02 h 00000301 h FF h 02 h 60FF0020 h 60600010 h 00 h 00 h V 1 0 TPDO 1 ESTUN T PDO1 Index 1800 nh 00h 1800 h_01 h 1800 h _02 h 1800 h 03 h 1800h_05h 1A00n 00h 1A00n 01h 1A00n 02h 1A00n 03h 1A00n 04h T PDO2 Index 1801 h_00 h 1801 h_01 h 1801 h_02 h 1801 h_03 h 1801 h_05h 1401 h_00 h 1A01 h_01 h 1401 h_02 h 1401 h_03h 1A01 h_04 h T PDO3 Index 1802 hn 00h 1802 h_01 h 1802n 02h 1802 h 03h 1802 h_05 h 1A02 hn UU h 1A02 h 01h 1A02 h 02h 1A02 h 03h 1A02 n 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 Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object 20 Type UINT8 UINT32 UINT8 UINT 16 UINT 16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32
30. h preferential information with big data volume keeps occupying the bus and other information with low priority will be unable to compete for bus resource Frozen time is settled by 16 bit unsigned integrals whose unit is 100us One PDO could settle an incident timing period When passing the regulated time one PDO sending could be triggered without a trigger bit Incident timing period could be defined by 16 bit unsigned integral whose unit is 1ms ES TIM 14 V 1 0 7 Control mode PDO mapping Map the three objects as below to PDO1 sending PDO1 sending is asynchronous cyclical type The cycle time is 10ms and the frozen time is 2ms l reference l l objects instruction sub reference 604 1h 00 n Status word actual operation modes of operation display 6061h 00 h mode Position Acture Value 6064n 00 h Actual position 1 clear number of mapped objects number of mapped objects 10A0 n 00 h 0 2 setting mapping object parameter Index 26041 n Subin 00h Length 10 n gt 1st mapped object 10A0 n 01 n 60410010 n Index 26061 n Subin 00h Length 08 n gt 2st mapped object 10A0 n 02 h 60610008 n Index 60FDn Subin 00h Length 20 n gt 3st mapped object 10A0 n 03 n 60FD0020 n 3 setting number of mapped objects number of mapped objects 10A0 n 00 h 3 4 setting PDO communication parameter PDO1 sending is asynchronous type gt transmission type 1800 n 02 h FF h Frozen ti
31. h the most advanced priority to ensure the proper transmitting of synchronized signal SYNC message could choose not to transmit data to shorten the message COB ID of SYNC message is fixed to be 080h COB ID could be read from 1005 h in object dictionary Access Units ESTUN 21 V 1 0 7 Control mode 3 5 Emergency message When one alarm happens CANopen will activate an Emergency message to inform the consumers about the current drive type and error code Emergency message structure Identifier 80h eror code node number error register Obj 10014 A Number of data bytes Alarm code error_code 2310 3100 3110 3130 5583 6100 6300 CAN communication parameter effort address or communication baud rate error ESTUN 22 V 1 0 7 Control mode Details of parameters Sub Index standard error field O Units Value Range Default Value Acess RO Uis EO Ee Value Range Default Value NO Acess Jm ws e Value Range J Default value ESTUN 23 V 1 0 7 Control mode 3 6 Heartbeat message Message structure Identifier 700h NMT state L node number ro a ay A Message length Details Name producer heartbeat time Object Code VAR Data Type UINT16 Access RW PDO Mapping NO Default Value FO ESTUN SDA V 1 0 7 Control mode 3 7 Network management NMT Message structure Identifier 000h Command L C Node ID
32. id used by pdo pdot UINT32 RO NO e transmission tpe rpdot UNT8 RW NO e gt receive pdo parameter pd2 e II number of entries rpdo2 UNT8 RO NO e cob id used by pdo rpdo2 UINT32 RO NO e 1 transmission type rpdo2 UNT8 RW NO e J receive pdo parameter rpdo3 e J gt number of entries pdo3 UNT8 RO NO e j cob id used by pdo rpdo3 UINT32 RO NO e J transmission type rpdo3 UNT8 RW NO e J receive pdo parameter rpdo4 e II number of entries rpdo4 UNT8 RO NO e cob id used by pdo rpdo4 UINT32 RO NO e 1 pp transmission tpe rpdo4 UNT8 RW NO e J receive pdo mapping pdt e II number of entries UNT8 RO NO e y first mapped object rpdo UINT32 RW NO e second mapped object rpdot UINT32 RW NO e II third mapped object rpdot UINT2 RW NO e J fourth mapped object rpdot UINT32 RW NO e Subindex 1601 1602 1603 1800 ESTUN Object RECORD RECORD RECORD RECORD Name receive pdo mapping rpdo2 number of entries first mapped object rpdo2 second mapped object rpdo2 third mapped object rpdo2 fourth mapped object rpdo2 receive pdo mapping rpdo3 number of entries first mapped object rpdo3 second mappe
33. ion baudrate 0 50Kbps 1 100Kbps 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps Communicati on speed communication CANopen enabled enable ES TU 63 V 1 0 7 Control mode Appendix Object dictionary Index Subindex Object Name Type Attr unit E Al PP PV HM 100 VAR devicetype UNT2 ro NO e gt oi var eese wm m mo e 100 VAR jpre defined error fied Tue RW NO e D 05 VAR Joobidsmo UNT2 RW NO e Jj J 1006 VAR communication cycle period UINT32 RW NO e pp 1007 VAR synchronous window length UINT32 RW NO e II 100 VAR manufacturer device name STR RO NO e J J J 1009 VAR manufacturer hardware version STR RO NO e J 100 VAR manufacturer software version STR RO NO e 1014 VAR cobid emergency message UINT32 RW NO e J o consumer heartbeat time fe 1 j gt Kien ARRAY numberofentres UMTS RO NO e HEN consumer heartbeat timet UINT32 RW NO e j ir producer besen unre mw no DI Lo ESTUN 64 V 1 0 Index 1600 Subindex 7 Control mode RECORD RECORD RECORD RECORD RECORD receive pdo parameter rpdof gt BEE EE IA Er tt cob
34. its dictionary objects parameters EDS files for Estun drives are available through your local Estun sales agent LMT Layer Management one of the service elements of the CAN Application Layer in the CAN Reference Model It serves to configure parameters for each layer in the CAN Reference Model NMT Network Management one of the service elements of the CAN Application Layer in the CAN Reference Model It performs initialization configuration and error handling on a CAN network OD Object Dictionary to local storage all communication objects identified by a certain equipment Parameter An operational instruction of driver can be read and modified through CAN or driver digital operation panel ESTUN 4 V 1 0 7 Control mode PDO Process Data Object a type of COB Used for transmitting time critical data such as control commande references and actual values RO Denotes read only access RW Denotes read write access SDO Service Data Object a type of COB Used for transmitting non time critical data such as parameters 1 3 CANopen general introduction ESTUN 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 CiA DS 301 includes both cyclic and event driven communication which
35. me 2ms 20x100us inhibit time 10A0 n 03 h 14 n Cycle time10ms 10x1ms event time 1800 n 05 h OA n 5 PDO mapping is completed ESTUN 15 V 1 0 7 Control mode 3 3 1 PDO parameter EDC servo drive contains 4 sending PDOs and 4 receiving PDOs The specification of communication parameters and mapping parameters for the first sending receiving PDO is as below The other 3 sending receving PDO specifications are the same as the first one 1800 n 4 transmit pdo parameter tpdo1 Object Code RECORD No of Elements 4 Units Le 181 h 1FF h Bit 31 may be set Default Value 181 h Sub Index transmission type tpdo1 Us 2 Value Baras o ESTUN 16 V 1 0 7 Control mode Units Value Range Default Value 10 Sub Index 00h 00000000000 Access Value Range E ES iM Units Value Range V 0 7 Control mode Default Value Please refer the list below 03 h third mapped object tpdo1 RW NO Default Value Please refer the list below 04 h fourth mapped object tpdo1 UINT32 RW NO Please refer the list below ES TIM 18 V 1 0 RPDO 1 R PDO1 Index 1400 nh 00h 1400 h_01 h 1400 h _02 h 1600 h_00 h 1600 h_01 h 1600 h _02 h 1600 nh 03h 1600 h _04 h 2 R PDO2 Index 1401 nh UU b 1401 hn 01h 1401 hn 02h 1601 h_00 h 1601 h_01 h 1601 h_02 h 1601 h_03h 1601 h_04 h 3 R PDO3 Index 1402 h_00 h 1402 h_01 h 1402h_02h 1602 h_00 h 1602 h_0
36. nication connector C A N Communication connector R 232 Used to communicate with a personal computer or to connect a digital operator Connector 1C N for host connection Used for reference input signals and sequence I O signals Connector 2C N for encoder connection Connects to the encoder in the servomotor Servomotor terminals Connects to the servomotor power line Main power and Control power input terminals single phase e CAN communication plug interface and signal definistion eee I U Ld 1234 Ph dfm m j GND internal grounding within servo drive Rotary switch of FG shield grounding the driver is used to V 1 0 ESTUN 7 Control mode set the communication address when communication through CAN or with PC When the rotary switch is 0 the RS232 port of driver could communicate with palm operator amp through CAN Although it is 0 there is no such address in CAN Therefore CAN communication address is 1 under such kind of circumstance When the rotary switch is not 0 the RS232 port of driver could communicate with PC Like using Esview software Meanwhile CAN communication is also available The rotary switch address is the CAN communication address Note When consist of CAN communication network it is a must to connect a 120 Ohm resistor 1 1 4W as follows AA AAN A CAN SHIELD CAN SH
37. not be transferred or stored to the application da 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 a V 1 0 7 Control mode 3 3 PDO PDO is used to transmit real time data which is from a data creator to multiple data consumers Transmitting data is limited from 1 byte to 8 bytes PDO communication is not limited by any protocols which means the content of data has already been pre defined As a result consumers could finish processing received data in a very short period PDO data is only defined by its CAN ID assuming both data creators and data consumers know the content of PDO Every PDO is described by 2 objects in object dictionary PDO communication parameter It contains COB ID transmitting type frozen time period of timer which are all used by PDO PDO mapping parameters It contains the object list in one object dictionary All this objects are mapped to PDO including their data length in bits Data creators and consumers must know this mapping to describe the content of PDO The content of PDO is pre defined or pre configured when the network is initialized Mapping the application objects to the PDO is described in object dictionary If device data creators and consumers supports dynamism SDO messages could be used to configure the PDO mapping parameters EDC
38. nsmitting mechanism Expedited transfer 4 bytes at maximum to transfer Segmented transfer More than 4 byte data will be transmitted SDO basic structure is as below ByteO Byte1 2 Byte3 Byte4 7 SDO command Object reference Object sub reference SDO message s reading writing frame Read commands Write commands Low Byte of main index hex High Byte of main index hex a bindex he oken for 8 Bit UINTS INT8 Js hex Fag Command 40 IXO IX1 SU 2Fn IXO IX1 SU DO Answer 4F IXO IX1 SU DO 60 IXO IX1 SU EN Token for 16 Bit UINT1 6 INT16 L roken for 8 Bit Command 40 IXO IX1 SU 2B IXO IX1 SU DO Di Answer 4B IXO IX1 SU DO Di 60 IXO IX1 SU UINT32 INT32 don for 16 Bit 4 A Command 40 IXO IX1 SU 23 IXO IX1 SU DO D1 D2 D3 Answer 43 IXO IX1 SU DO D1 D2 D3 60 IXO IX1 SU A Token for 32 Bit For example ES TIM 10 V 1 0 Reading of Obj 6061_00 UINTS INT8 Returning data Olp Command 40 61 60 00 Answer AF 61 60 00 Olh Reading of Obj 6041 00 UINT16 INT16 Returning data 1234 Command 40 41 60 00 Answer 4B 41 60 00 34 12 Reading of Obj 6093 01 UINT32 INT32 Returning data 12345678 40 93 60 Ol 43 93 60 01 78 56 34 12 Command Answer ES TU o 7 Control mode Writing of Obj 1401_02 Data EF ZE Ol 14 02 EF 60 01 14 02 Writing of Obj 6040 00 Data 03E8 2B 40 60 00 E8 03 60 40 60 00 Writing of Obj 6093
39. position control Index Object Name Type Attr 607A h VAR target position INT 32 RW 6081 h VAR profile velocity UINT32 RW 6083 h VAR profile acceleration UINT32 RW 6084 n VAR profile deceleration UINT32 RW 6085 h VAR quick stop deceleration UINT32 RW target position Target position is targeted position which could be a relative value or a absolute value It is up to bit6 f the control word Value Range gt Default Value 0 SS profile velocity Profile velocity means the speed that could be reached through acceleration after the positioning is initialized Object Code YAR VAR Value Range Default Value LO ES TIM 59 V 1 0 7 Control mode profile_acceleration profile acceleration is the acceleration speed before reaching the set position Value Range profile deceleration profile deceleration is the deceleration speed before reaching the set position Value Range SS quick stop deceleration quick stop deceleration is the deceleration speed when Quick Stop happens Value Baras ES TIM 60 V 1 0 7 Control mode 7 4 4 Function descreption There are two ways to reach targeted position Single step setting After the servo motor reaches the target position the servo drive will notify the host controller target position reached And then the servo drive will obtain new target position and start movement Ahead of obtaining new target position normally the speed of the ser
40. r LAA division feed constant ESTUN 31 V 1 0 7 Control mode 4 1 3 Acceleration factor Acceleration factor module will convert all the acceleration units at the perspective of clients into drive s internal unit 0 1rpm and at the same time converts output acceleration units 0 1rpm from the drive into acceleration units at the perspective of clients Acceleration factor parameters contain numerator and division Sub Index Access Acess RW PDO Mapping Unts e Value Range Default Value Uis 10 Value Baras For calculating velocity factor easily we could define 3 variables as below time_factor_a The ratio between drive s internal time square and clients time square For example 1min 1min min 60s 1min 60 10 10min s gt gear_ratio reduction ratio between load shaft and motor shaft when motor s revolution is n and load s revolution is m then gear ratio m n feed constant the distance of position units movement when load shaft rotates for one revolution numerator gear ratio time factor a acceleration factor s Lg division feed constant ESTUN 32 V 1 0 7 Control mode 5 Position control function This chapter mainly describes the parameters under position control mode Trajectory unit will output reference position position demand value will be the input of drive s position loop Besides the actual position position actual value is measured through
41. r quick stop option code ris rw No III Ceo var smtdownopion code mme RW No III es VAR asabe operation opion code we RW No S 6050 var sop opion am RW No e III eer var fauttreaction_option_code untie mw No III ae VAR modes of operation Jm RW vs III 6061 var modes of operation display wa Ro YES e ae VAR rostondema vau rz Ro ves 0 position units 6068 VAR postion acua value utse ro ves e me ae VAR bostonacwarvaue Tz Ro ves e position units ae var following eror window urs rw ves e positon units ae var following error time out umtie rw ves ms ae VAR position window Lues RW ves e position units ae VAR position window ime umtie rw ves ms 6059 VAR velociy sensor actual value unTis RW ves s spams 6068 VAR velocity demand vaue rz Ro ves e speed units ee var velocity actual value Taz Ro ves s speed units 6080 var weed window untae rw ves s speed units ae var velociy window time unnie rw ves me aer var velocity reso unnie rw ves e epams 6070 var wee threshold_ime unnie rw ves
42. s much as 1 aus Bare Default Value Jo target velocitv target velocitv is the targeted velocitv Value Range gt Default Value 0 SS ES TIM 57 V 1 0 7 Control mode 7 4 PROFILE POSITION MODE 7 4 1 control word for position mode 155 9 8 7 6 5 4 3 0 change set New Halt abs rel l N immediately set point Please refer to the previous chapters Name Value Description New EN Does not assume target position set point Ga Assume target position Change set EN Finish the actual positioning and then start the next positioning immediately Interrupt the actual positioning and start the next positioning Eum Target position is an absolute value Target position is a relative value Halt EN Execute positioning Stop axle with profile deceleration if not supported with profile acceleration 7 4 2 Status word of position control mode l Set point li Following error Target reached E acknowledge Please refer to previous chapters Target Halt O Target position not reached reached Halt 1 Axle decelerates Halt O Target position reached Halt 1 Velocity of axle is O Set point Trajectory generator has not assumed the positioning values yet acknowledge Trajectory generator has assumed the positioning values Following EG No following error error EE Following error ESTUN 58 V 1 0 7 Control mode 7 4 3 Parameters about
43. tion speed The unit is internal speed unit Value Range Default Value o SSS velocitv demand value The host could read velocity demand value to know the set speed The unit is speed unit of the customer Acess RO Value Range gt Default Value T velocitv actual value The host could read velocitv actual value to know the current speed The unit is speed unit of the customer RO Value Range E Default Value ESTUN 55 V 1 0 7 Control mode velocity_window The difference between Velocity actual value 606C h and target velocity 60FF h is defined as the actual speed error window If the actual speed error window is smaller than velocity window 606D n during the time set by velocity window time 606E ni bit 10 of statusword target reached will be set to indicate the speed has been reached Value Baras velocitv window time velocitv window time and velocitv window together form a speed window comparison tool VaueRange E Default Value 0 velocitv threshold velocity threshold indicates the range closed to the still to judge if the servo motor should stop Value Range oo ES TIM 56 V 1 0 7 Control mode velocity_threshold_time velocity threshold time sets the minimum time during which the speed is below threshold velocity The unit is ms When the time during which the speed is below the threshold has surpassed the velocity threshold time bit12 of the status word will be set a
44. vo motor will keep still Continuous setting After the servo motor reaches the target position it will move forward to next previously set target position Then it could keep moving without any pause between 2 target positions and no speed reduction is necessary Both of the two methods above could be changed by bit 4 bit 5 of the control word and bit 12 set point acknowledge of the status word Through handshake mechanism position control that is being executed could be terminated and re established through these bits Procedure of single step setting At first setting NMT as operational and set control mode parameter 6060 hn as 1 1 Set target position target position 607A n and other parameters according to the requirements of actual application 2 set bit4 of control word new set point as 1 Set bit 5 change set immediately as o set bit 6 aboslue relative according to the type of targeted position 3 Set bit12 set point acknowledge of the status word about device response and then execute the position control 4 After reaching the targeted position the servo drive will respond through bit 10 of target reached And then it will follow the program to keep moving or accept new target position to t t t Time The procedure of continuous setting At first set NMT as Operational and set control mode parameter 6060 hn as 1 1 Set the first target position target position 607A n target speed acceleration
45. y supports 4 kind of homing modes The consumers need to choose appropriate and correspondent homing modes Users could set the homing methods homing speed and acceleration speed After the servo drive finds reference position it could move the homing position toward and the moving distance is set by home_offset 607C h 7 2 1 Control word of homing mode 1 s 8 7 5 4 Tao Please refer to the previous chapters Value Description Homing Homing mode inactive operation i jr 0 1 Start homing mode Homing mode active Interrupt homing mode Halt Execute the instruction of bit 4 Stop axle with homing acceleration 7 2 2 Status word of homing mode homing_attaine il homing_error d ki target reached i Please refer to the previous chapters ESTUN 47 V 1 0 7 Control mode Target Halt 0 Home position not reached reached Halt 1 Axle decelerates Halt 0 Home position reached Halt 1 Axle has velocity O Homing Homing mode not yet completed attained Homing mode carried out successfully DO Notomingewor Oooo Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code ES TIM 48 V 1 0 7 Control mode 7 2 3 Parameters of the homing mode Index Object Name Type Attr 607C h VAR home_ offset INT32 RW 6098 h VAR homing_method INT8 RW 6099 h ARRAY homing speeds UINT32 RW 609A h VAR homing acceleration INT32 RW
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