digivex motion
Contents
1. 5 POSITIONING SYSTEMS e Numerical Controls CYBER 4000 1 to 4 axes CYBER 2000 NC 1 to 2 axes e VARIABLE SPEED DRIVE POSITIONER gt SINGLE AXIS DSM POWER SINGLE AXIS DPM MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER DIGIVEX MOTION CAN bus access via CIM03 CONTENTS 1 GENERAL POINTS 1 1 List of published DIGIVEX MOTION manuals 1 2 CIM03 in Stand Alone mode 2 FRAME FORMAT 2 1 Symbols used 2 2 Serial link configuration 2 3 Frame format to be sent over serial link 2 3 1 General frame format 2 3 2 Frame check sum computation method 2 4 Description of error codes returned 2 4 1 Errors specific to the CANopen network 2 4 2 Other possible error messages 2 5 Reading a drive parameter 2 6 Reading a drive parameter 2 7 Changing baud rate on RS232 2 8 Changing baud rate on CAN 3 SPECIMEN PROGRAMS 3 1 Reading the moving parameter 3 2 Writing the ui0 300d parameter 3 3 Writing the posr 12 5 parameter Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www SSDdrives com 1 PVD 3533 GB 11 2003 NN NN AoeoeoeooaeanO 22 0 W co _ DIGIVEX MOTION CAN bus access via CIM03 1 GENERAL POINTS 1 1 List of published DIGIVEX MOTION manuals DIGIVEX Single Motion DSM User Manual2. 8 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 Delphi specimen program function interrogation_mouvement boolean var recept string begin send read moving frame over serial link LiaisonSerie1 TransmitCar chr 10 LiaisonSerie1 TransmitCar chr 12 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 11 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 45 LiaisonSerie1 TransmitCar chr 29 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 109 wait for acceptance frame Attente trame recover acceptance frame recept LiaisonSerie1 LireBufferRX 15 if ord recept 4 64 then read successful begin if ord recept 10 0 then begin not moving result false end else begin not moving result true end end end 3 2 Writing the ui0 300d parameter Get index and sub index From Directory of Variables Decimal Hexadecimal index 11008d 2B00 sub index 00d 00 Value 300d will be encoded in integer format over 4 bytes 300d 012C 2C 01 00 00 9 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 Frame composition Message size Subscriber Sender application identifier Operation code Message control Index Sub index Data 300 Most significant check sum Least s
3. CIMO3 interface card in stand alone mode switch next to socket to control a DIGIVEX MOTION drive no longer from a PC but from an automatic controller or any other control card with an RS232 serial link This requires low level programming of the RS232 frames The purpose of this document is to provide the information reguired for programming RS232 frames so as to go and read or write the drive parameters Section 2 describes the general RS232 frame format The variables are all described in the DIGIVEX MOTION Directory of Variables PVD 3527 Section 3 gives three examples of programming reading the moving parameter writing the ui0 parameter writing the posr parameter 2 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 2 FRAME FORMAT 2 1 Symbols used In the frame description provided in the remainder of the document the various fields are coded by bytes A byte is made up of 8 bits and is used for encoding an integer value from 0 to 255 The following notation is used e Decimal format 130 or 130d e Hexadecimal format 82h or 0x82 or 82 2 2 Serial link configuration 8 data bits 1 stop bit no parity bit authorised baud rates 9600 19200 57600 et 115200 bauds The CIM03 module starts up with a baud rate of 9600 bauds on the serial link To increase this baud rate see Section 2 7 2 3 Frame format to be sent over serial link The general frame format is described below Any frame sent to the int
4. other than 0B read and 0C write e Parameter number 3 bytes giving the parameter number to be written read Most significant Least significant You will find the index and sub index for the parameter you wish to use in the DIGIVEX MOTION Directory of Variables PVD 3527 Remark This field disappears for operation codes other than 0B read and 0C write e Parameter value empty for read request value read for read acceptance empty for write acceptance value to be written for write request error code for non acceptance e Check Sum 2 bytes for validating frame upon reception sum of all frame bytes except those of check sum 2 3 2 Frame check sum computation method Example of writing integer value 32767 to user variable ui1 CAN index 11009 sub index CAN 0 Message Subscriber Application Operation Message Parameter Parameter value Check Sum size identifier code control number 14 33 1 12 1 11009 0 32767 7FFF xxyy 0E 21 1 0C 00 01 2B 01 00 FF 7F 00 00 aa BB 14 3 1 12 0 1 4341 0 255 127 0 0 487 Check sum 14d 33d 1 12d 0 1 43d 1 0 255d 127d 0 0 487d 01E7 Check Sum most significant bytes aa 01 Check Sum least significant bytes BB E7 4 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 2 4 Description of error codes returned 2 4 1 Errors specific to the CANopen network As described in the previous
5. section if an error occurs on the CAN bus a failed to accept message is returned via the interface card This message contains 0x80 as the identification byte and the error type is described in the parameter value field The error type is encoded on 4 bytes under the CANopen standard in the following format ACO AC1 ECO CL1 Additional code low byte Aditional code high byte Additional code ACO Meaning 00 No specific reason for this error 10 Parameter not valid O 20 Service cannot be performed 22 because of current device status 30 _ Parameter value beyond limits 32 5 Parametervaluetoolow O 36 __ Maximum parameter value is smaller than minimum value 42 PDO length exceeded 43 General incompatibility of parameter Error Class CL1 Error Code ECO 05 Service Error 03 Error on parameter Toggle bit not alternated 04 Illegal parameter Time out value reached 06 Access Error 01 Access to object Write Read Only parameter or read Write prohibited Only parameter _ _ _ 1 02 Non existent object Object not found in dictionar 06 Hardware fault Access refused because of hardware fault 07 Type conflict Non compatible data types 09 Inconsistent object Non existent sub index attribute 08 Other Error Transfer interrupted by user 2 4 2 Other possible e
6. DIGIVEX MOTION CAN bus access via CIM03 Delphi specimen program send write posr 12 5 frame over serial link LiaisonSerie1 TransmitCar chr 18 LiaisonSerie1 TransmitCar chr 12 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 12 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 45 LiaisonSerie1 TransmitCar chr 70 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 41 LiaisonSerie1 TransmitCar chr 192 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 136 wait for acceptance frame Attente_trame recover acceptance frame recept LiaisonSerie1 LireBufferRX 11 if ord recept 4 96 then write successful begin wait for end of motion while not interrogation_mouvement motion completed end 12 PVD 3533 GB 11 2003
7. DSM PVD3515 DIGIVEX Power Motion DPM User Manual DPM PVD3522 DIGIVEX Multi Motion DMM User Manual DMM PVD3523 DIGIVEX Motion CANopen PVD3518 DIGIVEX Motion Profibus PVD3554 PME DIGIVEX Motion Adjustment Manual PVD3516 DIGIVEX Motion Directory of Variables PVD3527 DIGIVEX Motion Programming PVD3517 DIGIVEX Motion Cam Function PVD3538 PME Tool kit User and Commissioning Manual PVD3528 CANopen CAN Bus Access via CIMO3 PVD3533 CANopen Remote control using PDO messages PVD3543 Block Positioning Application Software PVD3519 Fly shear linear cutting software application PVD3531 Rotary blade cutting software application PVD3532 1 2 CIMO3 in Stand Alone mode DIGIVEX MOTION positioner drive parameter setting and programming is done via the CAN bus CANopen protocol It is possible to communicate with these drives e by sending CANopen commands directly via a CAN card e by using CAN RS232 interface cards CRS232 or CIMO3 CRS232 or CIMO3 interface cards receive messages via an RS232 serial link please refer to DIGIVEX Motion CANopen PVD 3518 They convert these messages into the corresponding CANopen format and so allow communication with the DIGIVEX MOTION devices This is the principle behind PME MOTION software which can be used for parameter setting or programming of DIGIVEX MOTION devices from a PC via a CAN RS232 interface It is then possible in certain specific applications to use a
8. IVEX MOTION CAN bus access via CIM03 3 3 Writing the posr 12 5 parameter Get index and sub index From Directory of Variables index sub index Value 12 5 will be encoded in double format over 8 bytes Decimal 11590d 00d Hexadecimal 2D46 00 C0 192d 29 41d 00 00 00 00 00 00 Frame composition Message size Subscriber Sender application identifier Operation code Message control Index Sub index Data 12 5 Most significant check sum Least significant check sum Decimal 00d 00d 00d 00d 00d 00d 00d 41d 192d 01d 136d Hexadecimal 01 for example 0C write 00 00 00 00 00 00 29 CO 01 88 Csum 18 12 1 12 0 1 45 70 O 41 192 392d 0188 Expected result Message size Subscriber Sender application identifier Operation code Message control Index Sub index Most significant check sum Least significant check sum Decimal 10d Hexadecimal 0A 60 write successful Important remark this response means the drive has accepted the command but that it has not necessarily been completed particularly in this example where movement is made To check the motion is completed read the moving parameter see earlier example Notice too that data are transmitted beginning with the least significant byte and ending with the most significant 11 PVD 3533 GB 11 2003
9. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex DRIVES www SSDdrives com PARVEX DIGIVEX MOTION CAN bus access via CIM03 PVD 3533 GB 11 2003 COM 115200 PRODUCT RANGE TOROUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery gt NX HX HXA 1to 320 Nm gt NX LX 0 45 to 64 Nm High rotor inertia for better inertia load matching gt HS LS 3 3 to 31 Nm Varied geometrical choice short motors range HS LS 33t031 Nm or small diameter motors HD LD 9 to 100 Nm Voltages to suit different mains supplies 230V three phase for s rie L NX 400V 460V three phase for s rie H NX DIGIVEX DRIVE DIGITAL SERVOAMPLIFIERS SINGLE AXIS DSD COMPACT SINGLE AXIS DuD DLD POWER SINGLE AXIS DPD MULTIPLE AXIS DMD PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS gt HV COMPACT SERIES HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kW up to 60 000 rpm e gt gt gt gt e e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 _ DC SERVODRIVES e AXEM RS SERIES SERVOMOTORS 0 08 to 13 N m e RTS SERVOAMPLIFIERS RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 _ SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere AXL COMPACT SERIES SERVOREDUCERS 5 to 700 N m
10. erface card is accepted by a frame matching this format 2 3 1 General frame format Message Subscriber Application Operation code Message Parameter Parameter Check Sum size identifier control number value 1 byte 1 byte 1 byte 1 byte 2 bytes 3 bytes up to 244 bytes 2 bytes e Message size Operation to be performed on CAN or in the CRS232 or CIM03 module connected e Subscriber CAN subscriber number 1 64 of drive e Application identifier Unique number identifying the issuing application 0 255 e Operation code Operation to be performed on CAN or in the CRS232 or CIMO3 module connected Transmission 0B 11d Read a parameter 0C 12d Write a parameter 30 48d Change CAN baud rate 40 64d Change RS232 baud rate 3 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 Reception acceptance 40 64d Acceptance of drive parameter read The parameter value is sent to the parameter value field 60 96d Acceptance of drive parameter write 80 128d Non acceptance of read or write problem on CAN E0 224d Non acceptance specific to interface card RS232 problem FO 240d Acceptance of a function specific to interface card e Message control 2 bytes for processing messages split into several frames This function is used internally to transfer programs of more than 244 bytes requiring several frames In you applications encode 00 01 Remark This field disappears for operation codes
11. ge Message Subscriber Application Operation Parameter Check Sum size identifier Code number 08 00 nn FO val 00 00 2 bytes 7 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 3 SPECIMEN PROGRAMS This section describes three examples describing how to read and write three parameters of a positioner drive whose subscriber number is 12 3 1 Reading the moving parameter moving motion ongoing information Get index and sub index From Directory of Variables Decimal Hexadecimal index 11549d 2D1D sub index 00d 00 Frame composition Decimal Hexadecimal Message size 10d 0A Subscriber 12d 0C Sender application identifier 01d 01 for example Operation code 11d 0B read Message control 00d 01d 00 01 index 45d 29d 2D 1D Sub index 00d 00 Most significant check sum 00d 00 Least significant check sum 109d 6D Csum 10 12 1 11 0 1 45 29 0 109d 6D Expected result Decimal Hexadecimal Message size 14d 0E Subscriber 12d 0C Sender application identifier 01d 01 Operation code 64d 40 read successful Message control 00d 01d 00 01 Index 45d 29d 2D 1D Sub index 00d 00 Data 01d 00d 00d 00d 01000000 if moving 00d 00d 00d 00d 00000000 if not moving Most significant check sum 00d 00 Least significant check sum 167d A7 if moving 166d A6 if not moving
12. he IEEE754 standard 4 bytes lightweight to heavyweight double widespread precision floating coded according to the IEEE754 standard 8 bytes lightweight to heavyweight character string 16 bytes ASCII character representation IMPORTANT For the parameter value the least significant bytes are transmitted first Transmission ends with the most significant byte 2 6 Reading a drive parameter The frame transmitted must be in the following format See DIGIVEX MOTION Directory of Variables PVD 3527 to find out the format of the value to be written The format of the value to be sent is described in Section 2 5 Message Subscriber Application Operation Message Parameter Parameter Check size identifier Code control number value Sum 1 byte 1 byte 1 byte 0c 12d 00 01 3 bytes N bytes 2 bytes If written successfully the acceptance frame should be as follows Message Subscriber Application Operation Message Parameter Check size identifier Code control number Sum 0x14 20d 1 byte 1 byte 60 96d 00 01 3 bytes 2 bytes where Subscriber the subscriber number sent on transmission Application identifier the identifier sent on transmission Parameter number the parameter requested on transmission 6 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 2 7 Changing baud rate on RS232 The frame transmitted must be in the format as follows Message Subscriber Application Operatio
13. ignificant check sum Message size Subscriber Sender application identifier Operation code Message control Index Sub index Most significant check sum Least significant check sum Decimal Hexadecimal 14d 0E 12d 0C 01d 01 for example 12d 0C write 00d 01d 00 01 43d 00d 2B 00 00d 00 44d01d00d 00d 2C010000 00d 00 128d 80 Csum 14 12 14 12 0 1 4 43 0 0 44 1 128d 80 Expected result Decimal Hexadecimal 10d 0A 12d 0C 01d 01 96d 60 write successful 00d 01d 00 01 43d 00d 2B 00 00d 00 00d 00 163d A3 Delphi specimen program send write ui0 300 frame over serial link LiaisonSerie1 TransmitCar chr 14 LiaisonSerie1 TransmitCar chr 12 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 12 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 43 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 44 LiaisonSerie1 TransmitCar chr 1 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 0 LiaisonSerie1 TransmitCar chr 128 wait for acceptance frame Attente_trame recover acceptance frame recept LiaisonSerie1 LireBufferRX 11 if ord recept 4 96 then write successful begin action to be done end 10 PVD 3533 GB 11 2003 DIG
14. n Parameter Check Sum size identifier Code number 08 00 nn 40 val 00 00 2 bytes The value of the val parameter gives the baud rate to be applied to the RS232 serial link val 00 Baud rate 9600 bauds Sval 01 Baud rate 19200 bauds val 02 Baud rate 57600 bauds val 03 Baud rate 115200 bauds The CIMO3 accepts at the former baud rate Message Subscriber Application Operation Parameter Check Sum size identifier Code number 08 00 nn FO val 00 00 2 bytes Messages can then be sent at the new baud rate 2 8 Changing baud rate on CAN When the interface starts up the baud rate programmed on CAN is 1 Mbauds This baud rate must be reduced for networks more than 25 m in total See the DIGIVEX MOTION OPTIONS uVision RS232 CAN instructions PVD3518 to find out the right baud rate for your network The message to be transmitted to the interface card is as follows Message Subscriber Application Operation Parameter Check Sum size identifier Code number 08 00 nn 30 val 00 00 2 bytes The val parameter gives the baud rate to be applied on the CAN network val 00 Baud rate 10 kbauds val 01 Baud rate 20 kbauds val 02 Baud rate 50 kbauds val 03 Baud rate 125 kbauds val 04 Baud rate 250 kbauds val 05 Baud rate 500 kbauds val 06 Baud rate 1 Mbaud The interface card must accept with the following messa
15. rror messages 08d Od Od 224d Od Od 2d Od 234d Time out error on RS232 e g incomplete frame 08d Od Od 224d Od Od 1d Od 233d Check Sum error on RS232 check sum wrongly calculated 14d subscriber appli 128d Od 1d index index sub index Od Od 2d 8d cs1 cs2 Time out error on CAN e g drive not connected 5 PVD 3533 GB 11 2003 DIGIVEX MOTION CAN bus access via CIM03 2 9 Reading a drive parameter The frame transmitted must be in the following format Message Subscriber Application Operation Message Parameter Check size identifier Code control number Sum 14 20d 1 byte 1 byte 0B 11d 00 01 3 bytes 2 bytes If read successfully the acceptance frame should be as follows Message Subscriber Application Operation Message Parameter Parameter Check size identifier Code control number value Sum 1 byte 1 byte 1 byte 40 00 01 3 bytes N bytes 2 bytes where Subscriber the subscriber number sent on transmission Application identifier the identifier sent on transmission Parameter number the parameter reguested on transmission Parameter value the value read See the DIGIVEX MOTION Directory of Variables PVD 3527 to find out the format of the value read The value returned is encoded as follows Boolean 4 bytes 01 00 00 00 or 00 00 00 00 integer 4 bytes least significant to most significant e g 65800d 00010108h is encoded 08 01 01 00 floating coded according to t
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