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Tw Motors Software Manual

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1. FU nia rat value 0 e PDOmappabe no NVstrage This is the magnitude of the velocity p u for example micro u is 105 milli m is 10 unit is 10 kilo k is 10 mega M is 10 For further information look at 3 7 5 2 17 608Ch 0h Velocity dimension index 608Ch 0h Velocity dimension index Object Code Data Type EE Default value PDO y magpabie n o NV storage This is the chosen velocity p u The possible values are 50 Tw Motors II With Integrated Servounve Value Description Revolution second rev s Revolution minute rev min A6h Meters second m s Meters minute m min Internal device units For further information look at 3 7 5 2 18 608Dh 0h Acceleration notation index Object Acceleration notation index Object Code Unit a Defautvale 0 This is the magnitude of the acceleration p u for example micro p is 10 milli m is 10 unit is 10 kilo k is 10 mega M is 10 For further information look at 3 7 5 2 19 608Eh 0h Acceleration dimension index Write override Unit n a Default value FFh This is the chosen acceleration p u The possible values are Internal device units For further information look at 3 7 5 2 20 608Fh Position encoder resolution Object 608Fh Position encoder resolution Object Code Data Type unsigned32 The posi
2. This object represents the present value of the following error For further information look at Appendix A 5 2 43 60C Th Interpolation data record Object 60C1h Interpolation data record Object Code Data Type integer32 The interpolation data record is the data words which are necessary to perform the interpolation algorithm For the linear interpolation mode each interpolation data record simply is regarded as a new position set point Those set points could be optionally filtered by a user defined 2 order filter Sub index O0h Number of entries Data type Write override Default value PDO mappable NV storage n a 57 Tw Motors II With Integrated Servounve Sub index 1h Position set point integer32 Acces Jesse Loan qne Unit position Factor group Default valle no For further information look at 3 5 and to 4 7 5 2 44 60C2h Interpolation time period Interpolation time period Object Code Data Type The interpolation time period is used for time synchronized interpolation position modes that is time period time un its q0 Me eer time index The interpolation time period has to be multiple of 250us Subinde h jNumberofentIies O Access Write GE n a Sub index 1h Interpolation time units 0 Data type Access dw Write overrides no E pefaut values M PDOmappabe o WNVstrage
3. 40 A OCT T2a s igh 3 2720 8 amp LEE UE TT ERE TP 0 100 S 4 T o a Aio COE CECR o 44 2 67 T3 400 NEN b 2750 B 8 Wa d i 10 TI 442 T T20 Frequency rad sec 4 2cT Tio The blue diagrams are referred to the continuos time domain 27 7 4 2 T T2 et The green diagrams are referred to the discrete time domain Notch at oi 3770 rad s amp 0 05 The biquad filter transfer function in the continuous time domain is expressed as 2 2 2 o S 4 2 0 S a F s a A E Z oi S 2E 0 8 0 Bode Diagrams where a rag and o rad are respectively the Frome Ui resonance frequency and the anti resonating frequency also and are the damping factors making the discretization with the bilinear transformation the constants to be submitted are 2 2 2 2 2 E 4o 46 0 0 Ts 1 Q0 2 2 2 2 2 4o 4 0 0 5 t T5 0 0 2 2 2 2 21500 80 2 2 2 2 2 407 AG 0 0 Ts t T50 o Phase deg Macnitude dE 2 2 2 2 2 4o 46 oof tfo o 2 2 2 2 2 2 407 AG 0 0 Ts T oC oi id 10 OT Frequency rad sec 27500 WW 8a The blue diagrams are referred to the continuos time domain 49244 wo T T 0o e Z p z ps Sz The green diagrams are referred to the discrete time domain Oe Biquad at 3770 rad s o 3581 rad s 0 05 0 2 _ 40 46 0 O15 130 2 2r 2 2 2 2 2 407 AG 0 0 Ts 1 NOR 36 Iw Motors gt With Int
4. 6060h 0h and we need faster acceleration and deceleration ramps 200 rad s than the factory preset values 0000 2160h 6083h 0h 0000 2160h 6084h 0h Although it is not necessary we want to permanently store all configurations in non volatile flash memory 6576 6173h 1010h 1h For the second application we have to deal with four parameters controlword object 6040h 0h target velocity object 60FFh 0h speed loop output limiter object 60F9h 6h and statusword object 6041h 0h The first three are parameters that the master has to send to the Tw Motor for proper operation the last is monitoring parameter for the master As previous application this is not a time critical then the behaviour of PDOs will be the same Here the mappings of all PDOs necessary for this application RPDO 1 20Eh 6040h 0h 60FFh 0h 60F9h 6h TPDO 1 ae Ee ee 6041h 0h For the RPDO 1 configuration do the following C000 020Eh 1400h 1h FFh 1400h 2h 6040 0010h 1600h 1h 74 Iw Motors IN With Integrated Servo 60FF 0020h 1600h 2h 60F9 0610h 1600h 3h 03h 1600h 0h 4000 020Eh 1400h 1h For the TPDO 1 configuration do the following C000 018Eh 1800h 1h OSE8h 1800h 3h The type of transmission and mapping is not necessary here because of the factory default 4000 018Eh 1800h 1h Finally we will disable TPDO 2 3 and 4 that by default are enabled C000 028Eh 1801h 1h C0
5. c cccccceececeeeecceeeeceueceececseececececsuceseaeeesueceseucesseeeeessueessneeeseeeesaes 34 mp oWE Soccer R E A 38 gi jim M erg CN KEE 39 Figure 14 Structure of COB ID Sync E RTI Pw C UY 40 Figure 15 Structure of COB ID Emergency Message ccccssececceeeeecceseeecsuseecceuececsegeeecseusesseeeesseueeessauseeessuseessageeenes 42 Figure 16 Siructure of Revision aper RR T 43 Poe T en e a ee E NERE 43 Foure boi il end of FDU Mapping ENY EE 44 mm omete a TPO PUBL 45 Figure 20 Siructure ue ies iuse sero taa c parra re tau Kk bdadb ua suas uA REA unean rnr sAd ERE sie Esini s URS i ankka ran sirnani kai ainda 47 Si TE Ke bop mon Shomi EE 78 gi as aa OOP EE eege 79 Tables Table 1 TW Motor CANopen Teatres EE 8 E EE 9 iU Co RE 11 js po cocipeii o MED TT 14 Tabs EE E 16 Table 6 Tw Motor emergency Cocdesreterence nn nnnnsrsna sn ssa sese ains sa a sse sese a assa ann 17 FAMBI Ngger tor Stane rans EE EHE ENPLRMMEEI DRE PME E aapea Mn RM MD miM iea eieaa ded aei 18 Table 8 NMT states and defined communication objects nennen nennen nennen nnne nnn nnns 19 ESL EUER E o PRETI t 22 jx PE Uc n ris EEN 22 BEE TE Commands mihe UE lo RR deensiaaaiatuarsuine bens sdioreiuaeianctiaaeen 22 Table 12 Device Control related objects AAA 23 Tone L e positon pipe ET D 23
6. 2 1 CANopen Protocol Parameters Standard features that are implemented in Tw Motor are NMT j Slaveony HM An rate node ID 1000 800 500 250 125 100 50 kbps node 1 127 Server SDO E Tx PDO oo Rx PDO eo ee OS Table 1 Tw Motor CANopen features 2 2 Object Dictionary The most important part of a device profile is the Object Dictionary description The Object Dictionary is essentially a grouping of objects accessible via the network in an ordered pre defined fashion The overall layout of the standard Object Dictionary is shown below This layout closely conforms to other industrial serial bus system concepts Tw Motors III With Integrated Servounve Object 0000h OFFFh data definition reserved 1000h 1FFFh communication profile area DS301 2000h 5FFFh manufacturer specific area Tw Motor specific 6000h 9FFFh standardized device profile area DSP402 AO000h FFFFh other profiles reserved Table 2 Object dictionary layout A 16 bit index is used to address all entries within the Object Dictionary In case of a simple variable VAR the index directly references the value In case of records RECORD and arrays ARRAY however the index addresses the whole data structure To allow individual elements of structures of data to be accessed via the network a sub index is defined For single Object Dictionary entries such as an UNSIGNED8 INTEGER32 etc the value for the sub index is al
7. 5 1 18 1A00h Transmit PDO Mapping Parameter Object 1A00h Transmit PDO Mapping Parameter Object Code Data Type unsigned32 The purpose of this data structure is to define the data mapping for all TPDO for each TPDO exist one object the object index range from 1A00h TPDO 1 to 1A07h TPDO 8 Prior to any modification of the following parameters the desired PDO have to be disabled by setting to 1 the bit 31 of the COB ID Sub index 0h Number of object mapped Data type Default value yes see Appendix B PDO mappable NV storage This parameter determines the valid number of objects that have been mapped For changing the PDO mapping first the PDO has to be deleted this parameter has to be set to 0 mapping is deactivated Then the objects can be remapped After all objects are mapped this parameter is to be written with the valid number of mapped objects 45 Tw Motors f With Integrated S SCH IVE Sub index 1h 8h PDO Mapping unsigned32 Unit n a Default value yes see Appendix B yes These entries describe the PDO contents by their index sub index and length The length entry contains the length of the object in bit 8 16 32 and have to match the object length see Figure 18 This parameter is used to verify the overall mapping length When a new object is mapped by writing a sub index between 1 and 8 the drive checks whether the object specified by index sub index exis
8. It is also possible to transfer a data set of up to four bytes during the initialization phase This mechanism is called an expedited transfer Expedited request Master Slave client cmd 2Fh expedited download of 8 bit data 2Bh expedited download of 16 bit data 28h expedited download of 32 bit data 40h expedited upload Expedited response Slave Master server cmd 60h expedited download successful 4Fh expedited upload of 8 bit data successful 4Bh expedited upload of 16 bit data successful 43h expedited upload of 32 bit data successful If transfer would fail for some reason both master and slave could send the abort transfer COB it could be sent in any download upload segment Abort transfer Master Slave or Slave Master WL NEN MEME NEENE EM OE NE Sse m o me meo mm The abort code could be one of the following 0504 0005h Out of dynamic allocated memory 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 13 W d JN Abort code Description 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO 0604 0042h The number and length of the objects to be mapped would exceed PDO length 0604 0047h SDO wrong COB length 0606 0000h Access failed due to an hardware error of the internal non volatile storage 0607 0010h Data type does not match length of service parameter does not match
9. 5 2 52 6070h 0h Velocity threshold time Unt ms jDefaltvaue JI90 9 The velocity threshold time For further information look at 3 4 5 2 58 60FFh 0h Target velocity Object 60FFh 0h Target velocity Object Code Data Type integer32 Access rw Write overrides velocity Factor group Default value Lr PDO y magpabis NV storage The target velocity is the input for the trajectory generator For further information look at 3 4 5 2 54 60F9h Velocity control parameter set Object 60F9h Velocity control parameter set Object Code Data Type integer16 In order to control the behaviour of the speed control loop one or more parameters are necessary This object defines the parameter set for a speed loop of the Tw Motor The p u for each parameter here is expressed assuming the Output scaling magnitude equal to 0 and then the final multiplication by 1 WARNING the values of this object could be written also during the normal drive working cycle thus with power enabled and moving shaft Be careful as modifying the values of this object with power enabled could yield in a loss of axle control Sub index Oho Number of entries Data type Access a n a Unit Default value PDO mappable nn NV Storage Subinde Dip Kp Speed reference Data ype GE 6 X 55 Ea resa Arms s rad Default value E PDO mappable NV
10. Object 6041h 0h_ jStetusword The statusword indicates the current state of the drive 83 2 and the current state of the specific operating mode D Readytoswithon see Device Control 55 2 y O 1 Swithedon jseeDevieControl 3 2 0 6 Switch on deapie see Device Control 5 2 0 7 Waring 0 reserved le Remote If set then parameters may be modified via the CAN bus and the drive executes the content of a command message If the bit remote is reset then the drive is in local mode and will not execute the command message set point is dependent on the operating mode The change of a target value by software alters this bit If quick stop option code is 5 or 6 this bit is set when the quick stop operation is finished and the drive is halted If halt occurred and the drive has halted then this bit is set too a i Target reached If set then a set point has been reached not used in Torque Mode and Homing Mode The 47 AMIN 11 Internal limit active It signal that the target position if in Profile Position Mode or the set point if in Interpolated Mode was wrapped between minimum and maximum Software position limit object 607Dh due to exceeding value It is reset with a new target position or set point between the limits not used in Torque Mode 14 Rotary axis enabled The rotary axis mode is enabled and the position objects are valid refer to 4 1
11. The Network Management NMT divides in two categories as follow 2 9 1 Module Control Services Through Module Control Services the NMT master controls the state of the NMT slaves The state attribute is one of the values STOPPED PRE OPERATIONAL OPERATIONAL INITIALISING The Module Control Services can be performed with a certain node or with all nodes simultaneously This emergency code trigger an Auxiliary Input event which the behaviour is defined by the object 5300h 0h t This event trigger a special fault reaction the three power output lines are shorted together acting both as brake for the motor and as a brake resistor to reduce DC link voltage This emergency code trigger an Abort Connection event which the behaviour is defined by the object 6007h 0h 17 iw Motors With Integrated SerVouVe NMT COB om es oen CS 01h start remote node 02h stop remote node 80h enter pre operational remote node 81h reset remote node 82h reset communication of remote node Node ID Node ID of the remote node or 00h for broadcast to all nodes Immediately after power on the node enter in the PRE OPERATIONAL state then master could follow these steps to set up the nodes before enabling them to the OPERATIONAL state e Configuration of all device parameters including communication parameters via Default SDO e start transmission of SYNC wait for synchronization of all devices e Start of Node Guarding All of
12. 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 001 1h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0609 0032h Value of parameter written too low 0609 0036h Maximum value is less than minimum value 0800 0020h Data cannot be saved or restored from the internal non volatile storage wrong signature 0800 0021h 0800 0022h Data cannot be transferred or stored to the application because of the present device state depending on the object accessed either NMT state is operational or power output enabled see description of the Write override attribute in S5 Table 4 Abort codes Examples Master download via expedited transfer to a slave the 16 bit value 1AC7h to the object 6066h 0h Request Master Slave Response Slave Master Master upload via expedited transfer from a slave the object 1018h 4h that is a 32 bit value equal to 0098 9CABh Request Master Slave Response Slave Master 0098 9CABh For further details please refer to 1 2 6 PDO Process Data Objects are used to transmit any process data for the process control The PDOs are transmitted in broadcast and without any confirmation back to the transmitting device There are two kinds of use for PDOs The first is dat
13. 5 2 29 6084h 0h Profile deceleration 6084h 0h Profile deceleration Object Code Data Type unsigned32 Access tw Write override no acceleration Factor group Default value 4096 95 9 rad s PDO y mappable The profile deceleration is given in user defined acceleration units It is used also for the slow down ramp when selected as option code For further information look at 3 2 83 3 and at 83 4 54 With Integrated Servounve iN 5 2 30 6085h 0h Quick stop deceleration Quick stop deceleration Object Code vr DataType unsgned 2 Memes re EIE Mesi m yes The quick stop deceleration is the deceleration used to stop the motor if the quick stop ramp is selected as option code For further information look at 3 2 5 2 31 6086h 0h Motion profile type Object Code var DataTyp Lntegerig oes Im Wieovenide P Unit n a Default value x The motion profile type is used to select the type of motion profile used to perform a profiled move The Tw Motor supports only the linear ramp trapezoidal profile that is the type 0 To smooth the edges of this kind of profile like the jerk limited profile Tw Motor provide a 2 order digital filter refer to 4 7 For further information look at 3 3 5 2 32 607Ch 0h Home offset 607Ch 0h Home offset Object Code var Data Type Access ie 77777 RN RR position Factor group Default valu
14. Contain the software release number and the release date 5 1 7 100Ch 0h Guard Time Unt ms jDefautvaue Ju no The objects at index 100Ch and 100Dh include the guard time in milliseconds and the life time factor The life time factor multiplied with the guard time gives the life time for the Node Guarding Protocol 82 9 If O then it is disabled 5 1 8 100Dh 0h Life Time Factor Object 100Dh 0h Life Time Factor Object Code Data Type OO Default value PDO mappable NV storage yes The life time factor multiplied with the guard time gives the life time for the Node Guarding Protocol 2 9 If O then it is disabled 40 With Integrated S VOUDVE A iN 5 1 9 1010h Store Parameters Object 1010h Store Parameters Object Code Data Type unsigned32 This object let the drive to save all parameters in non volatile memory By read access the device provides information about its saving capabilities Subinde Jop jLargesub index supported Data type unsigned8 Write override Default value PDO mappable no The large sub index supported for this object in this case 1 Subinde th jStoeal O Data type unsigned32 operational power enabled Im n a Default value no PDO mappable This command let the drive store all parameters that have the attribute NV storage In order to avoid storage of paramet
15. IE E uii iere gm ul MN 23 Table 15 Profile Position Mode related objects nennen nnne nnn nnn nnns 24 Tane e uisi E reb rri go RN Tm 24 NEM 0 1 koe gc 1 Me NRRIEK c 25 Table 18 Profile Velocity Mode related MER eteg iedtkeg egsgedeb t eg en bn ol Eege Ee Geh ier 25 Tabie 19 NTT CA FG NE win EE 26 Tabe A Demonio EE EEN 26 Table 21 Interpolated Position Mode related objects uk 27 EE RO recht tse a rd eae 27 E elle E E E 2f Table 2 Homing Mode related Re nt NTT 27 Tahe ge grout ead Oee TE 30 Table 26 Torque mode commandS EEN 32 Table 27 Torque Mode related EEN 32 IE udis Rr ON i NE T ETE 32 PESCE WNL caqui Ro cU CET LM 32 iw Motors With Integrated Servodnve Table 30 Rotary table related objects er TM e REM DER EN TE icu S TERMS T E TUUS odas ide BK Ca EC DEI I eR 38 Table et Finare Ef EEN 39 Table 33 Controlword operating mode specific bits eene nennen enn nn nn nnns nsns 47 Table 34 Structure of the statusword cccccccsseseecccceeeeeeeeeeceeeeeeeseeeeeceeeeeseeeeeeceeeeeeeseeeseceeceeesseasasseeeecesseaaaeeeeeeeesseaeaseses 48 Table 35 Statusword operating mode specific bits Ee a me ai res ur pere UE ur man 48 Tabe RE uice Ee cia EE Y WIRT fen Iw Motors With Integrated
16. No Power section overtemperature Heavy working cycle refer to 4 6100h N A 4 Yes __ Internal software Contact technical service 7121h 7 Yes Motor blocked following error Check that output shaft is free of rotating overlimit check the VS PID parameters refer to object 6OFQ9h check that the difference between two set point in Interpolated mode is coherent with maximum admitted speed refer to 3 5 check the motor blocked threshold refer to object 5305h 0h persistent please contact technical service 8700h 4 7 No Sync controller The timing of the SYNC object is not accurate refer to 2 7 It is generated only when bit 2 of the object 5380h 0h is enabled ii LN NN aa 6060h 0h 16 Tw Motors d With Integrated Servounve Error Error Tw Motor Fatal Description Remedy Cause code register error register fault bit bit a TT TE 6086h 0h 9001h Loss of external auxiliary input The voltage on the auxiliary input has switched An 1 1 E E to 4 nili 1h Motor overtemperature Heavy working cycle refer to 4 The time slot assigned to the sinchronous PDOs is not enough to process all user defined EA e 13 Yes SYNC PDO processing overtime number of objects inside them ul h Abort connection Sent only if the object 6007h 0h state a specific action none by default sull Flash parameters error The non volatile parameters memory is configuration issue a store parameters command object 1010h
17. Position encoder The Tw Motor is equipped with an absolute single turn encoder an absolute multi turn encoder or a two poles resolver overall accuracy apart this is this is functionally the same of the absolute single turn encoder so in the chapter is always referred as absolute single turn the term absolute refer to the capability of the encoder to give at power up and without any initialization the right angular position User has the capability to get information via software on which equipment is installed from the hardware configuration object 5311h 0h The absolute single turn encoder has the capability to give the angular position over one turn expressed as a 16 bit number the drives equipped with this encoder simulate via software the multi turn capability giving the user the possibility to feed angular position up to 65536 turns this means that the d u for the angular position is expressed as the MSB 16 bit give the number of turns the LSB 16 bit give the angular position in one turn giving the relations shown in the 3 7 At each power up the MSB 16 bit of the position actual value object 6064h 0h will be initialized to O or 1 The absolute multi turn encoder add to the absolute single turn encoder the capability of distinguish up to 4096 turns at power up in this case the drive do not simulate any multi turn capability and then the user can feed angular position up to 4096 turns If the user download angular position above
18. Speed during search for home switch unsigned32 Access rw Write override no yes Sub index 2h Not used Write override Unit i velocity Factor group Default value In For further information look at 3 6 5 2 35 609Ah 0h Homing acceleration Access dw Write overrides Im yes This parameter define the acceleration at which the home switch is sought during homing mode The homing acceleration is given in user defined acceleration units For further information look at 3 6 5 2 36 6062h 0h Position demand value This object represents the present position demand value output from the trajectory generator For further information look at Appendix A 5 2 37 6064h 0h Position actual value This object represents the present value of the position measurement device normalized with home offset and polarized with the direction object For further information look at Appendix A 5 2 38 6065h 0h Following error window Object 6065h 0h Following error window Object Code Data Type EE rw no position Factor group Default value 12288 1 178 rad PDO mappable The following error window defines the maximum tolerance on the following error if the following error actual value is greater than following error window a following error occurs A following error might occur when a drive is blocked unreachable profile velocity occurs or at wrong closed loop coefficients For further informatio
19. With Integrated Serv At this point motor begin positioning then the new set point bit could be disabled in order to let another positioning to be executed The user could see how statusword and following error actual value changes before and during positioning looking at the TPDO 1 COB ID 18Eh Now we run the second example of the previous chapter we send the following two commands to switch the device control state machine see Figure 3 from switch on disabled to operation enabled setup zero speed and zero torque 20Eh 0006h 0000 0000h 0000h 20Eh OOOFh 0000 0000h 0000h At this point the Tw Motor output shaft is powered but the speed loop cannot keep it steady because we also wrote zero maximum torque We want to run the motor at 1500rpm with maximum current of 3Arms first we calculate the velocity and the current in d u 83 7 and 84 2 that are 0199 9999h and 3FC9h respectively then we send those two parameters together with the same controlword as before 20Eh 000Fh 0199 9999h 3FC9h At this point motor spin up to desired velocity Note that with the Profile Velocity Mode 83 4 there is no set point to enable but the target velocity is taken immediately As before the user could see how statusword changes looking at the TPDO 1 COB ID 18Eh 6 4 Factor group setting The factor group is useful when user need to send reference values position speed and acceleration expressed in multiple of p u
20. if the fault Is persistent please contact technical service 8110h suu ir id HW overrun Reduce network load for the slave 8111h N A No CAN SW overrun The node has received a new instance of one RPDO before processing the old one refer to 82 6 Sch CAN controller entered error Noisy network environment or incorrect bus passive mode termination refer to 4 8130h Life guard error Master has not polled the node within the life time refer to 2 9 8220h PDO length error The length of RPDO does not match with the internally calculated length refer to 2 6 8230h PDO out of memory Due to internal handling of PDOs reduce the them or the order of these objects all PDOs are not created thus unavailable 8231h 4 N A Aux input triggered PDO parameter The transmission type of this PDO is invalid error refer to 4 6 all PDOs are not created thus unavailable PDOs reduce the number of PDO or the corrupted the drive has booted with default E h Ml diii The shaft has reached the maximum tolerated mechanical speed 3500 rpm 8140h m ew Recover from CAN controller bus Extremely noisy network environment off number of PDO or the number of objects inside Table 6 Tw Motor emergency codes reference The error register is mapped to the object 1001h 0h and the Tw Motor error register is mapped to the object 1002h 0h while the last error code is mapped in the object 603Fh Oh For further information on faults behaviour refer to 3 2 2 9 NMT
21. motor is stopped Homing error XX1X XXXX XXXX XXXX The selected method is not supported This flag is activated when Homing operation start bit is activated The homing is done this bit remain active up to a node reset or a power off For complete reference look at statusword object 6041h 0h Table 23 Homing status 6098h 0h Homing method 6064h 0h Position actual value 5330h 0h Application Zero Position Table 24 Homing Mode related objects 27 iw Motors With Integrated SerVoOu7Ve 3 6 1 Homing methods 19 and 20 The initial direction of the movement is dependent on the state of the home switch The home position is on the point where the home switch changes its state The point at which the reversal direction of movement takes place is anywhere after the change of state of the home switch The seeking ends on high to low home switch transition and counterclockwise movement direction 19 or on low to high home switch transition and clockwise movement direction 20 w a o pM Home switch state Figure 8 Homing method 19 and 20 3 6 2 Homing methods 21 and 22 The initial direction of the movement is dependent on the state of the home switch The home position is on the point where the home switch changes its state The point at which the reversal direction of movement takes place is anywhere after the change of state of the home switch The seeking ends on high to low home switch transition
22. 0h Velocity threshold time GOFFh Oh Target velocity Table 18 Profile Velocity Mode related objects 3 5 Interpolated position Mode The interpolated position mode is used to control multiple coordinated axes or a single axle with the need for time interpolation of set point data The interpolated position mode uses the SYNC see 82 7 as the time synchronization mechanism for a time coordination of the related drive units The interpolation data record contains the interpolation data the Tw Motor supports only synchronous operation and linear interpolation thus the data record has only one field the position set point object 60C1h the interpolation time period object 60C2h is referred to the ip sync period The ip sync is the event that triggers the execution of the set point data the SYNC is the physically COB on the network and trigger the sync PDO the relation between two is called sync t definition object 60C3h it specifies how many SYNC should be received to trigger one ip sync To ensure proper operations the interpolation data should be supplied continuously in real time via PDO see 82 6 one set point per ip sync for the calculation of the next demand value For each interpolation cycle the drive will calculate a position demand value at every internal cycle time that is 250us by interpolating positions over a period of time The position demand value is feed directly as input of the speed loop bypassing th
23. 6085h Oh 55 100Ah Oh 40 5121P OM E 64 605Ah Oh 48 6086h Oh 55 100Ch Oh 40 91 22M0 M 64 605Bh Oh 48 6089h Oh 50 100Dh Oh 40 123M0 isisisi 65 605Ch Oh 48 608Ah Oh 50 TOTO e E 41 5124h Oh 65 OUSDN ON deis 49 608Bh Oh 50 TO TES ehm descente 41 5300h Oh 65 ODSETIDD iore 49 608Ch Oh 50 1014h 0h ais enc 41 5301h Oh 65 6060h 0h 49 608Dh Oh 51 1015h 0h 42 5302h Oh 65 6061h 0h 50 608ERh Oh 51 TOA COM enee eeg eeg 42 99S DTI euin 66 6062h 0h 56 Reeg 51 TOTO WE 42 2204 UP 66 6064h 0h 56 DUST iiie ences 52 VA OKs sessen 43 5305h Oh 66 6065h 0h 56 0E E a es eceareae 52 TOOK 4 aufsegg ebessen 43 5306h Oh 66 6066N 0h 57 DUST EE 53 NOOK seisine 44 DOW r4 ss 66 6067h O0h 57 6098h Oh 55 TAOXN 45 E RESP 67 6068h 0h 57 ODS y ct cecen settee 55 TROON In EE 72 151017 WEE 68 6069h 0h 59 609Ah Oh 56 9000h Oh 62 S30AN ON 69 606Bh Oh 59 DUC eegen 57
24. For example suppose we have the Tw Motor output shaft connected to a belt with ratio of 9 6 revolutions 60 31858 rad per one meter of belt s linear movement Now we want to express all reference values in mm cm s and m s First we have to calculate the ratio between belt feeding and motor output shaft using the relations shown in the 3 7 supposing the gear ratio equal to 1 alpu _ 1000mm feed constant 27 gear ratio z 1 104 16421 e raa 60 31858rad In order to reduce the overall approximation ratio we express the resulting number as ratio of two large 32 bit numbers 7FFF FFBDh 013A 9487h feed constant 104 16421 Now we can download to the proper objects feed constant 76 iw Motors With Integrated Servodnve 7FFF FFBDh 6092h 1h 013A 9487h 6092h 2h gear ratio is 1 by factory default position dimension index meters 01h 608Ah 0h Position notation index milli 107 FDh 6089h 0h Velocity dimension index m s A6h 608Ch 0h Velocity notation index centi 10 FEh 608Bh 0h Acceleration dimension index mis A6h 608Eh 0h Acceleration notation index 00h 608Dh 0h Do not forget to store the settings with the command 6576 6173h 1010h 1h For further information refer to S3 7 77 Tw Motors With Integrated Servodrves A Speed control loop schema Mode of operation Max pos err flag 6060h 0h 5380h 0h bit 0 Filtere
25. all TPDO for each TPDO exist one object the object index range from 1800h TPDO 1 to 1807h TPDO 8 Prior to any modification of the following parameters the desired PDO have to be disabled by setting to 1 the bit 31 of the COB ID Sub index 0h Number of entries Data type Default value PDO mappable 44 Ah Sub index 1h COB ID of the PDO unsigned32 Unit n a Default value yes see Appendix B yes Define the COB ID and the state enabled disabled of the TPDO Bits 0 10 define the COB ID bit 31 defines if the PDO is enabled equal to 0 or if it is disabled equal to 1 bit 30 defines if RTR is allowed equal to 0 or not equal to 1 on this PDO bits 11 29 should be leaved 0 COB ID have to be defined between 181h and 57Fh MSB LSB E R Unused 19 bit should be 0 Figure 19 Structure of TPDO s COB ID Sub index 2h Transmission type Data type Default value yes see Appendix B PDO mappable NV storage This field defines the transmission type of TPDO and then when the data should be transmitted Transmission type RTR only NNNM ZE E E EE Heres w veri fordon This defines the minimum time that has to elapse between two consecutive invocations of a transmission service for the TPDO it is possible to set this object only for asynchronous TPDO For further information on TPDOs refer to 82 6 to the below chapter for mapping and to 86 2 for examples
26. and clockwise movement direction 21 or on low to high home switch transition and counterclockwise movement direction 22 a a D 1 Home switch state n Figure 9 Homing method 21 and 22 3 6 83 Homing methods 26 and 30 These methods detect the transition high to low of the home switch as home position if the home switch is low on starting the drive ignore it and wait for the transition The direction of the movement is clockwise 26 or counterclockwise 30 28 Tw Motors With Integrated Serv Home switch state Figure 10 Homing method 26 and 30 3 7 Factor group There is a need to interchange physical dimensions and sizes into the internal device units To implement the interchange several factors are necessary The factors defined in the factor group set up a relationship between internal device units from here d u and physical units p u The factors are result of the calculation of two parameters called dimension index and notation index These factors are directly used to normalize the physical values Another parameters that take part in the factors calculation are the gear ratio object 6091h and the feed constant object 6092h that defines the ratio between the output shaft and the motor shaft in case of gearbox between those two See 5 to see which position velocity and acceleration objects are affected by factor group The default setting of the Tw Motor is to use d u those are the mathe
27. done or not when this object reach the boundary it is possible that other position objects e g the position demand value falls outside the boundary This is a normal behaviour as the drive have to recognize which direction has to be taken to reach the desired reference position this also means that user could send a target position outside the boundary the drive will cover all travel as default manner except interpolated position mode 3 5 A A 4 2 Current loops WARNING changing this bit will have effect on the drive only after a node reset or power off power on cycle In order to enable or disable set or reset the bit in the object 5380h 0h then issue a store parameters command object 1010h and finally issue a NMT node reset command 2 9 WARNING immediately after power on or after changing the objects 5321h 0h or 607Ch Oh this could also done automatically by the Homing procedure wait until the Rotary axis enabled bit in the statusword object 6041h 0h is set before using position objects as the drive could need some time to update his internal status The Tw Motor current loops are tuned in factory on the specific motor coupled to the drive so they normally does not need to be accessed from the users Anyway in some applications could be useful to set up a torque limit the torque is directly related to the current the torque limit could be customized by the output speed loop current limit parameter object
28. each NMT Slave If the NMT Slave has not been polled during its life time it issues an EMCY object with error code 8130h see 82 8 and then the action indicated in the Abort Connection object 6007h 0h is issued The error is cleared either restarting polling slave or by a reset node reset communication command e Heartbeat Protocol It defines an Error Control Service without need for remote frames The slave transmits a Heartbeat message cyclically The master receives the indication The master guards the reception of the Heartbeat within the Producer Heartbeat Time object 1017h 0h e Bootup Protocol It is used to signal that a NMT slave has entered the node state PRE OPERATIONAL after the state INITIALISING Error Control COB COB ID S p used only with the Node Guarding Protocol it toggle between 0 and 1 every time the COB is sent the first time after boot up or reset node reset communication command is 0 other ways is 0 S 00h Bootup 04h Stopped 05h Operational 7Fh Pre Operational 3 CANopen for digital motion controller DSP402 The purpose of this profile is to give drives an understandable and unique behavior on the CAN bus The purpose of drive units is to connect axle controllers or other motion control products to the CAN bus At run time data can be obtained from the drive unit via CAN bus by either polling or event driven interrupt The motion control products have a process data object mapping for rea
29. life time or if the NMT Slave s communication status has changed the NMT Master informs its NMT Master Application about that event The slave uses the guard time and lifetime factor from its Object Dictionary to determine the node life time If the NMT Slave is not guarded within its life time the NMT Slave informs its local Application about that event If guard time and life time factor are 0 default values the NMT Slave does not guard the NMT Master Guarding starts for the slave when the first remote transmit request for its guarding identifier is received This may be during the boot up phase or later A slave establishes the heartbeat mechanism for a device through cyclically transmitting a message One or more devices in the network are aware of this heartbeat message If the heartbeat cycle fails for the slave the local application on the master will be informed about that event It is not allowed for a slave to use both protocol in case both are activated the heartbeat protocol will be used e Node Guarding Protocol The NMT Master polls with an RTR COB with same COB ID of the Error Control COB each NMT Slave at regular time intervals This time interval is called the guard time and may be different for each NMT Slave The response of the NMT Slave contains the state of that NMT Slave The node life time is given by the guard time object 100Ch Oh multiplied by the life time factor object 100Dh Oh The node life time can be different for
30. n a gear ratio Sub index 1h jMotorreoltios 0 0 0000 52 Tw Motors X With Integrated rv IVE Sub index 2h Shaft revolutions Data type unsigned32 1 Unit n a Default value PDO mappable yes For further information look at 3 7 5 2 23 6092h Feed constant Object 6092h Feed constant Object Code Data Type unsigned32 The feed constant defines the ratio of feed in position units per driving shaft revolutions feed driving shaft revolutions Sub index Oh Number of entries 0 0 0 0 Data type Access Write override Unit va Defautvalu 2 2 PDO mappable n a feed constant Sub index ih pe Data type Unit Sub index 2h X Shaft revolutions 0 0 0 0 For further information look at 3 7 5 2 24 607Ah 0h Target position no The target position is the position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity acceleration deceleration motion profile type etc At start up the content is unforeseeable then the first positioning should be only absolute For further information look at 3 3 5 2 25 607Dh Software position limit Object Code Data Type These parameters define the absolute position limits in the position profile mode or
31. storage Subindex ER S Kp Position 0 wid Write override Mr ys yes 60 WU Sub index 3h Ki integer16 ER ng Unit 8 19 1 s Default value Xt Subinde 4h jKpacceleration feedback Data type integer16 Access dw rite overrides Ing 1 67 10 Arms s rad Default value D PDO mappable NV storage yes Subinde 5h Kp acceleration reference Data ype integer16 Access fw a override Me FAMEM fmsca Ehe Des Subinde 6h jOutputlimiter ooo EM P EEN gege yes Meses mw Wiiesverids pe yes Sub index 8h Reserved do notuse ee W eovemde Na Sub index 9h Output scaling magnitude gt ne Subinde AN ke Speedfeedback amp S Access rw WHeevemde Jm ys O SSS y yes Subinde Bh jPositionemorlimitation Ax MI cmm DREAM Ie o EE Yes For a complete schema blocks of the Tw Motor closed loop and the interaction between these parameters refer to Appendix A and to 84 5 for further information about pu refer to 83 7 and to Appendix C 5 2 55 6079h 0h DC link circuit voltage Object 6079h 0h DC link circuit voltage Object Code Data Type unsigned32 n a ma Default value PDO mappable 61 Tw Motors With Integrated Servounve This parameter describes the instantaneous DC link
32. the Tw Motor by default 0000h looking from the motor shaft side and giving incrementing position or positive velocity the shaft rotate clockwise Writing the value 1 FFFFh the shaft rotate counter clockwise This object affects the values read from the position encoder The sequence on which Home offset object 607Ch and Rotation polarity are applied are affected by the object 5380h 0h bit 6 For further information look at Appendix A and to 84 5 5 3 22 5302h 0h DC link circuit overvoltage threshold Object 5302h 0h DC link circuit overvoltage threshold Object Code var Datta Type unsigned32 Access dw rite overrides Unt mV Default value M 400V PDO mappable mon NV Storage 65 With Integrated S VOUDVE A The DC link circuit overvoltage threshold could be decreased from the maximum default value of 400Vdc this is the threshold that generates the DC link overvoltage fault For further information look at 2 8 and object 6079h Oh 5 3 23 5303h 0h Power section overtemperature threshold Object 5303h0h Power section overtemperature threshold Access dw rite overrides no S O PDOmappabe no NVsterage Le The Power section overtemperature threshold could be decreased from the maximum default value of 100 C this is the threshold that generates the Power section overtemperature fault For further information look at 82 8 and object 5100h 0h 5 3 24 5304h 0h D
33. the previous value of the home offset is ignored If the needing is for a value other than zero preset the desired position value in the application zero position object 5330h 0h The successfully completed procedure will be signalled by the Homing done bit in the statusword object 6041h 0h In order to start seeking of home position the Home operation start bit has to be set If the selected method is not supported the Homing error bit will be activated otherwise the Homing attained bit activation will signal the successfully end of homing procedure and the zero speed of the motor Now Home operation start bit could be reset wait until the Rotary axis enabled bit in the statusword object 6041h 0h is set before using position objects as the drive could need some time to update his internal status see 84 1 il WARNING if Enable rotary axis flag bit 8 of the object 5380h 0h is set at the end of the homing procedure This mode is driven by specific bits of the controlword and the statusword as follow Controlword Homing operation start The transition 0 1 start the homing the transition 1 0 interrupt the homing Halt XXXX XXX1 XXXX XXXX Stop the motor with the profile deceleration depend from the object 605Dh 0h the homing procedure will restart from the beginning For complete reference look at controlword object 6040h 0h Table 22 Homing commands Statusword Homing attained Homing mode carried out successfully
34. use a subset of the standard CANopen protocol to provide access to whole drive parameters Several standard CANopen functions codes are supported as described in the CiA DS301 Network Controller Can Motion Motor n E Controller Encoder i With Integrated Servo 1 Introduction Object Dictionary Non volatile storage 9 Tw Motor Figure 1 Relation between basic objects in the Tw Motor The field bus that is used here is defined in ISO 11898 Controller Area Network CAN for high speed communication The Layer 1 2 protocol Physical Layer Data Link Layer that is implemented in all CAN modules provides amongst other things the requirements for data Data transport or data request is made by means of a data telegram Data Frame with up to 8 bytes of user data or by a data request telegram Remote Frame or RTR Communication Objects COB are labeled by an 11 bit Identifier ID that also determines the priority of Objects A Layer 7 protocol Application Layer was developed to decouple the application from the communication The service elements that are provided by the Application Layer make it possible to implement an application that is spread across the network These service elements are described in the CIA DS301 The Tw drives are slave systems and then they need a CANopen master system master CANopen PC with Cockpit refer to 6 PC with CANopen configuration tool PLC etc to be configured via the CAN bus Th
35. value Now all the reference and feedback values goes into the closed loop regulator which is combined with different gains one is for the position error one for each speed and one for each acceleration By default the gain for the speed value is the same for the reference and the feedback in favour of the compatibility with the old applications resulting in a gain for the speed error With the acceleration reference gain the user could reduce the following error during acceleration and deceleration stages Then the sum is fed into a limited integrator block and the output is added to the previous sum giving the output value of the closed loop regulator Now this value is optionally filtered magnitude of power of 2 scaled and limited then it is fed as input of the current closed loop regulator Optionally the user could enable the field weakening function that decreases the loss of torque at higher speed refer to the object 5380h 0h bit 3 The speed loop control is updated at 4 khz For further information refer to Appendix A and to 4 1 4 5 1 Performance measurements In order to have some feedback from the drive about the speed loop control performance five parameters are provided as follow 33 With Integrated S de d The following error at maximum speed object 5120h 0h is measured at the beginning of the deceleration ramp this value is useful in those applications in which the position error during movement is c
36. 00 038Eh 1802h 1h C000 048Eh 1803h 1h We have still to choose our default application at start up that is the Profile Velocity Mode 83 4 03h 6060h 0h and we have to select the Enable max position error bit in the global option flags object in order to let the shaft stop if higher braking torque than limit torque is applied and restart without saturating the Speed control loop 0005h 5380h 0h At last the store command 6576 6173h gt 1010h 1h 6 3 Running an application The default state of the NMT 82 9 at start up is the pre operational state to let PDO communication the node must be switched in the operational state we suppose to switch all nodes in the network then the following command has to be issued Now suppose we have configured the Tw Motor with the first example of the previous chapter we send the following two commands to switch the device control state machine see Figure 3 from switch on disabled to operation enabled At this point the Tw Motor output shaft is powered and the speed loop keep it steady We want to make an absolute positioning of 100 turn and 45 degrees with a speed of 2000rpm first we calculate the position and the velocity in du 83 7 that are 0064 2000h and 0222 2222h respectively then we send those two parameters 30Eh 0064 2000h 0222 2222h Finally the new set point bit see Table 13 have to be enabled in order to let positioning start 75 Tw Motors N
37. 01 The drive functions are disabled the drive is ready to enable power output shaft has no torque on the motor shaft no faults detected specific selected Mode Of Operation is EL Ah State Statusword Description executed Ed Quick Stop Active XXXX xxxx XOOx 0111 The drive functions and power output are enabled the quick stop function is dalli tM being executed or finished and the motor stopped depending from object 605Ah 0h The drive functions and power output are enabled the fault recovering is being executed defined by the object 605Eh Oh and if not a fatal fault see Table 6 disabled For complete reference look at statusword object 6041h 0h Table 9 Drive states D Reset A JjTwMotorintemalseltintializaion O O 1 Tw Motor has finished self initialization Activate communication o Z o 3 Swith Oncommand jEnablpowerouput O 4 LEngble Operation command The drive functions are enabled and torque could be applied S ah The drive functions are disabled the behaviour of the motor depend from the object 605Ch Oh 6 Shutdowncommand jDisablepowerouput O Quick Stop or Disable Voltage command Po B n artemoterdependfomieobjec 0SbhON of the motor depend from the object 605Bh Oh EEE nmn free to rotate free to rotate Quick Stop command The quick stop function is executed see object 605Ah 0h Voltage com
38. 5323h 0h Rotary table target index 5380h 0h Global option flags Table 30 Rotary table related objects 4 5 Speed loop control In the Tw drives the speed loop control act both as closed loop position control and closed loop speed control in the first case the position demand generated by the trajectory generator or by the interpolator is fed to the input of the closed loop in the second case the speed demand is integrated thus generating a position demand to be fed to the input of the closed loop Then the position demand is optionally limited in order to keep the absolute value of the position error below an user specified value this function jointly with the output speed loop current limit allow the shaft to run at different speed than the demanded value when an external torque greater than the limit is applied without saturating the closed loop After that the position demand value is filtered then differentiate two times to obtain the speed reference value and the acceleration reference value The encoder position value is optionally sign inverted and or offset giving the user the ability to choose which rotating direction the shaft should move giving incrementing position or positive velocity and to select the preferred zero position The user could choose which appliance comes first sign inversion or offset Then the resulting value is differentiate two times to obtain the speed feedback value and the acceleration feedback
39. DO and then use it to give the drive the Enable ip mode in this way only the following SYNC will start triggering the ip sync apart when drive has began receiving the SYNC Enable ip mode id SYNC A A A LUE UP E E ip Sync SCH A A A Figure 7 Interpolation start up synchronization ip sync every 3 SYNC 6040h 0h Controlword 6041h 0h Statusword 605Dh 0h Halt option code 607Dh Software position limit 60C1h Interpolation data record 60C2h Interpolation time period 60C3h Interpolation sync definition 6062h 0h Position demand value 6064h 0h Position actual value 26 Tw Motors With Integrated SETVOUIVE 60F4h 0h Following error actual value 5309h Position set point filter constants Table 21 Interpolated Position Mode related objects 3 6 Homing Mode This is the method by which a drive seeks the home position also called the datum reference point or zero point There are various methods of achieving this all of them use a home switch zero point switch in mid travel The home switch have to be connected to the auxiliary digital input see 4 6 no additional configuration for this input has to be done The user could specify an homing speed an homing acceleration and an homing method that will be used throughout all the procedure At the end of the seeking the drive will set up the home offset object 607Ch 0h with the right value to zero all the position objects on the home position
40. DUO Ke BA 62 o30Bh Oh 69 606Ch Oh 59 E 58 5003h 0h MEN 62 991 TTE TI E 69 ESCH eoi desse 59 5101051 e 58 9010h Oh 62 99 12TDL TI E 69 606Eh Oh 59 60F4h Oh 57 901 TTE EE 62 Seege 70 606Fh Oh 60 Reesen 60 9012M 0M iioii 62 o321h Oh 70 6070h Oh 60 60FFh Oh 60 DO TSUIEOTI iecoris icdee 63 KA n ser scorocss 70 6079h Oh 61 6502h 0h ege gagieegege 46 5100h Oh 63 DILIM Ocin 71 607Ah Oh 53 6504h Oh 47 9101116 ege 63 DO SOMO y pte 71 607 Ch Uh iie 55 5102h 0h zin 63 5380h Oh 71 OFDM 53 81
41. Firmware rel 1 3 x Doc 02655 0 E M ENG 22 11 05 MOTION CONTROL SA Software A Ti D rd f eme 3 1 1 With Integrated Servodrive http www phase it iw Motors With Integrated Servodnve Summary ME Deo oomen 1 1 Verein PEELE pacc MELDE LM IP MD M Dj MM DM MM M MI CMS MC r CANopen protucoal DS Bisson 2 1 CANopen Protocol Parameters T OUeE U 2 2 Object Dictionary eeccscsescssssessecsssssssecessssssesssssssivessssisisssesssstesssssssissessssiisssssssivessesssivessesssiiessessseseeseee 2 3 Data Type Encoding H AT SYNC m 45 2 8 2 E 16 2 9 lg EE 17 3 CANopen for digital motion controller DSP402 rennen LO 3 1 HEIDE DOTT DER EE 20 d d PLIODe cf9 gus 21 3 d en ER ee ENTRE 23 3 4 xit x i e ri Ee 24 d 9 Dices E positon e ATTI 25 3 6 als DES EE 27 df FN T HP 29 E am B JIwWwMotorspeciric N IEN 4 1 Weer E E m UK 30 4 2 CONE ENEE 31 4 3 Ken TN TEEN 31 4 4 EID ODS CONIO MEET ER 4 5 Speed loop Control 33 4 6 MADE DERBI oiseppen rap NR RprEPEG DIE bHHE E OREENEIS EESE 34 4 7 EU EE 34 4 8 Motor Led Behaviour tette ttt ttt 38 4 9 Sit 38 Ae T le EVA LN RIPE SL ATI eld tEe 0 9 1 D TT E RENTEN 39 5 2 Alle EE E NOI TI
42. GOF9h 6h The d u internal device units for all current related parameters are oe iid i LE D I Arms 32768 6 02 Arms The current loops are updated at 8 khz 4 3 Torque Mode A target torque current reference is fed to the input of the current loop object 5000h 0h it generates instantaneously desired torque on the motor shaft 31 Tw Motors With Integrated Servodnve This mode support the Halt command as follow Command Controlword Description Stop the motor with the profile deceleration depend from the object 605Dh 0h For complete reference look at controlword object 6040h 0h Table 26 Torque mode commands No additional statusword bits are used in this mode 6040h 0h Controlword 6041h 0h Statusword 605Dh 0h Halt option code 6084h 0h Profile deceleration 5000h 0h Current quadrature reference 5001h 0h Current direct reference 5010h 0h Current quadrature feedback 5011h 0h Current direct feedback Table 27 Torque Mode related objects 4 4 Rotary table control The user could select a position on a rotary table by an index up to 126 positions The positions are indexed by a target index object 5323h 0h user has to download all the absolute positions in the table positions array object 5320h It is possible to specify a gear play compensation object 5322h 0h to achieve a better accuracy on the positioning the compensation is done only when the directi
43. LEUTEN 46 59 Manufacturer Specific TG NR E T EE 200 EK 6 1 Basic communication Setting 72 6 2 Configuring an applcaton nnne nnnnnnnnnn nna nn nens n annes 73 6 3 Running an A OO EE 15 6 4 Factor group setting 00 EE Ee 76 IN dite GIN EI UE TT Tw Motor default PDO parameters rennen nennen nennen d Tw Motor default control parameters rris OL Physical units VS internal device units conversion Ud moo wow gt Sorted index of the Object Dictionary nennen OL l ALLIN ag TW With Motors Integrated Servounve UU References 1 CIA DS301 V4 02 2 CIA DSP305 V1 1 3 CIA DSP402 V2 0 4 Phase Motion Control Tw Motors User manual 5 Phase Motion Control CANPC S1 User manual 6 Phase Motion Control Cockpit II manual Figures Figure 1 Relation between basic objects in the Tw Motor ANERER 7 BC Pee ae EU E Et dr NEN NR mom 18 Foue a Derce Canko Ska NS eT TE C 21 eT E E E E 23 Figure 5 Change set immediately EN METTE D ODIT 24 Figure 6 Interpolation with ip sync every 2 GN 26 Figure 7 Interpolation start up synchronization ip sync every 3 GNC nennen nennen nnns 26 m1 ic2Xwaed psit qi EE enee 28 Foue S enee a ee af ue 2 28 Foue R ENEE Cand CPC er 29 Figure 11 Control loop performance measurements
44. PDO mappable o WNVstrage This is a unique value assigned to each manufacturer by CA in this case for Phase Motion Control is 0000 00D9h Subinde 2h Product Code 0o Lees EE EU EE ina Defauit value M PDOmappabe no WNVstrage This is the product code of the device Subinde 3h Revision Number 0 Data type unsigned32 Default value PDO mappable NV storage This is the firmware release number with the subfields structured as follow 42 Tw Motors With Integrated S SCH IVE MSB LSB major 16 bit mid 8 bit minor 8 bit Figure 16 Structure of Revision Number Subinde 4h Serial number unsigned32 Access fr Cd Write overrides Ins Unit a Default value fig POO mappable no Tv storage This is the serial number of the Tw Motor the same appears on the side of the case 5 1 15 1400h Receive PDO Communication Parameter Object 1400h Receive PDO Communication Parameter Object Code Data Type The purpose of this data structure is to define the communication parameters for all RPDO for each RPDO exist one object the object index range from 1400h RPDO 1 to 1407h RPDO 8 Prior to any modification of the following parameters the desired PDO have to be disabled by setting to 1 the bit 31 of the COB ID Sub index hb Number of entries 0 EE KEE Sub index bh LORD ofthe PDO Define t
45. Servo History IN Rev B Document modified for the firmware release V1 0 x Notation chapter added 81 1 Asynchronous PDO timing clarification 2 6 Aux input triggered PDO added 4 6 and object 530Ah 0h Synchronisation Object timing clarification 82 7 SYNC statistics added 82 7 and objects 5110h 0h 5111h 0h 5112h 0h and 530Bh 0h Error codes added and more details for some error codes in the Table 6 Factor group approximation clarification 83 7 Position error calculation clarification S4 1 Torque mode chapter added 84 3 Speed loop control chapter added 84 5 Digital filters chapter added SA New led behaviour added 4 8 Target position initial value clarification object 607Ah 0h Home offset enhancement object 607Ch 0h Hardware configuration object added 531 1h 0h User configuration version object added 5312h 0h Objects 5102h 0h 607Dh 5380h 0h 5012h 0h 5013h 0h added Objects added to Velocity control parameters object 60F9h Adaptation to the new functions of the second application example 86 2 and 86 3 Adaptation to the new functions of speed loop control schema Appendix A Cockpit configuration tool chapter removed Rev C Document modified for the firmware release V1 1 x LSS Switch modes clarification 82 4 Error code object added 603Fh 0h SYNC PDO overtime error code added in the Table 6 CAN SW overrun CAN HW overrun PDO length error codes now trigger an Abort conne
46. Subinde 2h Interpolationtimeindex Access w Wmoverde n PDOmappabe no NVstrage For further information look at 3 5 5 2 45 60C3h Interpolation sync definition 60C3h Interpolation sync definition Object Code unsigned8 Devices in the interpolation position mode often interact with other devices Therefore it is necessary to define a communication object which is used to synchronize these interactions Synchronize on group could be only 0 this mean that SYNC is used Sub index 0h X Numberofenries 00 0 0 0 Subindex 1h Synchronize on group _ 0 Access rw Loes T LL Unt ns i Defatted PDOmappabe Ing NVstoage Deg 58 Tw Motors With Integrated S rv IVE A Sub index 2h ip sync every n event unsigned8 Unit n a Default value 1 yes For further information look at 3 5 5 2 46 6069h 0h Velocity sensor actual value Velocity sensor actual value The velocity sensor present value describes the velocity read from the encoder in d u 5 2 47 606Bh 0h Velocity demand value Object Code vr Daa meg Access o Write override Ma o This is the output value of the trajectory generator For further information look at Appendix A 5 2 48 606Ch 0h Velocity actual value Object Code vr Lebens Access TERRE Write override Ma This object represents the present value of
47. The homing is done this bit remain active up to a node reset or a power off refer to 3 6 Table 34 Structure of the statusword The O1 and O2 are operating mode specific bits Position profile Velocity profile Interpolated profile Rotary table O1 Set point Zero speed lp mode active reserved Homing attained Set point acknowledge acknowledge Following error Max slippage error reserved reserved Homing error reserved Table 35 Statusword operating mode specific bits The reserved bit is for future enhancements it has to be ignored 5 2 7 605Bh 0h Shutdown option code Unit wa Defaultvalue JO yes This parameter determines what action should be taken if there is a transition from Operation enable to Ready to switch on transition 8 The action could be one of the following Option code O Disable drive function Slow down with slow down ramp disable of the drive function For further information look at 3 2 5 2 8 605Ch 0h Disable operation option code n a This parameter determines what action should be taken if there is a transition from Operation enable to Switched on transition 5 The action could be one of the following Option code O Disable drive function Slow down with slow down ramp disable of the drive function For further information look at 3 2 5 2 9 605Ah 0h Quick stop option code 605Ah 0h Quick stop option code Object Code Data Type in
48. Then master can activate the new speed immediately with the following optional command Request Master Slave ww pes a uomen rcm s EE RE E TE5h mm switch delay reserved switch delay the duration of the two periods of time to wait until the bit timing parameters switch is done first period and before transmitting any COB with the new bit timing parameters after performing the switch second period The time unit of switch delay is 1 ms Master now should store the new configuration in the internal non volatile storage Request Master Slave Response Slave Master error code 0 means successful executing Finally master should switch back the slave to the normal operation mode Request Master Slave For further details and examples please refer to 2 and S6 1 2 5 SDO With Service Data Objects SDO the access to entries of a device Object Dictionary is provided As these entries may contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets each containing an arbitrary large block of data from a client to a server download or write and vice versa upload or read The client can control via a multiplexor 16 bit index and 8 bit sub index of the Object Dictionary which data set is to be transferred The contents of the data set are defined within the Object Dictionary Basically a SDO is transferred as a sequence of segments Prior to transferring the se
49. WT Inhibit Time Ip PDO REECH InhibitTime Ip TPDO from 5 to 8 have no default mapping parameters 80 lw Motors With Integrated Servocnve Those are the factory default values for some objects hardware configuration dependant object 5311h 0h Object Absolute Encoder N and M Two poles Resolver R 60F9h 9h Velocity control Output Scaling Magnitude 4 x2 3 x27 C Tw Motor default control parameters None LPF o 630 rad s 0 707 Costants 0 0 0 0 8192 Constants 6564 14575 45 91 45 5308h Velocity loop output filter constants Table 36 Default control parameters D Physical units vs internal device units conversion Current I d u 5 443 10 Arms Arms 1 837 10 I d u Position dau 1 043 10 rad rad 9 587 10 G d u Velocity old ul 1 709 10 SMS EM 5 852 105 e d u Acceleration a d u 4 272 10 a fad grad 2 2 341 107 fd u E Sorted index of the Object Dictionary 1000h 0h iro dieti 39 NA n EE 63 DEON y UNI 72 6081h Oh 54 1001h Oh 39 5110h Oh 63 6007h Oh 46 6082h Oh 54 AU EI EA 40 ST TTD E 64 BUS gsgstassgegg 46 6083h Oh 54 1005h Oh 40 XN ANO p S 64 6040h Oh 47 6084h Oh 54 1008h Oh 40 5120h Oh 64 6041h Oh 47
50. a transmission and the second data reception It is distinguished in Transmit PDOs TPDOs from slave to master and Receive PDOs RPDOs from master to slave Synchronous PDOs are transmitted on SYNC event and could be cyclic means that the transmission is every n SYNC with n between 1 and 240 acyclic means that the transmission is triggered on event and then synchronized with SYNC event or RTR Only only for TPDOs means that master request the transmission by sending an RTR COB with same 14 With Integrated 5 de A hy COB ID of the specific TPDO The received RPDOs data is internally processed on the SYNC event not immediately after receiving RPDO itself The transmitted TPDOs data is sampled on the SYNC event not at the time of transmission TPDOs are dispatched immediately after the SYNC event while RPDOs normally are dispatched from the master after all TPDOs and just before next SYNC event Asynchronous TPDOs could be triggered on event means on changing data or RTR Only means that master request the transmission by sending an RTR COB with same COB ID of the specific TPDO It is not guaranteed that the time on which data change and the time the TPDO are transmitted are the same The received data of the asynchronous RPDOs are internally dispatched as soon as possible TPDOs could also have enabled the RTR allowed attribute this means that disregarding the transmission type the master has the possibility to force the transmiss
51. and at object GO Ob Ob 5 3 27 5307h Position demand filler constants Object 5307h Position demand filter constants Object Code Data Type integer16 Those are the constants to build the 2 order filter to be applied to the position demand value For this filter the sample time period to be used for the constants calculations is fixed to 250us power enabled and moving shaft Be careful as modifying the values of this object with power enabled could yield in a loss of axle control il WARNING the values of this object could be written also during the normal drive working cycle thus with 66 un Sub index Oh Number of entries Data type unsigned8 Unit n a Default value 5 PDO mappable n a Subindec sft Data type integer16 Access dw Write override Ing 1 8192 Default value B PDO mappable NV storage Subinde 2h Data type integer16 Write override Unit 108192 jDefautvalu O O Sub index EE Data type integer16 Access Unit 1 8192 Default value 0 PDO mappable yes Subindec 4h a Unit 108192 Deefuitvalues JO S Sub index bh Jao gt For further information look at Appendix A and at 84 7 5 3 28 5308h Velocity loop output filtrer constants Object 5308h Velocity loop output filter constants gt Object Code Data Type integer16 Those are the constants to build the 2 or
52. ast 100ms before Start remote node command and or before enabling output power to let drive synchronization This feature enabled by default could be disabled if the user experience troubles with tolerance greater than specified The Tw Motor also monitor continuously the time period of the SYNC object giving the user the ability to have a feedback on the quality of the SYNC object this is given in the form of three parameters the minimum cycle time the maximum cycle time and the average cycle time Those parameters are updated every user specified amount of time default 2 seconds giving back the cycle time quality of the past period and letting the user never miss any intermittently discontinuity of the SYNC e g missing transmission of SYNC objects The statistics are not cumulative at the end of every update time period the drive reset the internal counters Please note that in the Tw Motor all the EMCY NMT and SDO objects are not internally synchronized with the SYNC object then they could be dispatched at any time The SYNC related objects are 1005h 0h 60C2h 60C3h 5110h 0h 5111h 0h 5112h 0h 530Bh Oh and 5380h 0h bit 2 15 Tw Motors b With Integrated Servodnve For further details please refer to 1 2 8 EMCY Tw Motor support the emergency object both for hardware and software faults An emergency object is transmitted only once per error event Emergency COB broadcast register error code standar
53. at this is not the same as the standard Profile torque mode but Tw Motor specific 5 Homing mode This is the method by which a drive seeks the home position also called the datum reference point or zero point 6 Rotary table control The user could select a position on a rotary table by an index up to 126 positions the drive will select the best route choosing the rotation direction The Tw Motor support switching between the various modes of operation also when the axes is moving 20 Tw Motors With Integrated Zero 3 2 Device Control The device control function block controls all functions of the drive drive function and power section The state of the drive can be controlled by the controlword object 6040h 0h and is shown in the statusword object 6041h 0h The state machine is controlled externally by the controlword The state machine is also controlled by internal signals like faults Power Disabled Fault Reaction Active Not ready to owitch On Switch On Disabled Ready to On E b GE Quick Stop Active Enable Power Enabled Figure 3 Device Control State Machine When power output is enabled high voltage switching is applied to the motor phases torque could be applied or could be null State Statusword Description On power output is disabled output and the drive functions are disabled Ready To Switch On XXXX xxxx x01x 00
54. b 0004h PDO E NV storage This object enable set to 1 disable set to 0 several operating modes of the Tw Motor every bit is related to a specific option flag as described in the following table power enabled and moving shaft Be careful as modifying the values of this object with power enabled could yield in a loss of axle control il WARNING the values of this object could be written also during the normal drive working cycle thus with T TH LTE RI to Appendix A and to 84 5 Enable different Kp speed Use different coefficient for Kp speed reference and Kp speed feedback refer to TT appenaa gas en rolar 9 Enable internal synchronization Enable the internal machine cycle synchronization with the SYNC object and OE NN SYNC controller EMCY generation refer to 2 7 3 Enable field weakening Decrease the loss of torque at higher speed o T Negative pulse aux input triggered PDO Trigger the aux input triggered PDO with low high transition rising if disabled or with high low transition falling if enabled refer to 4 6 MN niii VE refer to Appendix A and to 4 5 T TT TT refer to object 607Dh Enable rotary axis If enabled the position objects are wrapped between 0 and the rotary axis dimension object 5321h WARNING the modification of this bit will have effect on the drive only after a node reset or power off power on cycle Refer to S4 1 Enable signed position Let the user to get all position obj
55. constant 0 p u where position encoder resolution object 608Fh is a constant ratio equal to 65536 in this case the relation could be simplified in O p u feed constant dradl Ze gear ratio where p u is referred to the desired output shaft and rad to the motor shaft radians rotational unit Note that for the position pu the k is not related with the selected position dimension index object 608Ah 0h and the position notation index object 6089h 0h The purpose of these two is to establish the ratios between position p u velocity pu and acceleration pu These are computed internally depending on the respective dimension index objects 608Ch 0h and 608Eh 0h and notation index objects 608Bh Oh and 608Dh 0h selected The feed constant and gear ratio are defined as ratio of two 32 bit integer number we suggest to use large number to define both ratios this practice could reduce the overall approximation error Refer to 86 4 for examples on how to use the factor group 6089h 0h Position notation index 608Ah 0h Position dimension index 608Bh 0h Velocity notation index 608Ch Oh Velocity dimension index 608Dh 0h Acceleration notation index 608Eh 0h Acceleration dimension index 608Fh Position encoder resolution 6090h Velocity encoder resolution 6091h Gear ratio 6092h Feed constant Table 25 Factor group related objects 4 Tw Motor specific functions Features described here are Tw Motor proprietary 4 1
56. ct b123h0h Overshoot at the end of the deceleration ramp Object Code Lut DataTyp X Lntener 1 1 0 Access arte override Ma In every task in which the trapezoidal profile parameters are involved acceleration deceleration velocity this object give a measure of the overshoot following error at the time in which the velocity demand is set to zero For further information look at Appendix A and at 84 5 5 3 19 5124h 0h Average windings current Hiert _______ 8124n 0h__ Average windings current ee Access e mewe fe This object is the averaged motor windings current with a long time constant in order to measure the thermal work cycle of the drive This is closely related to the user application For further information look at Appendix A and at 4 5 5 3 20 5300h 0h Auxiliary input option code Object 5300h 0h_ Auxiliaryinputoptioncode 0 Unt ns JDefautvaue Ju The content of this object selects the function to be performed when the auxiliary external input voltage is lost The action could be one of the following O0 Nation 0 0 00 0 00 O For further information look at 82 8 at 83 2 and at 84 6 5 3 21 5301h 0h Rotation polarity Object 5301h 0h TL Rotation polarity Object Code Data Type integer16 power enabled gl c O Default value PDO mappable NV storage This object could invert the rotation polarity of
57. ction event More details on approximation of factor group S3 7 More details on current and speed loops 84 2 and 84 5 More details and wrong equations fixed in the digital filter S4 7 Filtered velocity demand value object 5103h 0h added Disable software position limits flag added on object 5380h 0h More details on object 1011h Rev D Document modified for the firmware release V1 2 x New behaviour of the SYNC Controller alarm generation 82 8 Enable rotary axis flag added on object 5380h 0h Enable signed position flag added on object 5380h 0h Homing mode chapter added 83 6 Rotary table control chapter added 84 4 New functionality added to auxiliary digital input S4 6 Bits added to statusword object 6041h 0h New encoder type added 84 1 COB ID value range clarification Objects 6098h 0h 6099h 609Ah 0h 5320h 5321h 0h 5322h 0h 5323 0h added iw Motors With Integrated Servodnve Rev E Document modified for the firmware release V1 3 x Application zero position in homing mode added 3 6 Control loop performance measurements parameters added 84 5 More details on rotary axis enabled bit S4 1 More details on default values for the hardware configuration dependant objects Appendix C Objects 5120h 0h 5121h 0h 5122h 0h 5123h 0h 5124h 0h 5330h 0h added Please read also the changelog txt file included in the firmware package for more information Iw Motors IN The Tw drives
58. current voltage at the drive controller For further information look at 2 8 and the objects 5302h 0h and 5306h 0h 5 3 Manufacturer specific objects 5 8 1 5000h 0h Current quadrature reference Object 5000h 0h Current quadrature reference Object Code var 1 Datta Type integer16 Access dw rite overrides tno current d u see Current loops Default value oo PDO y magpabie NV storage This is the quadrature current feed as reference for the quadrature current loop this value is output from the speed loop It is also used as torque reference in the Torque mode 4 3 For further information look at 4 2 and at Appendix A 5 3 2 5001h 0h Current direct reference Object 5001h 0h_ Current direct reference gt Z o Object Code var Lab lune integer1t6 o Mee eer fro Unit i currentd u see Current loops Default value In PDO SS yes NV storage no This is the direct current feed as reference for the direct current loop it is normally set to O For further information look at 84 2 5 3 3 5003h 0h Electrical angle feedback Object 5003h 0h Electrical angle feedback 1 1 Hee it over ta yes This is the feedback electrical position of the motor 5 3 4 5010h 0h Current quadrature feedback Object 5010H 0H Current quadrature feedback Z 0 1 10 o Wee m ruere Leonis Na This is
59. d CiA error code object 603Fh 0h error register standard CiA error register object 1001h 0h Tw Motor error reg mapped in the manufacturer status register object 1002h 0h Every bit in the error register refer to a category of faults more than one bit at time could be set to 1 meaning that more than one fault is active Bit O is set to 1 if one or more faults are active is reset to O if all faults are cleared Every bit in the Tw Motor error register refer to a specific faults of the motion controller and the OS but the communication module more than one bit at time could be set to 1 meaning that more than one fault is active Meaning O generic error 1 Lomen O current 4 communication error overrun error state device profile specific manufacturer specific Table 5 Error register reference After the fault is cleared the slave transmit and EMCY object with error code equal to Oh meaning that one fault is cleared The other fields report remaining active faults if none all fields will be Oh Except when specified the behaviour of non fatal faults are described in the Fault Reaction option code object 605Eh 0h code register error register fault bit bit power module fail contact technical service DC link overvoltage Check the functionality of the external clamp device refer to 4 4210h 3 2 No Device overtemperature Environment too warm refer to 4 4310h 3 3
60. d is issued the velocity of the motor is zero Set Point Acknowledge Trajectory generator has assumed the new target position Following Error Following error the thresholds are defined in the objects 6065h 0h and 6066h 0h For complete reference look at statusword object 6041h 0h Table 14 Profile position status First of all the target position have to be loaded with the desired value then the New Set Point bit has to be set the drive signal the acquisition and then the execution of the movement of the target position setting the Set Point Acknowledge bit Resetting the New Set Point also reset the Set Point Acknowledge this operation does not affect the current positioning Now a new target position could be loaded and signaled via New Set Point to the drive if the previous targeting is not completed the drive will keep Set Point Acknowledge low until target is reached signaled in the statusword then it go high and the drive start the new positioning If Change Set Immediately is set together with the New Set Point then the new positioning is started immediately still respecting the trajectory generator parameters New Set Point Set Point Ack Speed t1 t2 Figure 4 Single set point 23 Tw Motors II With Integrated Servounve New Set Point Set Point Ack Speed t1 t2 Figure 5 Change set immediately set point If Abs rel is set together with New Set Point then the tar
61. d position demand value 5102h 0h pos ref 2nd ord filter Filt vel dem value 5103h 0h vel ref acc ref Position demand value 6062h 0h Rotation Polarity Position actual value 6064h 0h 5301h 0h pos fb d Q Velocity demand 1 60F9h Bh 606Bh 0h F i Internal position demand 60F9h Bh Velocity actual value 606Ch 0h z Encoder position D an vel fb Swap home pol flag 5380h 0h bit 6 Home Offset 607Ch 0h pos fo f Following error 60F4h 0h pos ref p 69 vel ref Q vel fb 2 D 60F9h 6h vel loop out Kp speed fb Kp speed ref 60F9h 6h 60F9h Ah 60F9h 1h acc ref L Ki 60F9h 3h acc fb Q Kp accel ref Kp accel fb 60F9h 5h 60F9h 4h Figure 21 Speed loop main schema 78 Tw Motors With Integrated Servodnve 2nd ord filter 60F9h 6h Iq reference 5000h 0h vel loop out 60F9h 6h 60F9h 9h Figure 22 Speed loop output schema For further information refer to 4 5 B Tw Motor default PDO parameters Those are the default PDO communication and mapping parameters for the Tw Motor RPDO 71 COB ID 4000 0200h node ID enabled 255 asynchronous Controlword 200h node ID 6040h 0h PDO 1 RPDOf2 COB ID 4000 0300h node ID enabled 255 asynchronous Controlword NIOGE Ot 300h node ID 6040h 0h operation l 6060h 0h PDO RPDOfS COB ID 4000 0400h node ID enabled 255 asynchronous Controlword Target posi
62. der filter to be applied to the velocity loop output value For this filter the sample time period to be used for the constants calculations is fixed to 250us Default values are hardware configuration dependant see Appendix C power enabled and moving shaft Be careful as modifying the values of this object with power enabled could yield in a loss of axle control i WARNING the values of this object could be written also during the normal drive working cycle thus with Sub index 0h X Numberofentries 1 0 0 0 0 0 0 Subindec 1dh b Write override 67 Sub index 2h b integer16 Unit 1 8192 Default value yes see Appendix C yes Subinde h Data type integer16 Access dw Wrteovermide no O Subinde h Data type integer16 Write override Sub index h a Access we Write overrides fm Unit 1 8192 Default value yes see Appendix C yes For further information look at Appendix A and at 4 7 5 3 29 5309h Position set point filter constants Object 5309h _s Position set point filter constants Object Code Data Type integer16 Those are the constants to build the 2 order filter to be applied to the position demand value For this filter the sample time period to be used for the constants calculations is the same as the interpolation time period object 60C2h power enabled and moving shaft Be caref
63. dware configuration gt SS The hardware configuration of the Tw drives that affect the software interface is shown in this object where every bit refer to a specific equipment Bits not shown here are all reserved for future enhancements they have to be ignored For further information look at 4 1 5 3 33 5312h 0h User configuration version Object 5312h 0h User configuration version Object Code Data Type unsigned32 Access w Write overrides fn Default value ue PDO mappable NV storage 69 With Integrated Servi Tw Motors d A This parameter could be used to store and retrieve any information the user needs for its own application for example to store the configuration version number to be checked at every power up For further information look at the objects 1010h and 1011h 5 3 34 5320h Table positions array Object 5320h Table positions array Object Code Data Type integer32 This array contain all the positions for the rotary table control those are always expressed as d u Due to internal drive management this array is stored in NV memory at same time as downloading Follow these points to download the array e first object to be downloaded is in the sub index 1 this also prepare the NV storage e download all the positions with incrementing sub index e the last valid position has to be followed by a position equal to 1 this close the NV storage and determines the numbe
64. e LEE PDO mappable NV storage yes The home offset object is the difference between the zero position for the application and the machine home position found during homing This object affects the values read from the position encoder position actual value encoder position home offset The object could be written also when the power output is enabled and the shaft is running as the writing does not affect any internal system status variables The sequence on which Home offset and Rotation polarity object 5301h are applied are affected by the object 5380h 0h bit 6 By default Home offset before Rotation polarity the value to be written to zero the position actual value is the sign inverted present position in case of positive polarity it is the present position in case of negative polarity For further information look at Appendix A and at 4 5 5 2 33 6098h 0h Homing method 6098h 0h Homing method Object Code var Data Type Access Write override Default value PDO mappable This object determines the method that will be used during homing The possible values are 19 20 21 22 26 and 30 For further information look at 3 6 5 2 34 6099h Homing speeds Object 6099h Homing speeds Object Code Data Type n a This parameter define the speed in velocity units at which the home switch is sought during homing mode 55 un Subinde bh Number of entries unsigned8 n a Sub index ih
65. e the parameters then dispatch the TPDO on the next SYNC if transmission type chosen is 1 or immediately if transmission type chosen is 254 For further information refer to 2 6 The third function is to connect the home switch to be used in homing mode For further information refer to 3 6 4 7 Digital filters User has the opportunity to setup a programmable 2 order digital IIR filter on the position demand value object 6062h 0h on the speed loop output value and on the position set point value object 60C1h 1h the filter constants are respectively on the objects 5307h 5308h and 5309h All those filters are based on the same principle and they are independent from each other These filters could be used to remove a mechanical resonating frequency allowing improve the quality of the speed loop they could be used as jerk limiting especially in the interpolated profile mode giving the ability to increase the interpolation time without weakening the output profile they could be used to reduce the noise on the output shaft when driven from a master encoder As counterpart beware of the time delay introduced by 34 Iw Motors gt With Integrated Servodr 42 some filters e g the low pass if it is applied on the position demand value it could yield a bigger following error when speed is different than zero especially in the acceleration deceleration stage The generic 2 order filter in the Z domain letting U z the inp
66. e ID equal to 1 and baud rate equal to 125kbps Master could switch the slave to configuration mode with the switch mode global command Request Master Slave The Tw Motor support also the switch mode selective see 2 Tw Motors With Integrated Servodnve A non standard command that find appliance only on Tw Motor is the switch mode selective with serial number This command let a network with all powered on and connected Tw Motor to switch to configuration mode one selected drive providing only his serial number Request Master Slave SES KS The response came only if desired slave exist and has switched to configuration mode Response Slave Master After a slave has switched to configuration mode the master could modify the node ID with the following command Request Master Slave node ID 01h to 7Fh Response Slave Master error code 0 means successful executing This command alter all COB ID that by default are in the form xxxh node ID COB ID of PDOs and of EMCY but only if they have still the default value To configure the baud rate the following command is to be used Request Master Slave speed idx see Table 3 Response Slave Master error code 0 means successful executing 10 Tw Motors With Integrated Servoanve Speed idx 1000 kbps Oo O 800 kbps 100 kbps 5 50kbps Io Table 3 Baud rates
67. e Tw Motor uses also a subset of the CA DSP402 which standardizes the objects necessary for the digital motion controller 1 1 Notation In this manual all references from CiA standards are adapted to the specific Tw drives These does not includes features not implemented on the Tw drives All COBs are expressed in a structured table including the COB ID where the length of the COB depends on how many bytes Bx are represented All objects are articulated is in the form index sub index e g 1018h 2h means index 1018h sub index 2h If only index is specified then it means reference to the complete RECORD or ARRAY object refer to 2 2 All numerical data expressed inside a COB are always reordered starting from the least significant octet refer to 2 3 2 CANopen protocol DS301 The CANopen protocol is one of the most common CAN protocols Since 1995 the CANopen specification is handed over to CAN in Automation CiA international users and manufacturers group The European standardization authorities With Integrated S VOUDVE d have accepted the CANopen Device Specification version 4 01 as EN 50325 4 The main concept of CANopen is based on use of an object dictionary basically device s variables parameters etc This dictionary gathers data related to the communication and the application To access to these objects two methods are used SDO amp PDO SDO mean Service Data Object and is a confirmed way to exchange data of t
68. e equal for the request and the response COB bit 3 0 reserved always 0 This is the sequence of the object upload Initialization upload request Master Slave SS E MN NECEM MNENN NM MN M If the transfer could be done the server acknowledge the initialization phase Initialization upload response Slave Master Data size this is the overall size in bytes of the object to be uploaded Then the object upload begin with a series of a segments 12 un Segment upload request Master Slave B1 B2 B3 B4 B5 B7 client cmd bit 7 5 segment upload request equal to 3 bit 4 toggle bit this bit must alternate for each subsequent segment that is uploaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response COB bit 3 0 reserved always 0 Segment upload response Slave Master 580h node ID segment data server cmd bit 7 5 segment upload response equal to 0 bit 4 toggle bit this bit must alternate for each subsequent segment that is uploaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response COB bit 3 1 indicates the number of bytes in segment data that do not contain data Bytes 8 n 7 do not contain data bit 0 indicates whether there are still more segments to be uploaded 0 means more segment to be uploaded 1 means no more segments this is the last segment
69. e inhibit time for the TPDOs Here the mappings of all PDOs necessary for this application RPDO 1 EE IM NEN 6040h 0h RPDO 2 30Eh 607Ah 0h 6081h 0h TPDO 1 18Eh 6041h 0h 60F4h 0h For the RPDO 1 we can keep the factory setting it contains just the controlword and has the right transmission type 73 Iw Motors IN With Integrated Servo For the RPDO 2 configuration first we have to disable it C000 030Eh 1401h 1h Then we set the asynchronous transmission type 255 FFh 1401h 2h Now we have to change the mapping 607A 0020h 1601h 1h 6081 0020h 1601h 2h and then write the number of parameters mapped in the PDO 02h 1601h 0h Finally we re enable the RPDO 4000 030Eh 1401h 1h We can leave the RPDO 3 and 4 enabled or disabled as we will never use them As before this is the sequence for TPDO 1 C000 018Eh 1800h 1h FFh 1800h 2h Here we have to specify also the inhibit time we suppose that we do not want more than 10 feedback PDO per second then inhibit time will be 100ms that is 1000 x 100us O3E8h 1800h 3h 6041 0010h 1A00h 1h 60F4 0020h gt 1A00h 2h 02h 1A00h 0h 4000 018Eh 1800h 1h Finally we will disable TPDO 2 3 and 4 that by default are enabled C000 028Eh 1801h 1h C000 038Eh 1802h 1h C000 048Eh 1803h 1h We have still to choose our default application at start up that is the Profile Position Mode 83 3 01h
70. e trajectory generator and thus neglecting all velocity and acceleration limitations Optionally the set points could be iterated across a 2 order digital filter see 4 7 X computed points 2 t 60C1h must always falls between the boundary User has to take care about wrapping this object For further information refer to 4 1 il WARNING when the Enable rotary axis flag object 5380h 0h is enabled the position set point object 25 Tw Motors With Integrated Servoanve IN set point SYNC EL NEN QE MN ip sync A A A esas position interpolation time period Figure 6 Interpolation with ip sync every 2 SYNC This mode is driven by specific bits of the controlword and the statusword as follow Command Controlword Enable ip mode Enable movement of the axes Halt XXXX XXX1 XXXX XXXX Stop the motor with the profile deceleration depend from the object 605Dh 0h For complete reference look at controlword object 6040h 0h Table 19 Interpolated position commands Statusword Target Reached XXXX X1XX XXXX XXXX The target position is reached or if an halt command is issued the velocity of the motor is zero lp mode active XXX1 XXXX XXXX XXXX Axes movement active For complete reference look at statusword object 604 1h 0h Table 20 Interpolated position status To have an accurate start up condition it is suggested to map the controlword object 6040h 0h in one sync P
71. econd is the real transfer of it In order to enable the drive to receive the firmware the user has to download the string PmcS or the 32 bit number 5363 6D50h in the object SEFOh Oh After about 100ms the driver will enter in the firmware download wait status signaled by all leds blinking simultaneously Now the user has to download the complete SRE file in the object 1F50h 1h When download is successfully completed the drive wills bootup and after about 1 5 seconds it will send the bootup message see 82 9 If a communication error SDO abort occurs during firmware download it is necessary to start again the download of the SRE file in this case the drive will remain in the firmware download wait status If the download is successfully completed but the drive remain in the firmware download wait status means that the drive does not support the downloaded firmware in this case please contact the technical service 38 Abort code Description 0503 0000h SDO toggle bit not alternated during segmented transfer 0504 0000h SDO protocol timed out 0504 0001h SDO client server command specifier not valid or unknown 0601 0000h Unsupported SDO access 0602 0000h Object does not exist in the object dictionary 0604 0043h Corrupted SRE file 0606 0000h Access failed due to a hardware error of the internal flash Table 32 Firmware download abort code 5 ObjectDictionary Reference The complete Tw Motor object dictionary
72. ects from the drive as signed integer useful only with absolute multi turn encoder This setting affects only those object that has the unit as position Factor Group Refer to 84 1 Bits not shown here are all reserved for future enhancements keep it to zero T1 Tw Motors With Integrated S SCH IVE 5 3 40 5EFOh 0h Firmware download activation flag Object 5EF0h 0h Firmware download activation flag This object enable the firmware download on the Tw Motor Look at 84 9 for the complete procedure 5 3 41 1F50h 1h Firmware download storage Object 1F50h 1h Firmware download storage Object Code Data Type visible_string see text below no S O Default value no PDO mappable NV storage This is the object on which the complete firmware has to be downloaded This object is invisible until firmware download is activated Look at 4 9 for the complete procedure 6 Beginner s Tips This section would give to the reader some useful tips and practical examples on the programming basic steps from a factory default configuration to the user application It would be a practical introduction to the CiA standards and Tw Motor view from the CAN bus interface level User should send the below described COBs on the network via any CAN diagnostic tools such as the Phase Motion Control s CANdiagno and CanPC S1 interface refer to 5 6 1 Basic communication settings In order to create a network o
73. egrated Servodnve The low pass filter transfer function in the continuous time domain is expressed as 2 o F s _ 5 2 5 S 20S Ok Bode Diagrams where o rd is the cut off frequency and is the PEOR EE damping factor making the discretization with the bilinear transformation the constants to be submitted are B E n Ba 4 4 0 Ts Tea T 100 a 2T gt z uds 4 a T TiO ib cg 2 2 ao a ls 2o 2 d eium 4 40 Ts Toy 7 21 en 8 ue 107 Ek 10 4 4 0 T Ta Frequency rad sec 8 4 4 EO p d E oi The blue diagrams are referred to the continuos time domain 2 4t Aca T T2 o The green diagrams are referred to the discrete time domain Low pass at o 1885 rad s Z 0 6 In the above filters T is the sample time period that is related on how many times per second the filter is iterated it is associated to the object the filter applies refer to the respective filter constants objects As example we calculate a low pass filter with 1885 rad s 300 Hz and 0 6 with 7 250us it yields the following constants a 0 04148 340 0154h a 0 08297 680 02A8h a 0 04148 340 0154h b 1 41151 11563 2D2Bh b 0 57745 gt 4731 ED85h For further information refer to Appendix A to 3 5 and to 84 5 37 iw Motors With Integrated Servodr 4 8 Motor Led Behaviour The Tw Motor is equipped with two couples of leds which i
74. ers by mistake storage is only executed when a specific signature is written to the appropriate sub Index The signature is the string save or the 32 bit number 6576 6173h On read the drive provides information about its storage functionality in this case storage is executed only on command not autonomously It is possible to store a configuration version in the object 5312h O0h 5 1 10 1011h Restore Default Parameters Object 101ih Restore Default Parameters Object Code Data Type unsigned32 With this object the default values of parameters according to the communication or device profile are restored Sub index 0h Large sub index supported Data type Write override Default value PDO mappable no The large sub index supported for this object in this case 1 Sub index 1h fjRestorealldefauts 0 0 This command let the drive restore all parameters to the factory settings In order to avoid restore of parameters by mistake restore is only executed when a specific signature is written to the appropriate sub Index The signature is the string load or the 32 bit number 6461 6F6Ch This command have to be completed by issuing a reset command 2 9 5 1 11 1014h 0h COB ID Emergency Object Object 1014h 0h COB ID Emergency Object Object Code Data Type unsigned32 Default value 0000 0080h node ID PDO mappable NV storage Defines t
75. et Reached 9123h 0h Speed Profile 5120h 0h Pd Le 9121h 0h 5122h 0h Figure 11 Control loop performance measurements 4 6 Auxiliary digital input This 24V digital input has three different and standalone functions that could also be used together The first is to provide an external and CAN independent emergency action that could be an immediate power disable or a quick stop and power disable functions By default this option is disabled that means ignore the input If enabled the emergency action is activated on 24V power loss so on behalf of normal operation the 24V on the input must be applied This function is controlled by object 5300h 0h For further information refer to 3 2 The second function could be used to sample some internal parameters on rising or falling of the digital input with accuracy up to 125us e g to get the position actual value when an external switch is activated In order to enable this feature one TPDO has to be chosen e g 5 then filled up with one or more parameters to be sampled The communication parameters have to be as in the table PDO TPDO 5 COB ID 4000 Oxxxh Type 1 synchronous cyclic or 254 asynchronous on event O o Inhibit time Write in the object 530Ah 0h the number of TPDO chosen in our example the value 5 and the configuration is done When the drive detect state transition rising or falling depending on object 5380h 0h bit 5 on the digital input it sampl
76. evice overtemperature threshold Object 5304h 0h Device overtemperature threshold 1 0 The Device overtemperature threshold could be decreased from the maximum default value of 100 C this is the threshold that generates the Device overtemperature fault For further information look at 2 8 and object 5101h O0h 5 3 25 5305h 0h Motor blocked threshold Object 5305h0h Motor blockedthreshold 1 Object Code var DalaTyp unsigned32 1 0 1 Memes M tri ng T PDOmappabe no NVsteage ye This object establish the maximum acceptable following error in all applications above this value the drive assume that the motor could be blocked and then a Motor blocked following error overlimit fault is generated For further information look at 2 8 5 3 26 5306h 0h DC link circuit overvoltage max delta threshold Object 5306h 0h DC link circuit overvoltage maxdeltathreshod In case of lower DC link capacity and no braking unit it could happen that the DC link rise so fast that when it cross the overvoltage threshold it stop rising at higher voltage to prevent damages from this situation Tw Motor monitor the DC link every GZ bus if the difference between two consecutive sample is more than this parameter a DC link rising too fast fault is generated For further information look at 2 8
77. f CANopen devices user has to choose first the CAN baud rate one chosen from Table 3 that defines the communication speed and then the performance of the network Faster speed means higher data rate throughput quantity of data carried per time period but also shorter overall bus length and less reliability in a high noise environment The recommendations for the overall bus length are approximately 30m at 1000kbps 100m at 500kbps 250m at 250kbps and 500m at 125kbps for more information refer to 4 In a CANopen network each device must belongs to an unique node ID in order to uniquely access to any node on the network then user has to assign node ID to each device that will be connected on the network Those settings have to be done physically connecting one device to the CAN master per time in order to keep coherency on the CAN bus if two devices has different baud rate all the network will be unusable if two devices has the same node ID it is not possible to distinguish between two Then via LSS 82 4 user stores the chosen baud rate and node ID on each node As example this is the sequence of LSS commands to send on the network to set up a node for 500kbps and node ID 14 OEh Switch to configuration mode Set node ID oEh reserved node ID 72 Tw Motors With Integrated Serve Set baud rate S Store configuration Switch to normal operation mode This sequence should be repeated for all
78. get position is treated as an signed increment of the present target position Symmetrically around the target position a window object 6067h 0h is defined for the accepted position range that is target positiontposition window lf a drive is situated object 6064h 0h in the accepted position range over the time position window time object 6068h 0h the Target Reached bit is set A following error window object 6065h 0h is defined for the accepted following error tolerance If the modulus of the following error actual value object 60F4h 0h is greater than the following error window for more than following error time out time object 6066h 0h then the Following Error bit is set Refer to 6 2 and to 86 3 for examples on profile position mode 60F4h 0h Following error actual value Table 15 Profile Position Mode related objects 6086h 0h Motion profile type 3 4 Profile Velocity Mode A target velocity object GOFFh Oh is applied to the trajectory generator it generates a velocity demand value object 606Bh 0h that is feed as reference speed to the internal speed loop These two function blocks are controlled by individual parameter set The trajectory generator support only linear ramp trapezoidal profile with separate parameters for acceleration object 6083h 0h and deceleration object 6084h 0h This mode is driven by specific bits of the controlword and the statusword as follow Controlword Stop the motor wit
79. gments there is an initialization phase where client and server prepare themselves for transferring the segments This is the sequence of the object download 11 Tw Motors With Integrated Servodnve Initialization download request Master Slave B1 B2 B3 B4 B5 B7 data size this is the overall size in bytes of the object to be downloaded If the transfer could be done the server acknowledge the initialization phase Initialization download response Slave Master Then the object download begin with a series of a segments Segment download request Master Slave 600h node ID segment data client cmd bit 7 5 segment download request equal to 0 bit 4 toggle bit this bit must alternate for each subsequent segment that is downloaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response COB bit 3 1 indicates the number of bytes in segment data that do not contain data Bytes 8 n 7 do not contain data bit 0 indicates whether there are still more segments to be downloaded 0 means more segment to be downloaded 1 means no more segments this is the last segment Segment download response Slave Master server cmd bit 7 5 segment download response equal to 1 bit 4 toggle bit this bit must alternate for each subsequent segment that is downloaded The first segment will have the toggle bit set to 0 The toggle bit will b
80. h the profile deceleration depend from the object 605Dh 0h For complete reference look at controlword object 6040h 0h Table 16 Profile velocity commands 24 Tw Motors With Integrated Serve Statusword Description Target Reached XXXX X1XX XXXX XXXX The target velocity is reached see object 606Dh Oh and object 6O6Eh 0h or if an halt command is issued the velocity of the motor is zero The speed is equal to zero see object 606Fh 0h and object 6070h 0h For complete reference look at statusword object 6041h 0h Table 17 Profile velocity status The Target Reached bit is set when the modulus difference between the velocity demand value and the velocity actual value object 606Ch Oh is within the velocity window object 606Dh Oh longer than the velocity window time object 606Eh 0h The Speed bit is reset as soon as the velocity actual value exceeds the velocity threshold object 606Fh 0h longer than the velocity threshold time object 6070h 0h Below this threshold the bit is set and indicates that the axle is stationary Refer to 6 2 and to 86 3 for examples on profile velocity mode 6040h 0h Controlword 6041h 0h Statusword 605Dh 0h Halt option code 6083h 0h Profile acceleration 6084h 0h Profile deceleration 6069h 0h Velocity sensor actual value 606Bh 0h Velocity demand value 606Ch 0h Velocity actual value 606Dh 0h Velocity window 606Eh 0h Velocity window time 606Fh 0h Velocity threshold 6070h
81. he COB ID and the state enabled disabled of the RPDO Bits 0 10 define the COB ID bit 31 defines if the PDO is enabled equal to 0 or if it is disabled equal to 1 bit 30 should be leaved 1 while bits 11 29 should be leaved O COB ID have to be defined between 181h and 57Fh MSB LSB Figure 17 Structure of RPDO s COB ID Sub index 2h Transmission type 0 This field defines the transmission type of RPDO and then when received data should be used Transmission type oO ooo KK p 1 240 Co X Eoo X o o ENEE fk For further information on RPDOs refer to 2 6 to the below chapter for mapping and to 6 2 for examples 5 1 16 1600h Receive PDO Mapping Parameter Object 1600h 9 Receive PDO Mapping Parameter Object Code Data Type unsigned32 43 Tw Motors un With Integrated Servi The purpose of this data structure is to define the data mapping for all RPDO for each RPDO exist one object the object index range from 1600h RPDO 1 to 1607h RPDO 8 Prior to any modification of the following parameters the desired PDO have to be disabled by setting to 1 the bit 31 of the COB ID Sub index hb Number of object mapped This parameter determines the valid number of objects that have been mapped For changing the PDO mapping first the PDO has to be deleted this parameter has to be set to 0 mapping is deactivated Then the objects can be
82. he COB ID of the EMCY 2 8 Bits 0 10 define the COB ID bit 31 defines if the EMCY is enabled equal to 0 or if it is disabled equal to 1 bits 11 30 should be leaved 0 41 Tw Motors With Integrated Servounve MSB LSB Unused 20 bit should be 0 Figure 15 Structure of COB ID Emergency Message 5 1 12 1015h 0h Inhibit Time of Emergency Object Object 1 1 1 1 1015h0h Inhibit Time of Emergency Object Object Code var DalaTyp X Qqunsgnedi 0 0 0 Access fw Ct Write ET operational em Um oet a yes The inhibit time for the EMCY 82 8 can be adjusted via this entry To guarantee that no starvation on the network occurs for data objects with low priorities data objects can be assigned an inhibit time this defines the minimum time that has to elapse between two consecutive invocations of a transmission service for that data object 5 1 13 1017h 0h Producer Heartbeat Time Unt me JDefaltvaue JO The producer heartbeat time defines the cycle time of the heartbeat for the Node Guarding Protocol 82 9 If 0 then it is disabled 5 1 14 1018h Identity Object Object 1018h Identity Object Object Code Data Type unsigned32 The object at index 1018h contains general information about the device Sub index 0Oh jNumberofenties 0 0 0 Subinde 1h Vendor ID Mess fro Wit overrides ma Uit Defauit value fm
83. he object dictionary between master and slave Usually a slave device is an SDO server this mean that it could answer to a query originated by an SDO client typically the master device of the network Usually this protocol is used to configure the internal parameters of the device in the Tw Motor it is used also to upgrade the firmware wherever necessary The confirmed nature of this protocol generate a large amount of traffic on the CAN bus making it unsuitable for high speed real time communication The PDO Process Data Object is an unconfirmed way and extremely configurable protocol to exchange high speed real time data maximizing advantages of the CAN architecture The transfer of PDOs is performed with no protocol overhead The PDOs correspond to entries in the device Object Dictionary and provide the interface to the application objects Data type and mapping of application objects into a PDO is determined by a corresponding PDO mapping structure within the Device Object Dictionary Basically a PDO could be asynchronous means that the transmission is triggered on a specific event or is remotely requested or synchronous means that the transmission is synchronized with the Synchronization Object The SYNC producer typically the master broadcasts the Synchronization Object periodically This SYNC provides the basic network clock There can be a time jitter in transmission by the SYNC producer corresponding approximately to the latency due to s
84. ines a standard device This standard device represents really basic functionality every device within this device class must support This mandatory functionality is necessary to ensure that at least simple non manufacturer specific operation of a device is possible For example the standard drive unit provides a Quick stop function to stop a drive This function is defined as mandatory such that any drive unit supporting the CANopen Device Profile for Drives and Motion Control can be halted using the same message 3 1 Architecture of the drive The basic architecture is composed of two main modules e Device Control the state machine executes the starting and stopping of the drive and several mode specific commands e Modes of Operation The operation mode defines the behavior of the drive The following modes are defined in this profile 1 Profile position mode The positioning of the drive is defined in this mode Speed position and acceleration can be limited and profiled moves using a Trajectory Generator are possible as well 2 Profile velocity mode The Profile Velocity Mode is used to control the velocity of the drive with no special regard of the position It supplies Trajectory Generation 3 Interpolated position mode This mode allow the time interpolation of single axes and the spatial interpolation of coordinated axes 4 Torque mode The user could drive the motor feeding torque reference current reference please note th
85. interpolated position mode only for the position demand value Every new target position or position set point is verified and trimmed to remain between those limits It affects the Internal limit active bit in the Statusword object 604 1h Those limits could be deactivated acting on bit 7 of the object 5380h 0h 53 A Sub index Oh Number of entries unsigned8 Unit n a Default value E Subinde 1h X Minp Data type integer32 Access dw ite override fm position Factor group Default value 2147483648 PDO mappable NV storage Subinde h Mex position limit Data type integer32 yes For further information look at 3 3 and at 83 5 5 2 26 6081h 0h Profile velocity Memes me I Mesi e E The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion For further information look at 3 3 5 2 27 6082h 0h End velocity Hee Miseni He Unit _ velocity Factor group Defautvales QT yes The end velocity defines the velocity which the drive must have on reaching the target position Normally the drive stops at the target position i e the end velocity 0 For further information look at 3 3 5 2 28 6083h 0h Profile acceleration deese tv e e T The profile acceleration is given in user defined acceleration units For further information look at 3 3 and at 83 4
86. ion by RTR COB Examples Predefined RPDO 23 with control word 16 bit and target position 32 bit 400h node ID 6040h 0h 607Ah 0h Predefined TPDO 2 with status word 16 bit and mode of operation display 8 bit 280h node ID 6041h 0h 6061h 0h In the Tw Motor it is possible to change the COB ID independently from the node ID the data mapping for all PDOs and specify an inhibit time valid only for asynchronous TPDOs that defines the minimum time that has to elapse between two consecutive invocations of a transmission service for that TPDO In addition the Tw Motor provide an aux input triggered TPDO refer to 4 6 For all PDOs configuration there are specific entries in the object dictionary 1400h and 1600h for RPDOs 1800h and 1A00h for TPDOs Refer to 6 2 for examples on how to fully configure PDOs For further details please refer to 1 2 7 SYNC The Synchronization Object does not carry any data and is unconfirmed service Sync COB broadcast COB ID 080h This object trigger the internal parameters exchange to and from all synchronous PDO buffers Tw Motor also use the SYNC object to synchronize his internal machine cycle with that of the Synchronization Object producer but only if the SYNC cycle time is multiple of 250us also the time tolerance should be below 5us the maximum recommended cycle time is 25ms In addition it is suggested that the master start generating the SYNC object at le
87. is parameter switches the operation mode The possible values are 6 e jHomngmode 4 O Interpolated position mode Rotary table control A read of modes of operation shows only the value of the parameter The present mode of the drive is reflected in the object modes of operation display object 6061h 0h 49 Tw Motors II With Integrated Servounve For further information look at 3 2 5 2 13 6061h 0h Modes of operation display Modes of operation display _ Object Code vr Daah Irene lunt ma Defutvaue 1 The modes of operation display shows the current mode of operation The meaning of the returned value corresponds to that of the modes of operation option code object 6060h 0h For further information look at 3 2 5 2 14 6089h 0h Position notation index Unt ns jDefautvalue JO This is the magnitude of the position p u for example micro u is 10 milli m is 10 unit is 10 kilo k is 10 mega M is 10 For further information look at 3 7 5 2 15 608Ah 0h Position dimension index 608Ah Oh Objet E Data Type unsigned8 access Im Wit verdes oprto This is the chosen position p u The possible values are For further information look at 3 7 5 2 16 608Bh 0h Velocity notation index ees w Wits over opeeoni
88. l time operation This communication channel is used to interchange real time data like set points or present values like a position actual value e g The two principal advantages of the profile approach for device specification are in the areas of system integration and device standardization If two independent device manufacturers design products that have to communicate then both manufacturers must be provided with a device specification from the other one These specifications will widely differ in formal and terminological 19 Tw Motors With Integrated Servoanve aspects from one company to another The concept of device profiling provides a standard for producing such specifications By adopting this approach all manufacturers will specify their devices in a similar fashion what greatly reduces the effort involved in system integration The other obvious advantage of the profile approach for device specification is that it can be used to guide manufacturers into producing standardized devices The advantages of standardized devices are numerous Perhaps most important is the idea that a standardized device decouples a system integrator from a specific supplier If one supplier cannot meet special application demands a system designer can use devices from another supplier with reduced effort On the other hand the device manufacturers are not forced any more to implement private protocols for each customer A device profile def
89. mand free to rotate Execute the appropriate fault reaction see object 605Eh 0h if non fatal fault see Table 6 AEN free to rotate Fault Reset in the command word has to be cleared by the host according to the object 605Ah 0h Table 10 State transition Disable Operation Enable Operation Fault Reset For complete reference look at controlword object 6040h 0h Table 11 Commands in the controlword The drive functions depend from the selected mode of operation object 6060h 0h that could be checked reading the mode of operation display object 6061h 0h this selection also modifies the behaviour of some bits of the controlword and the statusword The specific drive function is executed only when the drive status is Operation Enabled Refer to 86 2 and to 86 3 for examples on how to use the controlword 6040h 0h Controlword 6041h 0h Statusword 605Bh 0h Shutdown option code 605Ch 0h Disable operation option code 605Ah 0h Quick stop option code 605Eh 0h Fault reaction option code 22 Tw Motors With Integrated Servounve 6060h 0h Modes of operation 6061h 0h Modes of operation display 6085h 0h Quick stop deceleration Table 12 Device Control related objects 3 3 Profile Position Mode A target position object 607Ah 0h is applied to the trajectory generator it generates a position demand value object 6062h 0h that is feed as reference position to the internal speed loop These two fu
90. matical relations between d u and radians at motor output shaft and reverse equations 1 6 d u 65536 6 rad orad 27 gau 27 65536 65536 1 4g rad 1__ gt 4000 65536 1 40007 ee a EE AGS 41 92 uy o d u A000 Dx ol eel ol 62 2x 55596 e d u where 0 and o are respectively angular position speed and acceleration All computations are made using d u those three are all expressed as signed 32 bit integer value Refer to 4 1 on how those relations are computed When user choose a p u set to express those values the conversion between user defined units and du is made at the communication interface level this mean that internally all values are still stored and computed using d u also due to the unavoidable approximation the value read from an object could slightly differ from the value written Still the number format is signed 32 bit integer If it is essential for user application the signed position value refer to Enable signed position flag S4 1 The conversion of the units is made through a time optimized algorithm yielding it suitable both for SDO 82 5 and PDO 82 6 The conversion factor is computed using 32 bit floating point constants and variables giving the computation in the form y k x then k is converted in a mantissa exponent form k m 2 where 1 m x 0 5 this value is converted to a 24 bit constant all those computations are done offline In the real time computation the 32 bit inp
91. n look at 3 3 56 Tw Motors With Integrated Servodnve 5 2 39 6066h 0h Following error time out 6066h 0h Following error time out Object Code Data Type unsigned16 PMO When a following error occurs longer than the defined value of the time out the corresponding bit 13 following error in the statusword will be set to one For further information look at 3 3 5 2 40 6067h 0h Position window Object Code Data Type integer32 Unit position Factor group Default value 256 0 025 rad PDO mappable NV storage yes The position window defines a symmetrical range of accepted positions relatively to the target position target position position window target position position window If the present value of the position encoder is within the position window this target position is regarded as reached For further information look at 3 3 5 2 41 6068h 0h Position window time Object 6068h 0h Position window time Object Code Data Type unsigned16 Write override mo ms Default value When the present position is within the position window during the defined position window time the corresponding bit 10 target reached in the statusword will be set to one For further information look at 3 3 5 2 42 60F4h 0h Following error actual value Object 60F4h 0h Following error actual value Object Code Data Type integer32 position Factor group Default value PDO mappable NV storage
92. nction blocks are controlled by individual parameter set The trajectory generator support only linear ramp trapezoidal profile with separate parameters for acceleration object 6083h 0h and deceleration object 6084h 0h velocity profile object 6081h 0h and optional non zero end velocity the speed the motor has on reaching target position object 6082h 0h All those parameters could also be changed during positioning the trajectory generator will always follows the new rules for example if you change velocity profile parameter the drive will reach the new speed using the profile acceleration or deceleration This mode is driven by specific bits of the controlword and the statusword as follow Controlword New Set Point Assume new target position Change Set Immediately XXXX XXXX XXX XXXX If O the new positioning is started after finish of the current positioning if 1 the new positioning interrupt the current positioning Abs rel XXXX XXXX XXX XXXX If O the target position is an absolute value if 1 is a relative value incremental Halt XXXX XXX1 XXXX XXXX Stop the motor with the profile deceleration depend from the object 605Dh 0h on reset resume the interrupted positioning For complete reference look at controlword object 6040h 0h Table 13 Profile position commands Statusword Description Target Reached XXXX X1XX XXXX XXXX The target position is reached see object 6067h 0h and object 6068h 0h or if an halt comman
93. ndicate the motor status leds on the upper and lower side of the motor give redundant information I d d L I SUAM d d d F 2 NO A 1E Ki A r D Q B Figure 12 Leds identification Motor Status Blinking Power supply Ok Power output disabled On Blinking Power supply Ok Power output enabled Blinking alternately Fault condition Blinking simultaneously Waiting for firmware download due to Firmware download activation or wrong firmware CRC check Two fast blink Low DC link circuit voltage refer to 4 On one side Off both side Flash memory corrupted contact technical service Table 31 Leds behaviour 4 9 Firmware upgrade At regular intervals on the Phase Motion Control web site is released a firmware upgrade that could includes new functions and generic enhancements The firmware download could be done completely via SDO master CANopen PC with Cockpit 6 PC with CANopen configuration tool PLC etc and without disconnecting the drive from the network Due to the internal hardware limitation after the upgrade all stored parameters will be lost but the baud rate and the node ID The flash programming is done on the fly during download this means that after beginning of the download the operation have to be successfully completed in order to get again the drive working The firmware upgrade has to be done in two steps the first enable the drive to receive the firmware the s
94. nsigned32 mn n a Default value PDO mappable NV storage A drive can support more than one and several distinct modes of operation This object gives an overview of the implemented operating modes in the device In the Tw Motor this is equal to 0000 0065h this means that are supported profile position 3 3 profile velocity 3 4 interpolated position 3 5 and homing mode 3 6 46 Tw Motors With Integrated Servodnve 5 2 4 6504h 0h Manufacturer Name Manufacturer Name Object Code var Data Types wsbestig o EE The manufacturer name 5 2 5 6040h 0h Controlword Object 6040h 0h Controlword Object Code var 1 Lab lune junsgnedi gt 10 Access fw Write override Ma Unite EE Defauit value fm The controlword contains the bits for controlling the state machine 3 2 and for controlling the specific operating mode LSB reserved 7 bit halt fault enable quick enable en reset oper stop volt Figure 20 Structure of controlword The O1 O2 O3 are operating mode specific bits Position profile Velocity profile Interpolated profile Rotary table start O2 change set reserved reserved reserved reserved absolute without immediately best route abs rel reserved reserved reserved reserved relative Table 33 Controlword operating mode specific bits The reserved bit are for future enhancements should be kept to O 5 2 6 6041h 0h Statusword
95. objects are listed here For each object there is a set of attributes as follow Kind of the object var is single value array is multiple value with same basic data type record is multiple value where data fields could be any data type combination Could be integer8 signed 8 bit integer16 signed 16 bit integer32 signed 32 bit unsigned8 unsigned16 unsigned32 visible string ASCII string without termination Access Read only ro write only wo or read write rw could be limited to read only depending on the state of the drive see the Write override attribute below Write override Some objects cannot be written when the NMT state machine is in operational state operational see 2 9 and or the output power is enabled power enabled see 83 2 NV storage If yes the object will be permanently stored in non volatile memory when the user issues the command on object 1010h 5 1 Communication objects Those are all implemented objects from the application layer and communication profile CIA DS301 V4 02 for further information on those objects refer to 1 5 1 1 1000h 0h Device Type 1000h 0h Device Type Object Code Data Type unsigned32 ma n a Default value 0002 0192h PDO mappable NV storage Describes the type of device and its functionality It is composed of a 16 bit LSB field which describes the device profile that is used and a second 16 bit MSB field which gives additional information about opti
96. ome other COB being transmitted just before the SYNC In order to guarantee timely access to the CAN bus the SYNC is given a very high priority identifier Emergency objects are triggered by the occurrence of a device internal error situation and are transmitted from an emergency producer typically the slave on the device Emergency objects are suitable for interrupt type error alerts The Network Management NMT is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services nodes are initialized started monitored reset or stopped All nodes are regarded as NMT slaves An NMT Slave is uniquely identified in the network by its node ID a value in the range of 1 127 NMT requires that one device in the network fulfils the function of the NMT Master LSS Layer Setting Service offers the possibility to inquire and change the settings of certain parameters of the local layers on a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the CAN bus The following parameters can be inquired and or changed by the use of LSS e Node ID of the CANopen Slave e Bittiming parameters of the physical layer baud rate e LSS address Identity Object 1018h By using LSS a LSS Slave can be configured for a CANopen network without using any devices like DIP switches for setting the parameters Then the configuration can be stored on a non volatile memory
97. on of rotation is counterclockwise by subtracting from the target position the desired over travel Three possibilities exist for the rotary table positioning e Absolute with best route selection the drive compute the shortest route to reach the target by choosing clockwise or counterclockwise rotation e Absolute positioning the sign of the target index determines the rotation direction e Relative positioning the signed target index is added to actual target and wrapped if necessary the sign determines the rotation direction i WARNING In order to use this profile the Rotary axis mode 84 1 must be enabled This mode is driven by specific bits of the controlword and the statusword as follow Controlword Absolute best route Absolute positioning with best route Absolute positioning Absolute positioning without best route Relative positioning Relative positioning Halt XXXX XXX1 XXXX XXXX Stop the motor with the profile deceleration depend from the object 605Dh 0h on reset resume the interrupted positioning For complete reference look at controlword object 6040h 0h Table 28 Rotary table commands Statusword Something prevent the positioning see in the following text Target Reached XXXX X1XX XXXX XXXX The target position is reached see object 6067h 0h and object 6068h 0h or if an halt command is issued the velocity of the motor is zero Set Point Acknowledge Trajectory generator has assumed the new target index Fo
98. onal functionality of the device In this case the device profile is 402 0192h and the additional information indicate that is a servo drive 0002h MSB LSB Additional information 16 bit Device profile type 16 bit Figure 13 Structure of Device Type 5 1 2 1001h 0h Error register Object 1001h 0h_ Error register Object Code Data Type Access Default value PDO mappable This object is an error register for the drive It is a part of the EMCY object S2 8 39 Tw Motors With Integrated Servodnve 5 1 3 1002h 0h Manufacturer Status Register Object 1002h0h Manufacturer Status Register This is the common status register specific for the manufacturer It is a part of the EMCY object 82 8 5 1 4 1005h 0h COB ID Sync Message Object 1005h 0h COB ID Sync Message Object Code Data Type unsigned32 rw Default value 0000 0080h PDO mappable Defines the COB ID of the Synchronization Object 2 7 Bits 0 10 define the COB ID bits 11 31 should be leaved 0 MSB LSB Unused 21 bit should be 0 COB ID 11 bit Figure 14 Structure of COB ID Sync Message 5 1 5 1008h 0h Manufacturer Device Name 1008h 0h Manufacturer Device Name Object Code Data Type visible_ string Access Write override Default value PDO mappable NV storage Contain the device code of the Tw Motor 5 1 6 100ARh 0h Manufacturer Software Version
99. other devices Subsequently user can connect all devices together on the network For further details please look at 2 4 and at 6 6 2 Configuring an application We will show two sample applications the first is a positioner with the necessity of changing the profile velocity dynamically between two consecutive positioning and following error monitoring the second is a speed controlled motor with dynamic torque limitation For both applications we will configure particular PDO 82 6 mapping specifically optimized for the function we need and some parameters Finally we suppose to deal with the node configured in the previous chapter the node ID 14 To make all needed configuration we have to access to the object dictionary using SDO 82 5 From here the notation xxxxh yyyyh zzh means download the value xxxxh in the object yyyyh zzh For the first application we have to deal with five parameters controlword object 6040h 0h target position object 607Ah 0h profile velocity object 6081h 0h statusword object 6041h 0h and following error actual value object 60F4h 0h The first three are parameters that the master has to send to the Tw Motor for proper operation the last two are monitoring parameters for the master As this is not a time critical application there is no need to use a synchronized PDO communication so all RPDOs and TPDOs will be asynchronous on event in order to avoid bus congestion we will specify also th
100. r complete reference look at statusword object 6041h 0h Table 29 Rotary table status Issuing the command immediately start the positioning this is signalled by the Set Point Acknowledge bit that remain active until user reset the command bits in the controlword Once started the positioning could be cancelled only using either halt or quick stop or device controls commands If the Warning bit is issued in place of the Set Point Acknowledge then some of the following reason prevent the positioning 32 Tw Motors With Integrated Servodnve e Rotary axis mode 84 1 is not enabled e The table positions array is either empty or has some entries outside the table dimension or NV storage is corrupted e The absolute target index is zero or above the number of entries in the table positions array Symmetrically around the target position a window object 6067h 0h is defined for the accepted position range that is target positiontposition window lf a drive is situated object 6064h 0h in the accepted position range over the time position window time object 6068h 0h the Target Reached bit is set 6040h 0h Controlword 6041h 0h Statusword 605Dh 0h Halt option code 6081h 0h Profile velocity 6083h 0h Profile acceleration 6084h 0h Profile deceleration 6067h 0h Position window 6068h 0h Position window time 5320h Table positions array 5321h 0h Table dimension Rotary axis dimension 5322h 0h Gear play compensation
101. r of entries that could be read from sub index 0 e all following download for every sub index but 1 are ignored and do not return any error Subinde 0h Number of entries ooo Access fro Wit veritas ma Unt ta LDepukuaiue Ju PDO mappable o NVstrage Access eile override __ operational power enabled _ done automatically during download For further information look at 4 4 5 3 35 5321h 0h Table dimension Rotary axis dimension Object _______ 8821h 0h__ Table dimension Rotary axis dimension 000000000 Access wit vert me O Uni __ position d u see Factor group Default value pno yes This object contain the dimension of the generic rotary axis used to wrap the position objects this is the same also for the rotary table control dimension The wrapping keep position objects between 0 and lt table dimension gt 1 power enabled and moving shaft Wait until the Rotary axis enabled bit in the statusword object 6041h 0h is set before using position objects as the drive could need some time to update his internal status il WARNING the values of this object could be written also during the normal drive working cycle thus with For further information look at 4 4 and to 84 1 5 3 36 5322h 0h Gear play compensation Object 5322h 0h Gear play compensation Object Code var Datta Type unsigned32 PMO Access ftw rite override position d u see Factor g
102. re involved acceleration deceleration velocity this object give a measure of the following error at the beginning of the deceleration ramp For further information look at Appendix A and at 84 5 5 8 16 5121h 0h Maximum overshoot from the end of the deceleration ramp Object 5121h 0h Maximum overshoot from the end of the deceleration ramp Object Code Data Type integer32 Access dle Wrteoveride fa position Factor group Default value PDO mappable NV storage In every task in which the trapezoidal profile parameters are involved acceleration deceleration velocity this object give a measure of the maximum overshoot maximum following error from the time in which the velocity demand is set to zero until the target bit reached is set For further information look at Appendix A and at 4 5 5 3 17 5122h 0h Position window entering time Object 5122h 0h__ Position window entering time Object Code Data Type unsigned32 Access fr Write overrides fa Default value PDO mappable yes NV storage In every task in which the trapezoidal profile parameters are involved acceleration deceleration velocity this object measure how much time is spent from the time in which the velocity demand is set to zero until the target bit reached is set For further information look at Appendix A and at 4 5 64 With Integrated S VOUDVE A 5 3 18 5123h 0h Overshoot at the end of the deceleration ramp Obje
103. remapped After all objects are mapped this parameter is to be written with the valid number of mapped objects Data type unsigned32 PDO mappable These entries describe the PDO contents by their index sub index and length The length entry contains the length of the object in bit 8 16 32 and has to match the object length This parameter is used to verify the overall mapping length MSB LSB Index 16 bit Figure 18 Structure of PDO Mapping Entry When a new object is mapped by writing a sub index between 1 and 8 the drive checks whether the object specified by index sub index exists If the object does not exist or the object cannot be mapped an abort SDO is issued If data types index 0002h 0007h are mapped they serve as dummy entries The corresponding data in the PDO is not evaluated by the device This optional feature is useful e g to transmit data to several devices using one PDO each device only using its own part of the PDO E g if the first 16 bit of a RPDO is to be discarded map the value 0003 0010h or 0006 0010h refer to Figure 18 on the first object Sub index 1 0005h UNSIGNED8 0006h UNSIGNED16 0007h UNSIGNED32 For further information on RPDOs refer to 2 6 and to 6 2 for examples 5 1 17 1800h Transmit PDO Communication Parameter Object 1800h Transmit PDO Communication Parameter Object Code Data Type The purpose of this data structure is to define the communication parameters for
104. roup Default value L PDO y magpabie NV storage This object define how much over travel has to be done to compensate the gearbox play when the Rotary table control mode is enabled The compensation is done only when the direction of rotation is counterclockwise by subtracting from the target position the gear play compensation value For further information look at 4 4 70 Object 5323h 0h Poto table target index EE Unit Default value MO PDO mappable tyes LNVatoage The target index for the Rotary table control It have to be between 1 and the number of positions in the Table positions array object 5320h with positive or negative sign It could be the absolute index on the rotary table that will be translated in a target position or a relative index that will be added to the current target index and wrapped to the number of positions of the Table positions array For further information look at 84 4 5 3 38 5330h 0h Application Zero Position Object 5330h0h Application Zero Position 1 Unit position Factor group Default value 0 yes This value is used during homing procedure to preset the position actual value to a value other than zero when home position is found For further information look at 3 6 5 3 39 5380h 0h Global option flags 5380h 0h Global option flags Object Code Data Type unsigned16 Access tw Write override Log PPO Default value 0000 0000 0000 0100
105. rther information look at Appendix A and at 84 7 5 3 11 5103h 0h Filtered velocity demand value Object 5103h 0h_ Filtered velocity demand value 1 o aos it over e This object represents the present velocity demand value output from the 2 order filter For further information look at Appendix A and at 4 7 5 3 12 5110h 0h SYNC statistics min time Object 5110h 0h SYNC statistics min time Object Code Data Type unsigned 16 Access odo Wrteoveride Default value PDO mappable This is the minimum recognized delta time in the last sampled period For further information look at 2 7 63 Tw Motors With Integrated SETVOUIVE 5 3 13 5111h 0h SYNC statistics max time Objet 111h 0h SYNC statistics max time Object Code v Le eer wsgnedi EE This is the maximum recognized delta time in the last sampled period For further information look at 2 7 5 83 14 5112h 0h SYNC statistics average time Hiert EUR SYNCstaisicsaveregetime a a ee Write override ow as Deua ne This is the average recognized delta time in the last sampled period For further information look at 2 7 5 3 15 5120h 0h Following error at maximum speed Obbec 5120h 0h___ Followingerroratmaximumspeed EE E Write override n a n a In every task in which the trapezoidal profile parameters a
106. rucial like flying cutting machine For ordinary positioning this value could be ignored In order to get faster positioning e g reducing the time the drive enter and stay in the position window three measurements are employed The overshoot at the end of the deceleration ramp object 5123h 0h give a measure of the position error at the time in which the motor theoretically should be in the target position reducing this error is a good starting point to reduce the positioning time The position window entering time object 5122h 0h tell how much time is spent from the end of the deceleration ramp until the position error remain stable inside the position window thus setting the target reached bit The maximum overshoot from the end of the deceleration ramp object 5121h 0h is the maximum value reached from the position error entering in the position window higher gain on the control loop could shift the system to the instability giving high values on this measurement and rising positioning time on the opposite end lower gain give a very stable but slow system giving low values on this measurement and again rising positioning time The average windings current object 5124h 0h tells if the long time machine cycle could lead in a overtemperature of the system this value should stay below the datasheet continuative current This measurement is done with a long time constant thus giving reliable values after long time running e g 1 hour Targ
107. teger16 operational power enabled Default value PDO mappable NV storage This determines what action should be taken if the Quick stop function is executed transition 11 The action could be one of the following 48 Tw Motors With Integrated S j Vt Slow down with quick stop ramp disable of the drive function Slow down with slow down ramp and stay in quick stop Slow down with quick stop ramp and stay in quick stop For further information look at 3 2 5 2 10 605Dh 0h Halt option code Object 605Dh 0h Halt option code Object Code Data Type integer16 operational power enabled Default value PDO mappable NV storage This determines what action should be taken if the bit 8 halt in the controlword is active The action could be one of the following Option code 0 lDisable drive motor is free to rotate Slow down with slow down ramp Slow down with quick stop ramp For further information look at 3 2 5 2 11 605Eh 0h Fault reaction option code Objet 605Eh 0h___ Faultreactionoptioncode sd Object Code Data Type Access rw Write override operational power enabled yes The parameter fault reaction option code determines what action should be taken if a non fault occurs in the drive The action could be one of the following O jDisabledrve motor is free to rotate o O For further information look at 3 2 5 2 12 6060h 0h Modes of operation Th
108. the drive will advance the motor from 65500 to 65535 wrap to 0 and finally reach the 30 turns target position reaching final position in 66 positive turns the 32 bit difference of those two numbers is 001E 0000h FFDC 0000h20042 0000h The same example fits for the multi turn encoder the drive will make the difference of the positions as they would be 28 bit numbers x01E 0000h xFDC 0000h20042 0000h The speed is calculated as difference between two consecutive reading of the position encoder 250us and then shifting into the MSB 16 bit to improve the quality of the speed loop The acceleration is simply computed as difference of the speed still every 250us 4 1 1 Rotary axis mode Enabling the Enable rotary axis flag bit 8 of the object 5380h 0h let the user to deal with an arbitrary sized rotary axis This mode affects all the position objects and works in all mode of operations When the actual position rises above the Table dimension Rotary axle dimension object 5321h 0h the value is automatically wrapped to zero and viceversa E g this mode is useful when using a rotating table with a gearbox ratio not power of 2 Please also note that e When rotary axis is enabled drive loose his absolute encoder feature the position become a virtual position and an homing cycle either manual or automatic is required to find the zero point at power up e The drive use the position actual value object 6064h 0h to check if wrapping has to be
109. the feedback quadrature current 5 3 5 5011h 0h Current direct feedback Object 501th 0h Currntdiretfeedback 10 0 0 0 0 0 E This is the feedback direct current 5 83 6 5012h 0h Current PID output quadrature Object 5012h 0h Current PID output quadrature Object Code Data Type integer16 Unit Default value PDO mappable NV storage 62 Tw Motors II With Integrated Servounve This is the output of the quadrature current loop 5 3 7 5013h 0h Current PID output direct Object 5013h 0h Current PID output direct Object Code var DalaTyp X jintegef 1 0 0 0 Access dlo Cd Write override oa Unit Defaultvalue Im This is the output of the direct current loop 5 8 8 5100h 0h Power section temperature Object _________ 8100h 0h__ Power section temperature 0 Unit Default value no n a For further information look at 82 8 and object 5303h 0h 5 89 9 5101h 0h Device temperature Object 510dh 0h Device temperature 1 0 0 0 0 0 For further information look at 82 8 and object 5304h 0h 5 3 10 5102h 0h Filtered position demand value Object 5102H 0h_ Filtered position demand value 1 1 1 Hee it overs h This object represents the present position demand value output from the 2 order filter For fu
110. the velocity measurement device For further information look at Appendix A 5 2 49 606Dh 0h Velocity window Object 606Dh 0h Velocity window Object Code var Datta Type unsigned32 Access tw Write overrides tm velocity Factor group Default value 1310720 7 67 rad s PDO mappable NV storage The velocity window monitors whether the required process velocity has been achieved after an eventual acceleration or deceleration braking stage looking for the actual velocity being between target velocity velocity window target velocity velocity window For further information look at 3 4 5 2 50 606Eh 0h Velocity window time Object 606Eh 0h Velocity window time Object Code Data Type unsigned16 Default value PDO mappable NV storage The corresponding bit 10 target reached is set in the statusword when the difference between the target velocity and the velocity actual value is within the velocity window longer than the velocity window time For further information look at 3 4 59 Tw Motors With Integrated Servodnve 5 2 51 606Fh 0h Velocity threshold Velocity threshold ObecCode vr Leger meg Access ae oe yes As soon as the velocity actual value exceeds the velocity threshold longer than the velocity threshold time bit 12 is reset in the statusword Below this threshold the bit is set and indicates that the axle is stationary For further information look at 3 4
111. this limit the drive ignores the MSB 4 bit of the given position By default uploading position objects from the drive will give those bits at zero always resulting as unsigned value between 0 and 268435455 OFFF FFFFh Enabling the Enable signed position flag bit 9 of the object 5380h 0h let the user to upload these values as signed this is done by sign extending the bit 27 of the position object now the possible position values are between 134217728 F800 0000h and 134217727 07FF FFFFh E g if the real position is 041A 0031h the bit 27 is zero and then the uploaded value is the same if the real position is OD1A 0031h the bit 27 is 30 Tw Motors OI ES All With Integrated Servi one and then the uploaded value is FD1A 0031h This flag works in the same way also with the Factor group 3 7 Note that the only position objects that are affected by this flag are those that in the object dictionary reference report exactly position Factor Group as unit of measure In both cases when position reach upper or lower boundary the drive automatically wrap the position to the opposite boundary The position error is calculated as 32 bit difference from the reference and feedback positions 28 bit in case of the multi turn encoder then drive choose fastest direction to reach the target position e g suppose that the present position is 65500 turns single turn encoder and the user feed a target position equal to 30 turns then
112. those operations are optional as Tw Motor support full parameters saving to internal non volatile storage and the requirement of SYNC depend from the specific application The state transition except the PRE OPERATIONAL to OPERATIONAL transition could trigger an Abort Connection event which the behaviour is defined by the object 6007h 0h State transitions are caused by reception of an NMT COB used for module control services or an hardware reset Power on or hardware reset Initialization Pre Pre operational Stopped Operational m 2 State diagram of a device At Power on the initialization state is entered autonomously 2 J lnitilization finished enter pre operational automatically Start remote node ae Sd Enter pre operational remote node Stop remote node 9 10 11 Reset remote node Reset communication of remote node Table 7 Trigger for state transition 18 Table 8 NMT states and defined communication objects 2 9 8 Error Control Protocols Through Error control services the NMT detects failures in the network Local faults in a node may lead to a reset or change of state Error Control services are achieved principally through periodically transmitting of COBs by a device There exist two possibilities to perform Error Control The guarding is achieved through transmitting guarding requests Node guarding protocol by the NMT Master If a NMT Slave has not responded within a defined span of time node
113. tion 400h node ID 6040h 0h G07Ah Oh RPDO 4 PDO 5 00 COB ID 4000 0500h node ID enabled 255 asynchronous Controlword Target velocity dica 6040h 0h 60FFh Oh PDO RPDO 5 COB ID C000 0000h disabled 255 asynchronous PDO RPDO s6 COB ID C000 0000h disabled 255 asynchronous PDO RPDO 7 COB ID C000 0000h disabled 255 asynchronous Tw Motors With Integrated Serve PDO RPDO 8 COB ID C000 0000h disabled 255 asynchronous RPDO from 5 to 8 have no default mapping parameters COB ID Type Inhibit Time Statusword 180h node ID 6041h 0h PDO TPDOf2 COB ID 4000 0280h node ID enabled Type 0 synchronous acyclic Inhibit Time Statusword Misi 280h node ID 6041h 0h op display 6061h 0h TPDO 1 4000 0180h node ID enabled 255 asynchronous PDO TP Ooe COB ID 4000 0380h node ID enabled 0 synchronous acyclic Inhibit Time Statusword Position actual value 380h node ID 6041h 0h 6064h Oh PDO J TPDOf4 COB ID 4000 0480h node ID enabled 0 synchronous acyclic Inhibit Time Statusword Velocity actual value 480h node ID 6041h 0h 606Ch Oh TPDO 5 PDO COB ID C000 0000h disabled 255 asynchronous Ot Inhibit Time TPDO 6 COB ID C000 0000h disabled 255 asynchronous o Inhibit Time PDO TPDO
114. tion encoder resolution defines the ratio of encoder increments per motor revolution encoder increments position encoder resolution motor revolutions Sub index hb Number of entries 0 0 00 0 0 Sub index Ob Encoderincements o 0 0 0 51 Tw Motors JN With Integrated Servodnve Sub index 2h Motor revolutions unsigned32 Unit n a Default value 1 n a For further information look at 3 7 5 2 21 6090h Velocity encoder resolution 6090h Velocity encoder resolution Object Code Data Type unsigned32 The velocity encoder resolution defines the ratio of encoder increments second per motor revolutions second increments second revolutions second Sub index 0h X Numberofenries 0 0 0 0 0 0 Sub index th Encoder increments per second Sub index 2h j Motorrevoluions per second o For further information look at 3 7 encoder velocity encoder resolution motor 5 2 22 6091h Gear ratio Object 6099h jGearrtio 1 0 0 0 000000 000 0 Object Code Data Type unsigned32 The gear ratio defines the ratio of feed in position units per driving shaft revolutions motor shaft revolutions ariving shaft revolutions Sub index 0Oh X Numberofenries 0 0 0 0
115. ts If the object does not exist or the object cannot be mapped an abort SDO is issued For further information on TPDOs refer to 2 6 and to 6 2 for examples 5 2 Profile specific objects Those are all implemented objects from the device profile drives and motion control CA DSP402 V2 0 for further information on those objects refer to 3 5 2 1 6007h 0h Abort connection option code Object 6007h 0h Abort connection option code Object Code var Datta Type EE operational power enabled Default value D PDO y magpabie n NV storage The content of this object selects the function to be performed when the connection to the network is lost CAN bus off CAN in error passive mode life guard error if active sync controller error or nmt state changed except the PRE OPERATIONAL to OPERATIONAL transition The action could be one of the following EE D Nation No action Issue a device control command Disable Voltage Issue a device control command Quick Stop For further information look at 2 8 and 83 2 5 2 2 603Fh 0h Error code Obect 603Fh 0h_ Error code 0 0 0 0 Unt a LDepukuaiue Ju The Error code captures the code of the last error that occurred in the drive It corresponds to the value of the first 16 bits of the EMCY object 82 8 5 2 8 6502h 0h Supported drive modes Object 6502h 0h Supported drive modes Object Code Data Type u
116. ul as modifying the values of this object with power enabled could yield in a loss of axle control i WARNING the values of this object could be written also during the normal drive working cycle thus with Sub index 0h X Number of entries 0 0 0 0 0 Subindec Ob b Data type Unit 108192 JjDefautvalue In Sub index EE Unit 08192 Deefauitvalue JO S Sub index Sh Sa Unit 1 70192 JDefautvalue In 68 Tw Motorsi With Integrated Servodnve Sub index 4h 81 integer16 Access dw QWrteoveride In O Unit 1 8192 Default value 0 yes Subindex S Data type integer16 Access o O olw Wrteoveride m0 1 8192 Default value 8192 PDO mappable NV storage For further information look at 3 5 and at 4 7 5 3 30 530Ah 0h Aux input triggered PDO number Object 530Ah 0h Aux input triggered PDO number Unt ns Defaultvalue Ju This parameter defines which TPDO is to be used as aux input triggered the possible values range from 1 to 8 0 disable this function For further information look at 2 6 and at 4 6 5 3 31 530Bh 0h SYNC statistics update time Access dw Write overrides Ing The sample period time the SYNC statistics variables are updated For further information look at 82 7 5 3 32 5311h 0h Hardware configuration Object 5311h 0h____ Har
117. ut signal and Y z the filtered signal is expressed as m mz m z ris E 2 n nz nz U z that becomes in the discrete time domain 1 yk m u K mu k rr mu k 2 ny k 1 n y k 2 0 where u k u k 1 and u k 2 are respectively the input value at present time at previous cycle and 2 cycle back and where y k y k 1 and y k 2 are respectively the output value at present time at previous cycle and 2 cycle l m n back for convenient calculation we assume a and b thus yielding n 0 0 y k ayu K au k 1 au k 2 by k 1 b y k 2 The drive executes only fixed point number calculation so those constants have to be adjusted to the internal representation by multiplying each constant per a equal to 8192 then those value have to be submitted by one complement s at 16 bit bringing in each constant in the range 4 0 4 0 Take care that the algebraic sum of all constants have to be equal to 8192 35 iw Motors With Integrated Servodr The notch filter transfer function in the continuous time domain is expressed as S 0 F s S t 6S t 0j Bode Diagrams where o rad is the resonance frequency and Z is From U 1 the damping factor greater the damping factor greater the damped band width making the discretization with the bilinear transformation the constants to be submitted are co Z a E 4 T20
118. ut value is integer multiplied by the 24 bit constant yielding an 48 bit result value the least significant 8 bit are truncated this value is shifted by e left or right depending from the sign and then 32 bit output value is taken This kind of conversion could yield an approximation that should be evaluated regarding the application but expected to be in the range of 127 multiplied the value and rounded to the lower integer that is greater than or equal the resulting value e g the approximation of the value 134200000 expressed in p u is calculated as 134200000x2 15 998 then the real value is 134200000716 p u The k computation includes encoder resolution gear ratio feed constant the selected pu and the magnitude The supported p u are both linear and rotational unit the unit could be specified separately for position speed and acceleration but all three must be in the same group linear rotational or d u The p u are specified with two parameters for each of position speed and acceleration dimension index and notation index the first define the kind of p u e g radians meters revolutions per minute etc the second define the desired magnitude in term of 10 e g if meters p u is chosen then mm is 10 m is 10 km is 10 etc 29 With Integrated 5 de A hy The relation between position internal units and user selected position p u is position encoder resolution gear ratio O d u PS feed
119. ways zero For complex Object Dictionary entries such as arrays or records with multiple data fields the sub index references fields within a data structure pointed to by the main index The fields accessed by the sub index can be composed of different data types All objects accessible in the Tw Motor are described in S5 2 3 Data Type Encoding Basic data types used for accessing the object dictionary are INTEGERS 8 bit signed integer INTEGER16 16 bit signed integer INTEGER32 32 bit signed integer UNSIGNEDS 8 bit unsigned integer UNSIGNED 16 16 bit unsigned integer UNSIGNED32 32 bit unsigned integer For transmission across a CAN bus a bit sequence is reordered into a sequence of octets starting from the least significant octet Examples Unsigned16 value 18911 49DFh o f gt gt 49DFh DFh 49h i Unsigned32 value 98827716 05E3 FDC4h po os 2 05E3 FDC4h 2 4 LSS DSP305 Since in the LSS Protocol all LSS Slaves use the same COB to send information to the LSS Master there must be only one LSS Slave at a time that communicates with the LSS Master For all protocols the LSS Master takes the initiative a LSS Slave is only allowed to transmit within a confirmed service after it has been uniquely switched into configuration mode Since there can be almost one confirmed LSS service outstanding at a time the synchronization is established The factory default setting for the Tw Motor is nod

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