Home

CANopen Reference Manual V2.4

1. controller Designation External reference run IO SDO ID 0x2010 Type Array Number of entries 2 Subindex 00h Number of entries Type u8 ro Default value 2 Subindex 01h Bit number Type u8 rw Default value 0 Selects the bit in Subindex 2 that is to be interpreted as a reference switch Subindex 02h Reference switch Type u8 rw Default value This object is used to be mapped as RxPDO A bit from this object indicates the state of the limit switch to which the controller reacts in the corresponding reference run 4 Nanotec PLUG amp DRIVE 11 18 ENCODER TYPE 0x2011 Object description Designation Encoder type SDO ID 0x2011 Type u8 rw Value range 0 1 2 3 see below Sets the type of encoder which is connected Each type is represented by a unique value Values Value Encoder type 0 No encoder Incremental encoder with index 1 2 Incremental encoder without index 3 Absolute encoder single turn This command is available as of firmware version 24 10 2011 11 19 COB ID SYNC message 0x1005 Object description Designation COB ID SYNC message SDO ID 0x1005 Type u32 rw Value range 0 to Ox7FF see below Default value 0x80 The COB ID of the Sync object is set with this object Bits The individual bits have the following meaning
2. Save the settings in the EEPROM So that the changed PDO mapping is not lost when the power supply is switched off all settings can be saved in the EEPROM from which these are loaded on each startup To do so the value u32 0x65766173 must be written to the object 0x1010 Subindex 1 the value corresponds to the string save COB ID Data bytes Description 601 23 10 10 01 73 61 76 65 Save all settings 581 60 10 10 01 00 00 00 00 Response OK 12 3 Dummy Objects Dummy objects SDO 0x0002 to 0x0007 can be used to hide the parts of an RPDO that are determined for another controller from their own controller To do this only during PDO mapping at the required point must a corresponding dummy SDO be mapped instead of a user data SDO A dummy object can be used repeatedly Data that are written to a dummy object have no other effect on the controller except that the dummy object is written WY Nanotec PLUG amp DRIVE 13 Commissioning via RS485 In order to operate the controller via the RS485 interface if present the corresponding firmware must be installed Operation of the controller in RS485 mode is not possible with the CANopen firmware Nanotec PLUG amp DRIVE 14 Appendix Abbreviations used Abbreviation Meaning COB ID CAN object ID EMCY Emergency Object HM Homing Mode Reference Mode IP
3. Subindex 0h Number of entries Subindex 1h Vendor ID Subindex 2h Product code Subindex 3h Revision number Subindex 4h Serial number Designation Identity Object SDO ID 0x1018 Type Record Type u8 Value range 1 4 ro Type u32 ro Type u32 ro Type u32 ro Type u32 ro 4 Nanotec PLUG amp DRIVE 9 10 RPDO1 COMMUNICATION PARAMETER 0x1400 Object description Subindex 01h Subindex 02h Designation Receive PDO1 Communication Parameter SDO ID 0x1400 Type Record Number of entries 2 Contains the communication parameters for RPDO 1 COB ID Type u32 rw Default value 0x200 Node ID The default value does not take effect by changing the node ID but only by resetting the EEPROM see section 1 1 3 Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 to 240 Update of the object after receiving the next Sync object 255 Immediate update of the object 9 11 RPDO2_COMMUNICATION_PARAMETER 0x1401 Object description Subindex 01h Designation Receive PDO2 Communication Parameter SDO ID 0x1401 Type Record Number of entries 2
4. Contains the communication parameters for RPDO 2 COB ID Type u32 rw 0x300 Node ID The default value does not take effect by changing the node ID but only by resetting the EEPROM see section 1 1 3 Default value Nanotec PLUG amp DRIVE Subindex 02h Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 to 240 Update of the object after receiving the next Sync object 255 Immediate update of the object 9 12 RPDO3_COMMUNICATION_PARAMETER 0x1402 Object description Subindex 01h Subindex 02h Designation Receive PDO3 Communication Parameter SDO ID 0x1403 Type Record Number of entries 2 Contains the communication parameters for RPDO 3 COB ID Type u32 rw Default value 0x400 Node ID The default value does not take effect by changing the node ID but only by resetting the EEPROM see section 1 1 3 Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 to 240 Update of the o
5. Nanotec PLUG amp DRIVE 10 Analog input 10 1 Overview Generic Resolution Values The SMC147 S controller has an analog input that supports the trigger conditions as they are described in CiA CANopen 401 The input has a resolution of 10 bits at a conversion rate of 1KHz The full resolution refers to an input voltage range of 10V to 10V The output values are of the s16 type where only positive values are used The corresponding SDO 0x6401 1 is continuously updated The trigger conditions for correspondingly mapped TPDOs can be set in the objects 0x6423 to 0x6428 Scaling or offset calculation is not supported Designation Read analog input 16 bit SDO ID 0x6401 Subindex 1 Type s16 ro Value range 0x0000 to Ox03FF Contains the last converted value of the analog input This object can be mapped as a PDO Special trigger conditions are supported for the PDO 10 2 Analog Input 0x6401 Object description This object contains the converted value of the analog input and can be mapped as TxPDO Designation Analog Input SDO ID 0x6401 Type Array Number of entries 1 Designation Number of analog inputs Subindex 0 Type u8 ro Value range 1 4 Nanotec PLUG amp DRIVE Designation Analog Input 1 conversion value Subindex 1 Type u16 ro Value range 0x0 to Ox3FF 10 bit 10 3 Analog Global In
6. Nanotec PLUG amp DRIVE DB42M01 Load angle Value 16000 16500 17000 17500 18500 18750 19000 1 2 3 4 5 6 7 DB42M02 Load angle Value 16000 18000 20000 20000 20000 21000 22000 DB42M03 Load angle Value 16000 17000 17000 17000 18000 19000 19000 4 Nanotec PLUG amp DRIVE DB42S01 Load angle Value 16000 16500 17000 17500 18000 18000 18500 1 2 3 4 5 6 7 DB42S02 Load angle Value 16000 18000 18000 18000 18500 19000 19000 DB42S03 Load angle Value 16000 18000 20000 20000 20000 21000 22000 Nanotec PLUG amp DRIVE 17 8 BLDC motors of the series DB57 DB57C01 Load angle Value 16000 16500 16500 16500 17000 17000 17000 DB57L01 Load angle Value 16000 17000 17000 17000 17000 17000 17000 DB57S01 Load angle Value 16500 17000 17000 17000 17000 17500 17500 Nanotec PLUG amp DRIVE 17 9 BLDC motors of the series DB87 DB87L01 S Load angle Value 16384 17000 17000 17000 17000 17000 17000 DB87M01 S Load angle Value 16384 18384 20384 22384 24384 26384 28384 DB87S01 S Load angle Value 16000 16500 17000 17250 17500 17500 18000
7. Bit 31 No meaning Bit 30 Device creates a Sync message always 0 Bit 29 uses 29 bit COB ID always 0 Bit 28 11 Extended COB ID always 0 Bit 10 0 COB ID Nanotec PLUG amp DRIVE 11 20 Hardware Version 0x1009 Object description Designation Hardware Version SDO ID Ox1009 Type String ro Value range Default value This object contains the hardware version as a character string The length of the character string appears in Subindex 0 of this SDO The individual characters are contained as of Subindex 1 The character string is not terminated by a zero string 11 21 Software Version 0x100A Object description Designation Software Version SDO ID 0x1009 Type String ro Value range z Default value This object contains the software version as character string The length of the character string appears in Subindex 0 of this SDO The individual characters are contained as of Subindex 1 The character string is not terminated by a zero string 11 22 Guard Time 0x100C Object description Designation Guard Time SDO ID 0x100C Type u16 rw Value range 0 to 65535 Default value 0 The Guard Time is set in ms It specifies the time intervals at which a request of the NMT status RTR of COB ID 0x700 node ID is expected The Node Guard function can be deactivated with the value 0 4 Nano
8. Gear Ratio A smooth movement is given through microstep interpolation which is always active 11 2 ENABLE CL 0x2001 Object description Designation Enable closed loop SDO ID 0x2001 Type u8 rw Value range 0 1 2 3 If the value is set to 1 2 or 3 the firmware is instructed to activate the control loop This is only activated however if specific prerequisites are met Value Description 0 The control loop is immediately deactivated 1 Closed loop is activated as soon as the index has been recognized and the controller is back in Ready status Auto Enable after the travel 2 Closed Loop is activated as soon as the index has been recognized Auto Enable during the travel 3 Closed loop is activated as soon as a short CL test run has been carried out Modes of Operation SDO 0x6060 2 This mode is available as of firmware version 24 10 2011 Prerequisites Before using closed loop mode for the first time the controller must be adapted to the motor encoder combination This is carried out using the rotor position test run Modes of Operation SDO 0x6060 1 Otherwise there is a high probability that the controller will rotate with maximum current in the wrong direction Nanotec PLUG amp DRIVE 11 3 CL CONFIGURATION 0x2002 Object description Designation Closed loop Configuration SDO ID 0x2002 Type Recor
9. Nanotec PLUG amp DRIVE 9 47 Integer32 Dummy Object 0x0004 Object description Designation Signed Integer 32 SDO ID 0x0004 Type Integer 32 rw Value range 2147483648 to 2147483647 Can be used as a dummy object for RxPDO 9 48 Unsigned Dummy Object 0x0005 Object description Designation Signed Integer 8 SDO ID 0x0005 Type Integer 8 rw Value range 0 to 255 Can be used as a dummy object for RxPDO 9 49 Unsigned16 Dummy Object 0x0006 Object description Designation Signed Integer 16 SDO ID 0x0006 Type Integer 16 rw Value range 0 to 65535 Can be used as a dummy object for RxPDO 9 50 Unsigned32 Dummy Object 0x0007 Object description Designation Signed Integer 32 SDO ID Ox0007 Type Integer 32 rw Value range 0 to 4294967295 Can be used as a dummy object for RXPDO 4 Nanotec PLUG amp DRIVE 9 51 ERROR CODE LOG Object description Designation Error Code Log SDO ID 1003 Subindex 1 5 Type u32 ro Value range u32 This SDO contains a history the last errors that occurred Subindex O thereby contains the number of the logged errors and subindex 1 the last errors that occurred Each entry thereby contains in the lower order word the error code that occurred and in the higher order word a firmware internal error number
10. Reserved 11 27 Acceleration dimension index 0x608E Object description Designation Acceleration dimension index SDO ID Ox608E Type s8 rw Value range s8 Default value 0 Reserved 4 Nanotec PLUG amp DRIVE 12 Process Data Objects PDO 12 1 Purpose of the PDOs Process Data Objects PDOs are used for the transfer of objects that need to be updated frequently during operation of the controller For example this is useful for the Position Actual Value object The advantages of PDOs compared with SDOs are the higher and adjustable priority the low overhead and additional functions such as automatic sending upon a change or cyclical sending The higher priority and the low overhead of the PDOs result because the corresponding objects from the object directory are allocated to a CAN object with a certain COB ID without use of the SDO protocol These allocations are set during the PDO mapping process PDOs can be differentiated into receive PDOs and transmit PDOs RPDO TPDO RPDOs are received by the SMC147 S and the received data are used in the set objects TPDOs are transmitted by the SMC147 S in certain adjustable situations 12 2 PDO mapping General procedure The mapping of RPDOS TPDOS is carried out in several steps Step Action Change to the Pre Operational mode Deactivate the PDO to be changed and reset Write changed mapping and a
11. Tolerance after a travel in PP mode Open Loop Motor Type Type u8 rw Default value 0 Motor type e 0 Stepper motor with and without quadrature encoder e 1 BLDC with Hall sensor and without quadrature encoder e 2 BLDC with Hall sensor and with quadrature encoder Load angle sampling spacing Type u16 rw Default value 4096 Sampling point spacing of the load angle curve in SDO 0x200C A value of 8192 corresponds to 1000 rpm Cascade controller switch on speed Type u32 rw Default value 327680 The cascade controller is activated as of this speed A value of 8192 corresponds to 1000 rpm 4 Nanotec PLUG amp DRIVE Subindex OAh Cascade controller switch off speed Type u32 rw Default value 512 The cascade controller is deactivated as of this speed A value of 8192 corresponds to 1000 rpm Subindex 0Bh Cascade controller status Type u8 ro Default value 0 Specifies whether the cascade controller is active Subindex 0Ch Hall sensor mode Type u32 rw Default value 2371605 0x243015 Used with BLDC motors to adjust the Hall sensor sections to the respective motor Here the least significant 6 digits in hexadecimal notation represent one quadrant of the Hall sensors The value results from the motor type and the sequence of the Hall si
12. Operational state in milliseconds This setting prevents the motor from rotating due to a command while the brake has not yet fully released Subindex 03h Milliseconds Brake on to Power off Type u16 rw Default value 0 Specifies the wait time between arresting the brake and switching off the power drive in milliseconds This setting prevents the motor from moving due to a mechanical torque when the brake has not yet fully arrested Nanotec PLUG amp DRIVE 11 9 Milliseconds Input Debounce Time 0x2008 Object description Used to debounce the digital inputs of the controller After a flank on an input no further flanks are processed within the time set in this object in milliseconds A flank is only detected again after expiration of the debounce time A debounce time of an input that is running has no effect on the detection of flanks on the other inputs Designation Debounce time SDO ID 0x2008 Type u8 rw Value range 0 to 255 Default value 20 11 10 Node ID 0x2009 Object description This object is used to adjust the node ID if the node ID is set to 0 with the hex switches If a node ID is set with the hex switches this object can be described and saved in the EEPROM but contains the value of the hex switches again after a restart Designation Node ID SDO ID 0x2009 Type u8 rw Value range 1 to 127 Default value 1 is
13. 34 35 2 to 7 This object selects the Homing mode Modes 21 and 22 are only available from firmware 15 12 2008 SMCI47 S Mode 19 External reference travel switch as normally closed Search of the switch Motor rotates in a clockwise direction Speed from object 0x6099 1 Search for switch As long as input 6 is high As soon as input 6 becomes low switch reached the direction is reversed Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until input 6 is high again switch free again Motor stops Mode 20 External reference travel switch as normally open Search of the switch Motor rotates in a clockwise direction Speed from object 0x6099 1 Search for switch As long as input 6 is low When the switch is reached input 6 high the direction is reversed Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until input 6 becomes low again Motor stops Mode 21 External reference travel switch as normally closed Search of the switch Motor rotates in a clockwise direction Speed from object 0x6099 1 Search for switch As long as input 6 is high When the switch is reached input 6 low the direction is reversed Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until input 6 becomes high again Motor stops Mode 22 External reference travel switch as normally open Search of the switch
14. 50 RPDO3 COMMUNICATION PARAMETER Ox AO2 ee ee ee ee ee ee ee ee ee ee ee 51 RPDO4 COMMUNICATION PARAMETER 0X1403 H 52 RPDO1 AA TER dic RR EE EE 52 WY Nanotec PLUG amp DRIVE 9 15 9 16 9 17 9 18 9 19 9 20 9 21 9 22 9 23 9 24 9 25 9 26 9 27 9 28 9 29 9 30 9 31 9 32 9 33 9 34 9 35 9 36 9 37 9 38 9 39 9 40 9 41 9 42 9 43 9 44 9 45 9 46 9 47 9 48 9 49 9 50 9 51 10 10 1 10 2 RPDO2 MAPPING 0X160 saa ieee nian ae 53 RPDO3 MAPPING 0x1602 4 ak eet eel nee 53 RPDO4_MAPPING 0X1603 ee ee ee ee Re aeae ee Re ee GR Re ee Ge Re R ee ee Re ee ee ee Re ee 54 TPDO1 COMMUNICATION PARAMETER 0X1 800 54 TPDO2 COMMUNICATION PARAMETER OO 55 TPDO3 COMMUNICATION PARAMETER 0X1802 iese ee ee ee ee ee se ee ee ee ee ee ee ee ee ee ee ee ee 57 TPDO4 COMMUNICATION PARAMETER OO 58 TPDO1 MAPPING OX1AOO ee ee ee Re ER Re ee KANG ee ee RR ee GR Re ee ee ee ee Re ee ee Re ee ee ee Re ee 59 TPDO2 MAPPING ebessi a GAN paa Wese Ad ee Pe Reede 60 TPDO3 MAPPING OX1A02 eer Ge se cain dade ni a eee i eee 60 TPDO4 MAPPING EECHER ENNEN et 61 ERROR CODE OxXG03F mma INN MAGANA A ALAN GA aa dan 61 VL DIMENSION FACTOR OXGOAC ee ee ee ee ee ee ee ee RR ee GR Re ee AA ee ee ee Re ee ek Re ee ee ee ee 61 MODES OF OPERATION 0X6060 ese ee ee ee ee ee ee ee ee ee ee ai 62 MODES OF OPERATION DISPLAY xp 63 POSITION ACTUAL INTERNAL VALUE 0X60638 ee ee ee e
15. CSS Z Type u16 rw Default value 2 Numerator of the proportional component of the position cascade controller Subindex 14h KP CSS N Type u16 rw Default value 0 Denominator of the proportional component of the position cascade controller Subindex 15h KI CSS Z Type u16 rw Default value 1 Numerator of the integral component of the position cascade controller Subindex 16h KI CSS N Type u16 rw Default value 6 Denominator of the integral component of the position cascade controller Subindex 17h KD CSS Z Type u16 rw Default value 0 Numerator of the differential component of the position cascade controller Subindex 18h KD CSS N Type u16 rw Default value 0 Numerator of the differential component of the position cascade controller 4 Nanotec PLUG amp DRIVE 11 4 A D Converter 0x2003 Object description Designation Actual value of the A D converter SDO ID 0x2003 Type Record Number of entries 4 Contains the actual values of the A D converter Raw Values Sub Index 01h A D 1 Temperature Channel Type u16 ro Default value Sub Index 02h A D 2 Power Channel Type u16 ro Default value Sub Index 03h A D 3 Analog Input Channel Type u1
16. Request to the COB ID 0x700 node ID The network status is a u8 and can have the following values e OX7F Pre Operational status after application of the operating voltage e 0x04 Node Disabled e 0x05 Node Operational 9 6 DEVICE TYPE 0x1000 Object description Designation Device Type SDO ID 0x1000 Type u16 ro Value range u16 Describes the control type Here 0x00008 stepper motor 9 7 ERROR REGISTER 0x1001 Object description Designation Error Register SDO ID 0x1001 Type u8 Value range u8 ro Error register In the event of error the corresponding error bit is set Bit 0 generic error Bit 1 current 0 Bit 2 voltage 0 Bit 3 temperature 0 Bit 4 communication error overrun error state Bit 5 device profile specific 0 Bit 6 reserved 0 Bit 7 manufacturer specific 0 Nanotec PLUG amp DRIVE 9 8 COB ID EMERGENCY MESSAGE 0x1014 Object description Bits 9 9 Designation Emergency Message SDO ID 0x1014 Type u32 ro Value range u32 Default Value 80h node ID Bit 31 MSB 0 EMCY exists 1 EMCY does not exist Bit 30 O reserved always 0 Bit 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B Bit 28 11 0 If bit 29 0 bits 28 11 of the 29 bit COB ID if bit 29 1 Bit 10 0 LSB Bits 10 0 of the COB ID Object description IDENTITY OBJECT VENDOR ID 0x1018
17. can prevent the current position which changes continuously during travel from blocking the CAN bus reserved Type u8 rw Default value 0 No meaning event timer Type u16 rw Default value 0 For Transmission Type 255 asynchronous transmission upon a change this value indicates the maximum time between two transmitted objects of the same type This setting can be used to cyclically send objects that rarely change A value of O in this setting deactivates this behavior default 9 22 TPDO1_MAPPING 0x1A00 Object description Designation Transmit PDO1 Mapping Parameter SDO ID 0x1A00 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1800 Subindex 1 8 Mapped objects Designation Transmit PDO Mapping Parameter Type u32 rw Describes one mapped object at a time Bits 31 16 index 15 8 subindex 7 0 object length in bits 4 Nanotec PLUG amp DRIVE 9 23 TPDO2 MAPPING 0x1A01 Object description Designation Transmit PDO2 Mapping Parameter SDO ID 0x1A01 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1801 Subindex 1 8 Mapped objects Designation Transmit PDO Mapping Parameter Type u32 rw Describes one mapped object at a time Bits 31 16 i
18. change in steps s u32 Subindex 2 contains the time change in s u16 Neither the numerator nor the denominator must be set to 0 6 8 VL velocity deceleration 0x6049 Object description Designation VL velocity deceleration SDO ID 0x6049 Type u32 u16 Value range u32 u16 both not equal 0 Sets the braking ramp in VL mode Nanotec PLUG amp DRIVE 6 9 VL velocity quick stop 0x604A Object description Note Designation VL velocity quick stop SDO ID Ox604A Type u32 u16 Value range u32 u16 both not equal 0 Sets the braking ramp for the quick stop in VL mode The acceleration is specified as a fraction Speed change per time change Subindex 1 contains the speed change in steps s u32 Subindex 2 contains the time change in s u16 Neither the numerator nor the denominator must be set to 0 4 Nanotec PLUG amp DRIVE 6 10 VL dimension factor 0x604C Object description Objects Conversion Example Designation VL dimension factor SDO ID 0x604C Type 2x 32 Value range 32 s32 both greater than 0 This object is a fraction which is used to convert the setpoint value presettings of the user in Velocity mode into rpm In VL mode the motor controller indicates the internal rotational speed in rpm The numerator is in Subindex 1 here and the denominator of this fraction is in Subindex
19. dh Nanotec PLUG 8 DRIVE CANopen Reference Manual Stepper Motor Positioning Controls and Plug 4 Drive motors NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 Kapellenstrake 6 Fax 49 0 89 900 686 50 D 85622 Feldkirchen b Munich Germany info nanotec com 4 Nanatec PLUG amp DRIVE Editorial 2012 Nanotec Electronic GmbH amp Co KG Kapellenstrafse 6 D 85622 Feldkirchen b Munich Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec com All rights reserved MS Windows 2000 XP Vista are registered trademarks of Microsoft Corporation Translation of the original operation manual Version Change overview Version Date Changes 2 2 12 10 2010 Revision C P 2 3 03 11 2011 Revision C P 2 4 12 04 2012 Update of the object descriptions New ENCODER_TYPE 0x2011 WY Nanotec PLUG amp DRIVE About this manual Contents This document contains a brief overview of the most important functions of the Nanotec stepper motor positioning controls and Plug amp Drive motors as well as their use via CANopen Important information Nanotec reserves the right to make technical alterations and further develop hardware and software in the interests of its customers to improve the function of this product without prior notice For criticisms proposals and suggestions for improvement please contact the above addre
20. ee RA ee ee eke 68 Integer32 Dummy Object ONOOU4 ee ee ee ek ke ee Re ee ee Re ee KN Re ee KK Re ee ee ke ee 69 Unsigned8 Dummy Object 0XO0O005 ee ee ee ee ee AR Re AR ee AR ee AR ee ee ee ee 69 Unsigned16 Dummy Object OXOO0O6 ee ke RR RA ee AR ee ek Re ee ee ee ee ee 69 Unsigned32 Dummy Object 0X0007 ee ee ee ee Re AR Re AR Re KANA ee ee ee 69 ERROR CODE LOG iese dni ain WERE GE Ve eek en ge 70 Analog dn di GER KANINA EE EE EE A HE eats 71 E EE RE OE EE OR N ON 71 Analog INput OxO401 RE EE EE EE EE ER 71 Nanotec PLUG amp DRIVE 10 3 10 4 10 5 10 6 10 7 10 8 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11 11 12 11 13 11 14 11 15 11 16 11 17 11 18 11 19 11 20 11 21 11 22 11 23 11 24 11 25 11 26 11 27 12 12 1 12 2 12 3 13 14 Analog Global Interrupt Enable 0x6428 ee ee ee ee ee ee ee ee ee ee ke ee ee ee ke ee ee ee ke ee ee ke ee 72 Analog Input Interrupt Upper Limit 0x6424 ee ee Re ee ee Re ee GR Re ee ee ee Re ee ee Re ee ee 72 Analog Input Interrupt Lower Limit 0X6425 ee ee ee ee ee ee ee Re ee ee ke ee ee ke ee ee ke ee ee 73 Analog Input Interrupt Delta 0X6426 ie RA ee RR RA ee Ge ee ee RR ee ek Re ee ee ee ee 73 Analog Input Interrupt negative Delta 0X6427 ie ee ek ee ee ee ee ke ee ee ke ee ee ke ee 74 Analog Input Interrupt positive Delta 0X6428 o oo eee Re AR ee Re ee ek Re ee ek ke ee 74 Manufacturer
21. ee Re ee ee Re ee ee ke ee ee 40 Interpolation Time Period OspUC 2 40 Interpolation Data Configuration UNDOC A 41 Recommendations for PDO Mapping iis ese es se ee ee Ee ee GR Ee Re Re ee ee ee ee ee ee de ee ee ee ee ee nnn 42 Information about COMMISSIONING e cece ee ek ee ek ee ke eee ek OEE ee ke ee ee 43 Torque MOG EE ma RE RE EE EE EE connens 44 tele 44 Control word SDO OxpOA0 AN ee AR ee ee ee ee ee Re ee ee ee Re ee ee ee 44 Status word SDO OXx6041 ET 45 Target torque SDO 0X6071 ee ee RA ee RR ee GRA ee Re ee KA AA ee ee KN AKNG GR Re ee ee ee ee ee 45 Max Profile Velocity SDO xp 45 SDOs that are not mode specifiC iss see ee anan RA EG KAKANAN ANNA RA Re Ge EA AE ANNA RA Re Ge Ee Re Re ER Ee 46 Digital inputs SDO OO e BD 46 Digital outputs SDO Ox60FE Subindex 11 46 Digital outputs bitmask SDO 0x60FE Subindex 2 47 Polarity Ox TE 47 Producer Heartbeat Time OxX1017 2 ANG NAA ged ge 47 DEVICE TYPE 0x1000 sash ieee nae RR Lei 48 ERROR REGISTER 01001 ee ee ee ee se ee ee ee ee ee ee ee ee ee ee ee Re ee Ge Re ee ee Re ee ee Re ee ee ee Re ee 48 COB ID EMERGENCY MESSAGE Oxvi01A ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 49 IDENTITY OBJECT VENDOR ID 01018 49 RPDO1 COMMUNICATION PARAMETER 0x1400 iese ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 50 RPDO2 COMMUNICATION PARAMETER 0X1401 ees ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee
22. for a trapezoidal ramp in steps per second 4 10 Profile Acceleration SDO 0x6083 Object description Designation Profile Acceleration SDO ID 0x6083 Type u32 Value range 1 to 100000 Specifies the acceleration ramp in steps s 4 11 Profile Deceleration SDO 0x6084 Object description Designation Profile Deceleration SDO ID 0x6084 Type u32 Value range 1 to 100000 Specifies the braking ramp in steps s 4 Nanotec PLUG amp DRIVE 4 12 Quick Stop Deceleration SDO 0x6085 Object description Designation Quick Stop Deceleration SDO ID 0x6085 Type u32 Value range 1 to 100000 Specifies the emergency stop braking ramp in steps s 4 13 Motion profile Type 0x6086 Object description Designation Motion profile type SDO ID 0x6086 Type s16 Value range 0 1 Specifies the ramp type Currently only a Sin2 value 1 and a linear trapezoidal ramp is supported value 0 Nanotec PLUG amp DRIVE 5 1 5 Homing Mode Control word 0x6040 Object description Bits Designation Control word SDO ID 0x6040 Type u16 Value range Bits This object is available in the default setting as a PDO with the COB ID 0x200 node ID An RTR is not configured The motor is switched on and travel commands can be started with this object Bits 0 1 and 3 are used f
23. increments s m s in revolutions per minute Speed rpm speed user specific unit conversion factor rpm user specific unit WY Nanotec PLUG amp DRIVE Subindex 01h vi dimension factor numerator Type u32 rw Default value 1 Subindex 02h vi dimension factor denominator Type u32 rw Default value 1 9 28 MODES OF OPERATION 0x6060 Object description Designation Modes of operation SDO ID 0x6060 Type s8 rw Value range Default 128 10 0 Contains the current operating mode Values State Description 128 to 1 Manufacturer specific operation modes 2 Short closed loop test run alignment 1 Closed loop test run 0 No mode change no mode assigned 1 Profile Position Mode 2 Velocity Mode 3 Profile Velocity Mode 4 Torque Profile Mode 5 Reserved 6 Homing Mode 7 Interpolated Position mode 11to 127 Reserved Nanotec PLUG amp DRIVE 9 29 MODES OF OPERATION DISPLAY 0x6061 Object description Designation Modes of operation display SDO ID 6061 Type s8 ro Value range s8 Contains the current operating mode gt see MODES OF OPERATION SDO 0x6060 9 30 POSITION_ACTUAL_INTERNAL_VALUE 0x6063 Designation Position actual internal value SDO ID 0x6063 Type 32 ro Value range 32 Contains the current encoder position 9 31 POSITION_ACTUAL
24. integral component of the position controller Subindex OAh KI S N Type Default value u16 rw 0 Denominator of the integral component of the position controller as a power of 2 Subindex 0Bh KD S Z Type u16 rw Default value 300 Numerator of the differential component of the position controller Subindex 0Ch KD_S_N Type Default value u16 rw 0 Denominator of the differential component of the position controller as a power of 2 Subindex 0Dh KP CSV Z Type u16 rw Default value 50 Numerator of the proportional component of the speed cascade controller Subindex OEh KP_CSV_N Type u16 rw Default value 0 Denominator of the proportional component of the speed cascade controller Subindex OFh KI CSV Z Type u16 rw Default value 2 Numerator of the integral component of the speed cascade controller Subindex 10h KI_CSV_N Type u16 rw Default value 0 Denominator of the integral component of the speed cascade controller Nanotec PLUG amp DRIVE Subindex 11h KD CSV Z Type u16 rw Default value 0 Numerator of the differential component of the speed cascade controller Subindex 12h KD CSV N Type u16 rw Default value 0 Denominator of the differential component of the speed cascade controller Subindex 13h KP
25. is in Subindex 2 The default setting is 1 1 Conversion of position speed and acceleration If the motor parameters are correctly set the user does not need to adjust the ramps travel distances and speeds when changing the step mode or when changing from open loop to closed loop mode In PP HM and IP mode the values for speed acceleration and position refer to the Feed Constant object feed constant SDO 0x6092 The numerator is saved in Subindex 1 of this object and the denominator of the feed constant is saved in Subindex 2 The default value is 2000 1 For the user this means that independent of the step mode a path of 2000 as target position SDO 0x607A always corresponds to one revolution of the driving shaft For speed this applies accordingly to a second and for the acceleration this applies correspondingly to a second squared In VL mode the VL Dimension Factor object SDO 0x604C is used accordingly In contrast to the other supported modes however the speeds or acceleration refer here to a minute or a minute squared Nanotec PLUG amp DRIVE Maximum speeds Maximum speeds and accelerations PP and HM mode can be found in the following table Motor type 1 8 0 9 Pole pairs 50 100 Ox2006 Max rpm 4800 2400 Step mode Feed Feed Max Max 0x6092 sub1 0x6092 sub1 Profile Accel steps per steps per Velocity 0x6083 ro
26. match length of service parameter too low 0609 0011h Subindex 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 0000h general error 0800 0020h Data cannot be transferred or stored to the application 0800 0021h Data cannot be transferred or stored to the application because of 0800 0022h Data cannot be transferred or stored to the application because of the 0800 0023h Object dictionary dynamic generation fails or no object dictionary is 4 Nanotec PLUG amp DRIVE 16 Appendix Possible error codes Error code Description 0x0000 CAN_EMERGENCY_ERROR_CODE_NO_ERROR_OR_RESET 0x1000 CAN_EMERGENCY_ERROR_CODE_GENERIC_ERROR 0x2000 CAN_EMERGENCY_ERROR_CODE_CURRENT 0x2100 CAN_EMERGENCY_ERROR_CODE_CURRENT_INPUT 0x2200 CAN_EMERGENCY_ERROR_CODE_CURRENT_INSIDE 0x2300 CAN_EMERGENCY_ERROR_CODE_CURRENT_OUTPUT 0x3000 CAN_EMERGENCY_ERROR_CODE_VOLTAGE 0x3100 CAN_EMERGENCY_ERROR_CODE_VOLTAGE_MAINS 0x3200 CAN_EMERGENCY_ERROR_CODE_VOLTAGE_INSIDE 0x3300 CAN_EMERGENCY_ERROR_CODE_VOLTAGE_OUTPUT 0x4000 CAN_EMERGENCY_ERROR_CODE_TEMPERATURE 0x4100 CAN_EMERGENCY_ERROR_CODE_TEMPERATURE_AMBIENT 0x4200 CAN_EMERGENCY_ERROR_CODE_TEMPERATURE_DEVICE 0x5000 CAN_EMERGENCY_ERROR_CODE_DEVICE_HA
27. node ID with rotary switches The node ID of a CANopen node can be set to between 1 and 127 This node ID is read by the controller from the rotary switches when the voltage is applied 4 If the set value of the rotary switch results in a number between 1 and 127 the CAN baud rate is set to 1 Mbaud To set a different baud rate Set the required baud rate via a CANboard with the aid of a service data object SDO The object to be written has the SDO ID 0x2005 subindex 0x0 data type unsigned8 The following table provides information about the baud rates that can be set Baud rate Value for SDO 0x2005 Sub 0x0 type unsigned8 20 kbaud 130 50 kbaud 131 125 kbaud 132 250 kbaud 133 500 kbaud 134 1000 kbaud 135 5 Write the value 0x65766173 unsigned32 into the SDO 0x1010 subindex 0x1 in order to save the value in the internal EEPROM of the controller It takes approx 5 seconds until the firmware has transferred all settings into the EEPROM and has sent the SDO response see Step 2 6 Disconnect the controller from the power supply Nanotec PLUG amp DRIVE Step Action 7 Set the rotary switch to the value Node ID 128 so that the saved value is adopted as the baud rate If values other than the values listed in the table are set for the baud rate the controller does respond via the CAN interface but does not accept any travel instructions 8 Save the s
28. series STxxxx The following table applies to stepper motors of the series ST2018 ST3518 ST4118 ST4209 ST4218 ST5709 ST5909 ST5918 ST6018 ST6318 ST8918 ST11018 Load angle Value 16384 16500 17000 17500 18000 18500 19000 4 Nanotec PLUG amp DRIVE 17 4 BLDC motors of the series DB22 DB22L01 Load angle Value 16000 16500 17000 17500 18000 18500 19000 DB22M01 Load angle Value 16000 16500 17000 17500 18000 18500 18500 17 5 BLDC motors of the series DB28 DB28M01 Load angle Value 16000 17000 17000 17000 18000 18000 18000 Nanotec PLUG amp DRIVE DB28S01 Load angle Value 16000 16500 17000 17500 18000 18500 18500 1 2 3 4 5 6 7 17 6 BLDC motors of the series DB33 DB33S01 Load angle Value 1 16000 2 16000 3 16500 4 16500 5 17000 6 17000 7 17000 17 7 BLDC motors of the series DB42 DB42C01 Load angle Value 1 16000 2 18000 3 20000 4 20000 5 20000 6 21000 7 20000 4 Nanotec PLUG amp DRIVE DB42C02 Load angle Value 16000 18000 20000 20000 20000 21000 22000 1 2 3 4 5 6 7 DB42C03 Load angle Value 16000 16500 16800 17100 17400 17700 17800 DB42L01 Load angle Value 16000 17000 17500 17500 17700 18300 18400
29. specific CAN Objects esse ee ee anan 76 STEP MODE 02000 76 ENABLE CL 0Xx200 ER EE OE EE EE OT Id 76 CL CONFIGURATION 0X2002 ee ee ee ee ee e ee RA ee ee de ee ee ee 77 A D Converter Ox2003 sai tiated ine eae 80 Cimrentcontol 02000 E 80 CAN enable and baud rate Ox200p tent 83 Motor Pole EC TR 83 Brake Wait Time 0Xx2007 Ede alice ANN KING PANA ed anal 84 Milliseconds Input Debounce Time Ox2008 eee ee Re AR Re AR AR ee ee ee ee 85 Node ID 0Xx2009 ee RR RA EA Re GR RA ee AR ee GR Re ee Ge Re ee ee Re ee ek Re ee ee de ee Re ee 85 EL is enabled AU ZEISS SC 85 CL POSCNT Offset 0x200B a aaa ANAN a See Ka ee EEN ee 86 CL load angle curve OX200C ee AR AR AA AR AA AR AA AR ee ee AA ee ee ee ee ee 86 Encoder rotation direction change OX200D ee ee Re AR ee AR AR ee AR ee ee 87 DSPdrive current controller parameter OX200E ee ee ee ee Re AR ee ee ee ee 88 Speed mode controller type UN200ET eee ee ee AR AA ee AA ee AA ee RA ee ee ee ee ee ee 89 External reference run IO OX2010 ee ee RR RA Ee RR ee ek Re ee Ge ee Re ee ek Re ee ee de ee ee ee 89 ENCODER TYPE 0X2011 ee ee ee ee ee ee ee ee ee ee ee ee ee a a aieia Re ee 90 COB ID SYNC message 0X1005 ee ee ee ER AA GRA Re ee GR Re ee AA ee ee ee Re ee ee Re ee ee ee 90 Hardware Version Ox1009 esse an KANNADA KING NAAN 91 Software Version Ox100A aa APA NANG DARA DAHAN GA 91 Guard Time OXx100G RE ER EE pka N 91 Life Time Fa
30. 0 00 33 02 00 00 Response Switch On Voltage Enabled COB ID Data bytes Description 622 2B 40 60 00 OF 00 Operation Enabled 5A2 60 40 60 00 00 00 00 00 Response OK 622 40 41 60 00 Request of the status word 5A2 4B 41 60 00 37 02 00 00 Response Operation Enabled Voltage Enabled Explanation of the data bytes Explanation of the data to be entered in hex 622 The COB ID for sending SDOs to the CANopen node 34 dec 2B Command for writing a SDO with 2 data bytes 40 Low order byte of the SDO ID 0x6040 60 High order byte of the SDO ID 0x6040 00 Subindex 0x00 00 06 07 Of Least significant byte of the control word It is important to note that the data in CANopen are always transmitted in Intel notation i e the low order bytes first SDO addressing via CAN Service data objects SDO are used to configure the respective CAN nodes Because there are many different possible CANopen nodes motors sensors etc a maximum of 2716 65536 SDOs are provided in the CANopen standard The number of SDOs exceeds the number of COB IDs in CAN 2411 2048 Nevertheless to be able to address the SDOs via CAN the SDO ID is transferred as part of the data section of a COB In addition 256 sub indices are still possible for each SDO If more than only Subindex 0 is occupied in a SDO the number of available subindices of the respective SDOs is noted in Subindex 0 Nanotec PLUG amp DRIVE 2 5 Sel
31. 0x02 Stop node switches to stopped status 0x04 e 0x80 Change to pre operational status OX7F status after application of operating voltage e 0x81 Restart of the firmware reset of all CANopen settings to the last values stored in the EEPROM e 0x82 Restart of the firmware reset of all CANopen settings to the last values stored in the EEPROM Nanotec PLUG amp DRIVE 2 3 Requesting CANopen node status Status requests The status can be requested with a Remote Transmission Request RTR of COB ID 0x700 node ID A motor with the node ID 34 dec sends its network status to COB ID 0x700 34 0x722 In order to receive this message a Remote Transmission Request RTR must be sent for this COB ID It is also possible to have the motor send this message cyclically see SDO 0x1017 Dynamic Heartbeat Time Possible status The following states are available e Pre operational status status after application of the operating voltage after restart and reset 0x7F In this state SDOs can be requested and written but no PDOs can be read or written e Stopped status 0x04 In this mode neither SDOs nor PDOs can be requested e Operational status 0x05 In this mode both SDOs and PDOs can be read and written 2 4 Switching on the power drive Control word The power drive is switched on via the control word This can be reached under the service data object SDO 0x6040 Request of the status word Af
32. 1 luede ses OE EE AE N EE N OG 19 3 2 Control word SDO OX6040 ee ee ee AR ee ee AR Ee ee ee ee ee Re ee ee ee Re ee ee ee 19 3 3 Status word DO O0Xx6b041 EE 20 4 Profile Position Mode PP ees Ee RR EE RE RE EE EKKE AE ERG nanasa R EE De ee RE ERG Ge EE EE DERE 22 4 1 ee lt lede AR AE AE IE EE O 22 4 2 Control word SDO OxpOA0 AN ee AR ee AA ee ee ee ee ee ek ee ee ee 22 4 3 Status word SDO Ox6041 is ascites EER Eg EED ARE ER eed EE Vee ae goe Gee Se Ge De ae ge lee 23 4 4 Quick Stop Option Code SDO OxpOpA ee RA Re ee nana AA ee ee RR ee ee ee ee ee 24 4 5 Position Demand Value SDO UNO 24 4 6 Target Position SDO OXGOZA ee ee ee ee ee Ge Re Ge RR ee Re ee ee Re KATAATAN ee ee Re ee ee ee 24 4 7 Home Offset SDO Dep 24 4 8 Profile Velocity SDO 0X6081 sisie see EE GANA a NA d ee 25 4 9 End Velocity SDO OX60B2 ER EELER ie nel enh eile 25 4 10 Profile Acceleration SDO OXOBI Jeice renan ee ee AR RR AA Re AR ee AR ee AR ee ee ee ee ee 25 4 11 Profile Deceleration SDO 0X6084 ee RR Re Re RR ee GR Re ee Re ee ek Re ee ek de ee ee ee 25 4 12 Quick Stop Deceleration SDO Ox6085 0 0 eee ee AA RA AA ee AA ee ee ee ee ee 26 4 13 Motion pronle Type Ox6086 Paan Naa AA ARNAN ANAND 26 5 Homing Mode ss aan AANGAL R 27 5 1 Control word USDA 27 5 2 Status word 10X604 AR EE OE OR EE ANAN ANA 27 5 3 Homing Method WA IER 28 5 4 Homing Speeds Ox6099 akan ARNAN NANA 30 5 5 Homing Acceleration OX6OYA nananana
33. 2 The conversion is applied to the following objects e 0x6042 VL Target Velocity e 0x6043 VL Velocity Demand e 0x6044 VL Velocity Actual Value e 0x6046 VL Velocity min max Amount e 0x6048 VL Velocity Acceleration e 0x6049 VL Velocity Deceleration e 0x604A VL Velocity Quick Stop The conversion is carried out according to the following principle User unit conversion factor unit in rom At a value of 2000 the user specific unit should lead to one revolution per second default in the firmware The conversion factor is then 60 2000 SDO 0x604C Sub1 Sub2 The firmware then executes the conversion as follows 2000 60 2000 60 RPM 1 revolution per second For values that are updated by the firmware SDO 0x6043 and 0x6044 the conversion runs accordingly so that the user can read the value from the SDO in the user specific unit Nanotec PLUG amp DRIVE 7 Interpolated Position mode 7 1 Introduction Firmware This mode is available as of firmware version 06 04 2009 Function The Interpolated Position mode is used to synchronize several axes For this a higher order controller accepts the ramp or path calculation and transfers the respective demanded position at which the axis should find itself at a specific time to the controller The controller interpolates between these position sampling points Synchronization to the SYNC object For Interpolated Position mode it is n
34. 6 ro Default value Sub Index 04h A D 4 Auxiliary Power Channel Type u16 ro Default value 11 5 Current control 0x2004 Object description Designation Current limiter SDO ID 0x2004 Type Record Number of entries 14 Contains the set current values Subindex 01h drive current Type u8 rw Default value 20 Current that is used for normal travel Data in Subindex 02h current reduction Type u8 rw Default value 20 Current that is used for the reduction Data in Nanotec PLUG amp DRIVE Subindex 03h current reduction time Subindex 04h Subindex 05h Subindex 06h Subindex 07h Subindex 08h Subindex 09h Type u16 rw Default value 80 Time in milliseconds from a standstill of the motor in Open Loop mode until the current is reduced current for block reference run Type u8 rw Default value 0 Current for the block reference run in percent If the value is O the phase current is used Swing out time Type u16 rw Default value 80 Time in milliseconds between a standstill of the axis and position reset after a block reference run and between standstill of the axis and a ready message in PP mode Position tolerance Type u32 rw Default value OxFFFFFFFF
35. Actual Buffer Size SDO ID Ox60C4 Subindex 2 Type u32 Value range 1 Actual length of the buffer Designation Buffer Organization SDO ID Ox60C4 Subindex 3 Type u8 Value range 0 Selection between ring or FIFO buffer Designation Buffer Position SDO ID Ox60C4 Subindex 4 Type u16 Value range 1 Current buffer position With the controller always 1 not requested or updated WY Nanotec PLUG amp DRIVE Subindex 5 Designation Size of data record SDO ID Ox60C4 Subindex 5 Type u8 Value range 4 Has a meaning if for example a spline interpolation is used Several values are necessary per interpolation section for this case This object specifies the size of a record Subindex 6 Designation Buffer Clear SDO ID Ox60C4 Subindex 6 Type u8 Value range 0 The buffer could be deleted with this object Since the buffer of the controller has a length of 1 only deleting does not make any sense 7 9 Recommendations for PDO Mapping Control word RPDO1 The PDO mapping of the control word RPDO1 could be changed in such a way that in addition the Modes of Operation object SDO 0x6060 is also received with this PDO of the controller The Transmission Type can be left as 255 asynchronous However it is also possible to readily configure this object as a synchronous P
36. DO Transmission Type 0 to 240 Once the IP mode is in operation it is not necessary to continually update this object as that would cause unnecessary CAN bus load Status words TPDO1 The PDO mapping of the status word TPDO1 could be changed in such a way that in addition the Modes of Operation Display object SDO 0x6061 is also sent with this PDO of the controller The Transmission Type can be left as 255 asynchronous However it is also possible to readily configure this object as a synchronous PDO Transmission Type 0 It is then sent synchronously to the Sync object if the status word or Modes of Operation Display changes which does not occur during normal operation of the Interpolated Position Mode If logging of the position is desired the Position actual Value object SDO 0x6064 can also be attached to this TPDO as well Then it is imperative however for this PDO to be configured as synchronous and cyclical Transmission Type 1 to 240 It would then also be conceivable to set the Transmission Type to values greater than 1 so the current position is not sent in every Sync object The user must decide what is sensible for him here Interpolation Data Record SDO 0x60C1 The main object for the IP mode is the Interpolation Data Record SDO 0x60C1 This object has no standard mapping It would be sensible to use mapping to RPDO2 Transmission Type 0 cyclically synchronous The higher order controller m
37. ID 581 60 00 14 01 00 00 00 00 Response OK Set Transmission Type The Transmission Type is specified in SDO 0x1400 Subindex 2 If the Transmission Type is set to 255 the objects mapped to the PDO are immediately updated on reception of the PDO If the Transmission Type is set to a value of between 0 and 240 the objects mapped in the PDO are updated when receiving the Sync object gt e g object 0x1400 Subindex 2 set to u8 255 COB ID Data bytes Description 601 2F 00 14 02 FF 00 00 Write Transmission Type 00 581 60 00 14 02 00 00 00 00 Response OK At this point the Subindices 3 and 5 can then also be written with TPDO These contain the Inhibit Time and the Event Time Deactivating mapping The number of mapped objects reset to 0 3 e g object 0x1600 subindex 0 set to u8 0 COB ID Data bytes Description 601 2F 00 16 00 00 00 00 00 Write number of mappings to 0 581 60 00 16 00 00 00 00 00 Response OK Changing the mapping The SDO 0x1600 Subindices 1 to 8 defines which objects are mapped from the object directory to this PDO Each subindex can be written with a u32 that contains the index and subindex of the object to be mapped Bits 31 to 16 contain the index and bits 15 to 8 contain the subindex Bits 7 to O specify the length of the object to be mapped in bits Bits 7 to O must not be set these are adopted from the firmware In the following exam
38. Interpolated Position Mode PDO Process Data Object PP Profile Position Mode ro read only RPDO Receive Process Data Object rw read write SDO Service Data Object SYNC Synchronization Object TPDO Transmit Process Data Object TQ Torque Mode VL Velocity Mode Nanotec PLUG amp DRIVE 15 Appendix Possible error messages Errorcode Description 0503 0000h Toggle bit not alternated 0504 0000h SDO protocol timed out 0504 0001h Client server command specifier not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 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 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to a hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not
39. Nanotec PLUG amp DRIVE Motor rotates in a clockwise direction Speed from object 0x6099 1 Search for switch As long as input 6 is low When the switch is reached input 6 high the direction is reversed Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until input 6 becomes low again Motor stops Mode 33 Internal reference run Search for the index mark of the internal encoder Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until index mark is reached When the index mark is reached the direction is reversed Motor rotates in a clockwise direction Motor shuts down as of the index mark Motor stops Mode 34 Internal reference run Search for the index mark of the internal encoder Motor rotates in a clockwise direction Speed from object 0x6099 2 Search for zero Until the index mark is reached When the index mark is reached the direction is reversed Motor rotates in a clockwise direction Motor shuts down as of the index mark Motor stops Mode 35 Position reset Sets the current position to Home Offset without the shaft moving Mode 2 Reference run set to blocking Mode only functions with an encoder OL and CL First run Motor rotates in a clockwise direction with speed from object 0x6099 1 Search for switch until the shaft is blocked The objects Following Error Window and Following Error Timeout are evaluated he
40. RDWARE 0x6000 CAN_EMERGENCY_ERROR_CODE_DEVICE_SOFTWARE 0x6100 CAN_EMERGENCY_ERROR_CODE_DEVICE_SOFTWARE_INTERNAL 0x6200 CAN_EMERGENCY_ERROR_CODE_DEVICE_SOFTWARE_USER 0x6300 CAN_EMERGENCY_ERROR_CODE_DEVICE_SOFTWARE_DATA 0x7000 CAN_EMERGENCY_ERROR_CODE_ADDITIONAL_MODULES 0x8000 CAN_EMERGENCY_ERROR_CODE_MONITORING 0x8100 CAN_EMERGENCY_ERROR_CODE_MONITORING_COMM 0x8110 CAN_EMERGENCY_ERROR_CODE_MONITORING_COMM_OVERRUN 0x8120 CAN_EMERGENCY_ERROR_CODE_MONITORING_COMM_PASSIVE 0x8130 CAN_EMERGENCY_ERROR_CODE_MONITORING_COMM_LIFEGUARD 0x8140 CAN_EMERGENCY_ERROR_CODE_MONITORING_COMM_BUSRECOVERY 0x8150 CAN_EMERGENCY_ERROR_CODE_MONITORING_COMM_TXCOBCOLLISION 0x8200 CAN_EMERGENCY_ERROR_CODE_MONITORING_PROT 0x8210 CAN_EMERGENCY_ERROR_CODE_MONITORING_PROT_PDO_NOPROCLENGTH 0x8220 CAN_EMERGENCY_ERROR_CODE_MONITORING_PROT_PDO_LENGTH 0x9000 CAN_EMERGENCY_ERROR_CODE_EXTERNAL 0x9100 CAN_EMERGENCY_ERROR_CODE_EXTERNAL_DOORACCESS OxF000 CAN EMERGENCY ERROR CODE ADDITIONAL OXFFOO CAN EMERGENCY ERROR CODE DEVICESPEC OxFFFF CAN EMERGENCY ERROR CODE DEVICESPEC UNKNOWN Nanotec PLUG amp DRIVE 17 Appendix Motor data 17 1 Default values for stepper motors Load angle Value 16384 18384 20384 22384 24384 26384 28384 Load angle Value 16384 16500 17000 17500 18000 18500 19000 17 3 Stepper motors of the
41. SDO 0x6064 must be adopted for Closed Loop mode as the starting position for the Interpolation Data Record SDO 0x60C1 4 Nanotec PLUG amp DRIVE 8 Torque Mode 8 1 Introduction The Torque Mode serves to set the torque according to a specified target value As the resultant rotational speed depends on the properties of the motor and the load torque it is possible to limit the maximum rotational speed by means of the SDO Ox607F The Torque mode is selected with the value 4 in SDO 0x6060 Modes of Operation For the Torque Mode the Closed Loop Mode must be active 8 2 Control word SDO 0x6040 Designation Control word SDO ID 0x6040 Type u16 Value range Bits This object is available in the default setting as a PDO with the COB ID 0x200 node ID An RTR is not configured The motor is switched on and travel commands can be carried out with this object Bits O 1 and 3 are used for starting up the power drive These are described in the General section Bit 2 is used to trigger an emergency stop If it is set to O the motor carries out a quick stop with the ramp set in SDO 0x6085 The motor then goes into Switch On Disabled see general description of the control word Bit 8 stop bit serves to start and stop the motor If the value is set to 1 the motor will be stopped During a transition from 1 to 0 the motor begins to turn and the torque is set accordin
42. _VALUE 0x6064 Object description Designation Position actual value SDO ID 0x6064 Type 32 ro Value range 32 Contains the current actual position encoder position converted acc to Feed Constant and Gear Ratio 9 32 FOLLOWING ERROR WINDOW 0x6065 Object description Designation Following error window SDO ID 0x6065 Type U32 rw Value range u32 Specifies the maximum following error symmetrically to the demanded position If the actual position deviates too greatly from the demanded position a following error is issued 4 Nanotec PLUG amp DRIVE 9 33 FOLLOWING ERROR TIME OUT 0x6066 Object description Designation Following error timeout SDO ID 0x6066 Type u16 rw Value range u16 Time in milliseconds until too large a following error leads to an error message 9 34 POSITION WINDOW 0x6067 Object description Designation Position window SDO ID 0x6067 Type u32 rw Value range u32 Specifies a symmetrical range relative to the target position within which the target is considered to be reached 9 35 POSITION WINDOW TIME 0x6068 Object description Designation Position window time SDO ID Ox6068 Type u16 rw Value range u16 For this time period the actual position must be within the position window so that the target position is considered to be reac
43. alue 1 to 240 Sending of the object after the set number of Sync objects 1 to 240 independently of whether the object has changed 255 Sending the object after a change independent of the Sync object inhibit time Type u16 rw Default value 1000 When Transmission Type 255 asynchronous transmission on a change is used this value indicates the minimum time between the transmission of two consecutive objects in 100us steps For example this can prevent the current position which changes continuously during travel from blocking the CAN bus reserved Type u8 rw Default value 0 No meaning event timer Type u16 rw Default value 0 For Transmission Type 255 asynchronous transmission upon a change this value indicates the maximum time between two transmitted objects of the same type This setting can be used to cyclically send objects that rarely change A value of 0 in this setting deactivates this behavior default Nanotec PLUG amp DRIVE 9 20 TPDO3 COMMUNICATION PARAMETER 0x1802 Object description Subindex 01h Subindex 02h Subindex 03h Subindex 04h Designation Transmit PDO3 Communication Parameter SDO ID 0x1802 Type Record Number of entries 5 Contains the communication parameters for the TPDO 3 COB ID Type u32 rw 0x380 Node ID The default value does not take effect by changin
44. bject after receiving the next Sync object 255 Immediate update of the object 4 Nanotec PLUG amp DRIVE 9 13 RPDO4 COMMUNICATION PARAMETER 0x1403 Object description Subindex 01h Subindex 02h Designation Receive PDO4 Communication Parameter SDO ID 0x1403 Type Record Number of entries 2 Contains the communication parameters for RPDO 4 COB ID Type u32 rw Default value 0x500 Node ID The default value does not take effect by changing the node ID but only by resetting the EEPROM see section 1 1 3 Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 to 240 Update of the object after receiving the next Sync object 255 Immediate update of the object 9 14 RPDO1_MAPPING 0x1600 Object description Designation Receive PDO Mapping Parameter SDO ID 0x1600 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1400 Subindex 1 8 Mapped objects Designation Receive PDO1 Mapping Parameter Type u32 rw Describes one mapped object at a time Nanotec PLUG amp DRIVE Bits Bits 31 16 index Bits 15 8 subind
45. ch a new demanded position is received The height of the triangles on the y axis indicates the value of the demanded position It is clear that the resulting curve between t 4ms and t 20ms is not a straight line although the position is always increased by two increments over the previous value This occurs because of the time related jitter that is also associated with the objects for the demanded position Synchr acceptance At the points in time which are marked with the downward pointing triangles the controller takes the PDO with the demanded position into its internal buffer This point in time is precisely the time at which the sync object is received From this point in time it would also be possible to read this value via the SDO protocol This curve also is not a straight line due to the jitter of the received Sync objects Traveled path The continuous line indicates the route traveled in Interpolated Position mode Because the interpolation time points are derived from the PLL the jitter of the sync object has no influence on the shape of the curve The time delay between the demanded position and the traveled path is necessary because the starting and demanded position of the current interval must already be known at the beginning of the interpolation period here 2 4ms of the controller in order to be able to calculate the speed this interval Nanotec PLUG amp DRIVE 7 3 Control word SDO 0x6040 Object d
46. ctivate PDO again BIDIN S Bring the controller into Operational mode again in order to use the PDO features and functions Example RPDO Mapping The changing of an RPDO mapping is described below by way of example The changing of a TPDO mapping is carried out accordingly The objects that are necessary for adjusting the other PDOs are described from section 9 10 Pre Operational mode In order for the objects to be mapped it is necessary to switch into Pre Operational mode 0x80 first For more details see Chapter 2 2 COB ID Data bytes Description 0 80 01 Node 1 after Pre Operational 701 TF Response Node 1 Pre Operational Deactivating PDO To deactivate a PDO the most significant bit MSB in the object Receive Transmit PDO Communication Parameter COB ID must be set gt e g object 0x1400 Subindex 1 set to u32 0x80000000 deactivates RPDO 1 Nanotec PLUG amp DRIVE COB ID Data bytes Description 601 23 00 14 01 00 00 00 80 Write COB ID 581 60 00 14 01 00 00 00 00 Response OK Set CAN object Identifier COB ID A COB ID must be assigned for the actual mapping It is important to note that the COB ID is only assigned to a PDO The smaller the COB ID the higher the priority on the CAN bus gt e g object 0x1400 Subindex 1 set to u32 0x80000201 COB ID Data bytes Description 601 23 00 14 01 01 02 00 80 Write COB
47. ctor 0X100D GN KNANG KO NANGKA RA GRA AA RR ee ek Re ee Ge ee Re ee ek Re ee ee de ee ee ee 92 Store Parameters 01010 aaah AA audit ge DE DA GE Ge KEES EE Ee Eh 92 Restore Parameters 1O0T1 is oe eegend Aa AB a 92 Acceleration notation index 0X608D ee ee ee ee Re ee Ke ee Ke ee ee ke ee ee ke ee 93 Acceleration dimension index OXGOBE ee ee ee ee Re ee ke ee Ge ke ee ee Re ee ee Re ee 93 Process Data Objects PDO 1 11 ARANETA NG 94 Purpose oi the PDOS aa IG NABABAGABAG 94 PDO MappiNg BEE 94 Dummy gie aaa T N TO 96 Commissioning via RS485 nnmnnn nnn 97 Appendix Abbreviations used see ee RE RA Re GE EA RR AR ER RR RA Re Ge EA AR RR RR RE RA Re Ge EA ee ER RR RE ER Ke ae ee 98 4 Nanotec PLUG amp DRIVE 15 16 17 17 1 17 2 17 3 17 4 17 5 17 6 17 7 17 8 17 9 Appendix Possible error messages 99 Appendix Possible error codes ee ER Re Ee RE ER ER RR RA Re Ge ee RR ER RE RA Re Ge Ee Re ek RR RE Ra ee ee 100 Appendix Motor data EERS EE ERK ERKEN EE EENKEER RE RENEE GER RE EER EE NEE En EEND AR RE Ke NEER EER NE a 101 Default values for Stepper MOTOMS se ese ee ee ee ee ee se Re ee ee ee ee ee ee NA Re Re ee ee ee ee ee ee Re ee ee ee ee ee ee 101 Default values for BLDG Motors na NANANA NAG NALANG 101 Stepper motors of the series Give 101 BLDC motors of the series DZ 102 BLDC motors of the series DZ 102 BLDC motors of the series DB38 AA Aa 103 BLDC motors of t
48. d Number of entries 24 Contains the control parameters for the closed loop mode Subindex 01h KP_V_Z Type u16 rw Default value 2 Numerator of the proportional component of the speed controller Subindex 02h KP_V_N Type u16 rw Default value 0 Denominator of the proportional component of the speed controller as a power of 2 Subindex 03h KI V Z Type u16 rw Default value 1 Numerator of the integral component of the speed controller Subindex 04h KI V N Type u16 rw Default value 6 Denominator of the integral component of the speed controller as a power of 2 Subindex 05h KD V Z Type u16 rw Default value 0 Numerator of the differential component of the speed controller Subindex 06h KD_V_N Type u16 rw Default value 0 Denominator of the differential component of the speed controller as a power of 2 Subindex 07hKP S Z Type u16 rw Default value 100 Numerator of the proportional component of the position controller 4 Nanotec PLUG amp DRIVE Subindex 08h KP S N Type Default value u16 rw 0 Subindex 09h KI S Z Denominator of the proportional component of the position controller as a power of 2 Type u16 rw Default value 2 Numerator of the
49. d object at a time Bits Bits 31 16 index Bits 15 8 subindex Bits 7 0 object length in bits 9 18 TPDO1_COMMUNICATION_PARAMETER 0x1800 Object description Subindex 01h Designation Transmit PDO1 Communication Parameter SDO ID 0x1800 Type Record Number of entries 5 Contains the communication parameters for the TPDO 1 COB ID Type u32 rw Default value 0x180 Node ID The default value does not take effect by changing the node ID but only by resetting the EEPROM see section 1 1 3 Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Nanotec PLUG amp DRIVE Subindex 02h Subindex 03h Subindex 04h Subindex 05h Transmission Type Type u8 rw Default value 255 Values 0 Sending of the object after the next Sync object if it has changed its value 1 to 240 Sending of the object after the set number of Sync objects 1 to 240 independently of whether the object has changed 255 Sending the object after a change independent of the Sync object inhibit time Type u16 rw Default value 1000 When Transmission Type 255 asynchronous transmission on a change is used this value indicates the minimum time between the transmission of two consecutive objects in 100us ste
50. e SDO ID 0x2005 Type u8 Value range 130 131 132 133 134 135 Default value 135 is not reset by an EEPROM Reset 11 7 Motor Pole Pairs 0x2006 Object description Designation Number of pole pairs of the motor SDO ID 0x2006 Type u16 Value range 50 and 100 Default value 50 Specifies the number of pole pairs of the motor After changing this parameter the controller must be provided with power again For use in Closed Loop the motor must be readjusted with the aid of the rotor position test run Pool pair count Step angle 50 100 4 Nanotec PLUG amp DRIVE 11 8 Brake Wait Time 0x2007 Object description Designation Wait time for mech brake SDO ID 0x2007 Type Record Number of entries 3 The SMC147 S has an output for connection of a spring loaded electromagnetically releasable brake Delay times for this brake can be set with this SDO While a braking wait time is carried out no commands for changing the mode are executed Subindex 01h Milliseconds Power on to Brake off Type u16 rw Default value 0 Specifies the wait time between switch on of the power drive and release of the brake in milliseconds Subindex 02h Milliseconds Brake off to Operational Type u16 rw Default value 0 Specifies the wait time between releasing the brake and reaching the
51. e see ee ee ee ee ee ee ee ee ee ee ge ee ee ee ee 63 POSITION ACTUAL VALUE 0X6064 ee ee ee ee ee ee ee ee ee se ee ee ee ee Re ee ee ee ee Re ee ee Re ee ee de ee ee ee 63 FOLLOWING ERROR WINDOW 0X6065 ee ee ee ee ee ee ee Re ee ee Re ee Re ee ek Re ee Ge Re ee ee ee 63 FOLLOWING ERROR TIME OUT UNO 64 POSITION WINDOW 0X6067 uu mma ee ee ee ee ee RR RA Ee ee ER RA ee Ge Re ee ee Re ee ee Re ee ee de ee ee ee 64 POSITION WINDOW TIME OxX6068 ee ee ee ee ee ee ee ee Re ee ee Re ee ee Re ee ee Re ee ee de ee ee ee 64 POS RANGE LIMIT OX6O7B ee ee ee ee ee ee ee ee Re ee ee ee ee GR Re ee Ge Re ee ee ER Re ee ee Re ee ee ee ee Re ee 64 SW POS LIMIT 0Xx607D ER kA EE ER ET OE 65 POSITION ENCODER RESOLUTION OSpGO E ee ee ee ee ee ee ee ee ee se ee ee ee ee ke ee ee ee ee ee ee 65 GEAR RATIO OX6O091 iese ee aa AA Re Ane ee AR GEE SR Pe Ne Ge ee SKREE Ee Eed se 66 FEED CONSTANT 0X6092 ee ee ee ee ee se ee KO KANG ee Re ee ee ee ee ee GR Re ee Ge Re ee ee Re ee ek Re ee ee de ee Re ee nt 66 MAX ACCEL 0X60C5 Re EE mala a a AN GE a RED RANA ke see 67 MAX DECEL Ox60C6 RE ER OR EO OE ER ER EE ek 67 SUPPORTED DRIVE MODES 0X6502 iese see ee ee ee ee ee se ee ee ge ee ee ee ee ee ee ee ee ee Re ee ee de ee ge ee 67 Boolean Dummy Object 00007 68 integers Dummy Object 0Xx0002 eie ee ee ee RRR Re Ee RR Ke ee Red ee ke ee kke ee 68 Integer16 Dummy Object OxOOU2 AA AA AR ee Re AA ee RR
52. ec PLUG amp DRIVE Subindex 01h encoder increments Subindex 02h motor revolutions Type u32 rw Default value 2000 Type u32 rw Default value 9 39 GEAR RATIO 0x6091 Object description Designation Gear ratio SDO ID 0x6091 Type Record Number of entries 2 Number of motor revolutions per revolution of the driving axis gear ratio motor shaft revolutions driving shaft revolutions Subindex 01 h Motor revolutions Subindex 02h Shaft revolutions Type u32 rw Default value 1 Type u32 rw Default value 9 40 FEED CONSTANT 0x6092 Object description Designation Feed constant SDO ID 0x6092 Type Record Number of entries 2 Specifies the feed per revolution for a linear drive Feed constant feed revolutions Nanotec PLUG amp DRIVE Subindex 01h Feed Subindex 02h Shaft revolutions Type u32 rw Default value 2000 Type u32 rw Default value 9 44 MAX ACCEL 0x60C5 Object description Designation Max acceleration SDO ID Ox60C5 Type u32 rw Value range u32 Contains the maximum admissible acceleration ramp see also MAX DECEL SDO 0x60C6 9 42 MAX_DECEL 0x60C6 Object description Designation Max deceleration SDO ID 0x60C6 Type u32 rw Value range u32 Contains the maximu
53. ecessary that the controller is synchronized to the SYNC object This SYNC object must be sent by the higher order controller at regular time intervals The synchronization is carried out as soon as the controller is switched to NMT Operational mode see section 2 2 7 2 Chronological progress Representation The following figure shows the time progression in Interpolated Position mode The time is plotted on the x axis and the position on the y axis Zeitablauf IP Mode Sync Objekt PLL Empf PDO A Synchr Annahme Gefahrener Weg Weg in Inkrementen 0 4 8 12 16 20 24 28 32 Zeit in ms Nanotec PLUG amp DRIVE Explanations of the legend Sync object The transparent diamond shapes plotted along the x axis mark the points in time at which the controller receives a Sync object from the higher order controller The time intervals of the sync objects are not constant in this case The deviation of the points in time that results when the Sync object is received at equal time intervals is called jitter Jitter is caused by a high CAN bus load for instance PLL The controller compensates the jitter of the Sync object by synchronizing it to the Sync objects with the aid of a so called Phase Locked Loop PLL The resulting points in time solid diamond shapes on the x axis are almost free of jitter Revd PDO The triangles that point upwards indicate the points in time at whi
54. ecting the operation mode Requirements Changes of the mode can take place in the Operation Enabled status It is important to ensure that the motor does not move when commanding a mode change Example The selection of a mode is shown using the example of PP mode Profile Position or Positioning mode COBID Data bytes Description 622 2F 60 60 00 01 Mode Profile Position PP 5A2 60 60 60 00 00 00 00 00 Response OK 2 6 Starting a travel Step 1 Set the new setpoint bit in the control word to start a travel COB ID Data bytes Description 622 2b 40 60 00 1F 00 Start of a movement 5A2 60 40 60 00 00 00 00 00 Response OK Step 2 Reset the bit to enable subsequent travel movements COB ID Data bytes Description 622 2b 40 60 00 OF 00 Reset of the start bit 5A2 60 40 60 00 00 00 00 00 Response OK The motor should now have moved a little The motor no longer reacts to any further toggling of the bit as it has reached its end position Nanotec PLUG amp DRIVE 2 7 Specifying a new end position 0x12345 Step 1 Step 2 Step 3 COBID Data bytes Description 622 23 7A 60 00 45 23 01 00 End position to 0x12345 5A2 60 7A60 00 00 00 00 00 Response OK COB ID Data bytes Description 622 2b 40 60 00 1F 00 Start of a movement 5A2 60 40 60 00 00 00 00 00 Response OK COB ID Data bytes Descr
55. ee ee ee AR ee AR ee AR ee AR ee ee ee ERARE 31 6 Velocity Mode EE EE EE N EE EE OE face 32 6 1 Control Word OX6040 EEN ge EEN eg aa DEE DE se EE RE Dee aaa 32 6 2 Status word OX6041 RE EE RE ER RE nea 32 Nanotec PLUG amp DRIVE 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 8 1 8 2 8 3 8 4 8 5 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 9 10 9 11 9 12 9 13 9 14 VL target velocity Ox6042 EN 33 VL velocity demand Ox6043 EE 33 VL velocity actual value OX6044 ee ee ee ee ee ee ke ee ee ee ke ee ee ke ee ee ke ee ee ee ke ee ee ee ke ee ee 33 VL velocity min max amount UxpUAp ec ee ee ee Re ek Re ee Re ee ee ke ee ee ee ee ee ke ee 34 VL velocity acceleration Ox6048 Lana aan aan GE nana 34 VL velocity deceleration OXGO49 eene Ee ese AGANG NAAN 34 VL velocity quick stop OX604A nananana manna ee ee Ge ee Re ee GR Re ee ee ke ee ee ke ee ee ke ee ee ke ee ee 35 VL dimension factor OX604C ooo ec eect ek ee Re ee Re ee settee ek Re ee ee ke ee ee Re ee ee ee be ee ee 36 Interpolated Position mode EE KERE KAR EER RR ER AAN AAS EER EE ONE RAAR ARE EER RR KE NN GRA KEER EER RA RRR ERA ER 37 MOGUCOM EE OE RE EE EE EE AE 37 Chronological eliele 37 Control word SDO OxpOA0 ee ee ee AR AR ee AR ee ee ee EEA 39 SELA PICS PO CA 39 Interpolation Sub Mode Select SDO OX6O0CO ee ee ek Re Re ee ee Re ee 39 Interpolation Data Record SDO 0X60C1 ee ee ke ee Re
56. escription Designation Control word SDO ID 0x6040 Type u16 Value range Bits The power drive can be started up and the IP mode activated with this object Bits Bits O 1 and 3 are used for starting up the power drive See section 3 Control and status word Bit 2 is used to trigger an emergency stop If it is set to O the motor stops abruptly The motor then goes into Switch On Disabled see section 3 Control and status word Bit 4 activates the IP mode 7 4 Status word SDO 0x6041 Object description Designation Status word SDO ID 0x6041 Type u16 Value range Bits Bit12 IP mode active This bit is set if the IP mode is active Remaining bits See section 3 Control and status word 7 5 Interpolation Sub Mode Select SDO 0x60C0 Object description Designation Interpolation Sub Mode Select SDO ID 0x60C0 Type s16 Value range 0 The interpolation mode is selected with this object Only a linear interpolation value 0 is supported Other values are not allowed and will be ignored 4 Nanotec PLUG amp DRIVE 7 6 Object description Interpolation Data Record SDO 0x60C1 Designation Interpolation Data Record SDO ID 0x60C1 Type Array Number of entries 1 This object contains the next target position to be moved to Subindex 1 Designation 1st Set
57. ettings in the EEPROM To do so write the value 132 0x65766173 into the object 0Xx1010 Subindex 1 the value corresponds to the string save COB ID Data bytes Description 601 23 10 10 01 73 61 76 65 Save all settings 581 60 10 10 01 00 00 00 00 Response OK 1 2 Motor configuration General information Before commissioning the motor controller the motor parameters in the controller must be adapted to the respective connected motor if they differ from the default settings These settings include e Phase and quiescent current of the motor 0x2004 e Number of pole pairs of the motor 0x2006 e Encoder resolution 0x608F e Gear factor 0x6091 Phase and quiescent current Motor type The object 0x2004 Subindex 1 is used to set the phase current as a percentage of the maximum current The current is specified as a percentage of the nominal current effective value The default setting is controller dependent The quiescent current as well as the phase current is set in percent of the maximum current with Subindex 2 This current is applied to the motor winding when the motor is at a standstill The default setting is 20 The motor type is set with the object 0x2004 Subindex 7 This setting is not supported by all controllers Please also note the corresponding data sheet Possible values e 0 Stepper motor with and without quadrature encoder e 1 BLDC with Hall sensor and without quadra
58. ex Bits 7 0 object length in bits 9 15 RPDO2 MAPPING 0x1601 Object description Designation Receive PDO2 Mapping Parameter SDO ID 0x1601 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1401 Subindex 1 8 Mapped objects Designation Receive PDO Mapping Parameter Type u32 rw Describes one mapped object at a time Bits Bits 31 16 index Bits 15 8 subindex Bits 7 0 object length in bits 9 16 RPDO3_MAPPING 0x1602 Object description Designation Receive PDO3 Mapping Parameter SDO ID 0x1602 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1402 Subindex 1 8 Mapped objects Designation Receive PDO Mapping Parameter Type u32 rw Describes one mapped object at a time Bits Bits 31 16 index Bits 15 8 subindex Bits 7 0 object length in bits 4 Nanotec PLUG amp DRIVE 9 17 RPDO4 MAPPING 0x1603 Object description Designation Receive PDO4 Mapping Parameter SDO ID 0x1603 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1403 Subindex 1 8 Mapped objects Designation Receive PDO Mapping Parameter Type u32 rw Describes one mappe
59. g the node ID but only by resetting the EEPROM see section 1 1 3 Default value Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 Sending of the object after the next Sync object if it has changed its value 1 to 240 Sending of the object after the set number of Sync objects 1 to 240 independently of whether the object has changed 255 Sending the object after a change independent of the Sync object inhibit time Type u16 rw Default value 1000 When Transmission Type 255 asynchronous transmission on a change is used this value indicates the minimum time between the transmission of two consecutive objects in 100us steps For example this can prevent the current position which changes continuously during travel from blocking the CAN bus reserved Type u8 rw Default value 0 No meaning WY Nanotec PLUG amp DRIVE Subindex 05h event timer Type u16 rw Default value 0 For Transmission Type 255 asynchronous transmission upon a change this value indicates the maximum time between two transmitted objects of the same type This setting can be used to cyclically send objects that rarely change A value of 0 in
60. g to SDO 0x6071 Bits 4 6 7 9 15 are not used in the Torque Mode and are set to 0 Nanotec PLUG amp DRIVE 8 3 Status word SDO 0x6041 Designation Status word SDO ID 0x6041 Type u16 Value range Bits Bit 10 serves as the torque status indicator Bit 10 Bit 8 Meaning Status Control word word 0 0 Specified torque not attained 0 1 Motor brakes 1 0 Specified torque attained 1 1 Motor idle Bits 0 9 11 15 refer to the general description 8 4 Target torque SDO 0x6071 Designation Target torque SDO ID 0x6071 Type s16 Value range 1000 to 1000 This object includes the target value for the torque to be set The torque is directly proportionate to the current which is why the value specified in thousands of the maximum settable current Ex e Controller SMCI47 S with nominal current 7 5 A e SDO 0x2004 Sub 1 to 20 20 of 7 5 A e SDO 0x6071 to 500 gt 500 1000 0 2 7 5A 0 75 A 8 5 Max Profile Velocity SDO 0x607F Designation Max Profile Velocity SDO ID 0x607F Type u32 Value range u32 This object includes the maximum permissible rotational speed as an amount for both rotational directions which can be set in the Torque mode The value is specified in RPM 4 Nanotec PLUG amp DRIVE 9 SDOs that are not mode specific 9 1 Digital inputs SDO 0x60FD Object descri
61. gnals The index is calculated as follows Hall1 1 Hall2 2 Hall3 4 Motor assignment Index 1 3 Type 1 not DB47 1 0 Type 2 DB47 41013 2 Hall 1 Example Motor DB57 Hall sequence according to the data sheet Hall 1 01010111111 Hall 2 0 1 1110 0 Hall 3 11110101011 Index 416 2131115 Value Type 1 2 4 3 015 The index can be calculated from the Hall states On the basis of the table for the motor assignment the values 2 4 3 0 1 5 then result These are entered in the controller as Hex 0x243015 Nanotec PLUG amp DRIVE Subindex ODh Peak current Type u32 rw Default value 0 0x0 Used with BLDC motors to adjust the maximum admissible peak current If this value is less than the motor current Subindex 1 it is ignored If the value is greater the motor current can be momentarily exceeded depending on the time constant Subindex OEh Peak current time constant Type u32 rw Default value 0 0x0 Used with BLDC motors to adjust the time constant for the peak current Enables a momentary exceeding of the set motor current Subindex 1 11 6 CAN enable and baud rate 0x2005 Object description The CAN baud rate is adjusted with this object For a more detailed description see section 1 1 3 Designation CAN enable and baud rat
62. he lower speed for the search for the reference position is specified in Subindex 2 Notes The speed in Subindex 2 is also the starting speed for starting the acceleration ramp If this is set too high the motor loses steps or does not rotate at all An excessive setting also leads to the index marking being overlooked This speed should therefore be less than 1000 steps per second In addition the speed in Subindex 1 must be greater than the speed in Subindex 2 See also Homing Method SDO 0x6098 section 5 3 Nanotec PLUG amp DRIVE 5 5 Homing Acceleration 0x609A Object description Designation Homing Acceleration SDO ID Ox609A Type u32 Value range 1 to 100000 Specifies the acceleration ramp for the Homing mode in steps s The ramp is only used when starting off When the switch is reached the unit is automatically switched to the lower speed and is stopped as soon as it reaches the limit position 4 Nanotec PLUG amp DRIVE 6 1 6 Velocity mode Control word 0x6040 Object description Bits Designation Control word SDO ID 0x6040 Type u16 Value range Bits This object is available as a static PDO with COB ID 0x200 node ID An RTR is not possible The motor is switched on and travel commands can be started with this object Bits 0 1 and 3 are used for starting up the power drive These are described in the General sectio
63. he series DBA42 aa aaa ES Ee Gee RR EE Gegee EER GE GEEN SEEEG 103 BLDG motors of the series DB 7 iseer se EN Se Ee ee ESEG en inetd 107 BLDC motors of the series D I 108 Nanotec PLUG amp DRIVE 1 Commissioning 1 1 Configuration of CAN communication 1 1 1 Rotary switch for CAN node ID Function In the case of controllers with a rotary switch how the controller determines its baud rate and node ID can be selected with the rotary switch A hexadecimal number is set with the rotary switches that is made up of the 1st digit of the left rotary switch and the 16th digit of the right rotary switch The node ID of a CANopen node can be set to between 1 and 127 The controller reads it from the rotary switches or from the EEPROM when the voltage is applied For more details on writing the node ID and the baud rate via CAN objects see section 1 1 3 Settings The dependency of the node ID and the baud rate on the value set on the rotary switch are listed in the following table Rotary switch 0 1 127 128 129 255 value decimal SMC147 S Rotary switch 0x00 0x01 0x7F 0x80 0x81 0xFF value hex SMC147 S Rotary switch 0 1 7 8 9 15 value decimal PD4 N Rotary switch value 0x0 0x1 0x7 0x8 0x9 0xF hex PD4 N Node ID of rotary switch X X 128 value or X 8 Node ID from EEPROM X X Baud rate fixed to A A 1 Mbaud Baud rate from EEPROM X X Example If the left hand rotary switch
64. hed 9 36 POS RANGE LIMIT 0x607B Object description Designation Position range limit SDO ID 0x607B Type Record Number of entries 2 Contains the minimum and maximum position If this range is exceeded or undercut an overflow occurs To prevent this overflow see also SW POS LIMIT SDO 0x607D Nanotec PLUG amp DRIVE Subindex 01h Min position range limit Type s32 rw Default value 100000000 Subindex 02h Max position range limit Type 32 rw Default value 100000000 9 37 SW_POS LIMIT 0x607D Designation Software position limit SDO ID 0x607D Type Record Number of entries 2 The target position must lie within the limits set here Before the check the home offset SDO 0x607C is deducted each time corrected min position limit min position limit home offset corrected max position limit max position limit home offset Subindex 01h Min position limit Type 32 rw Default value 100000000 Subindex 02h Max position limit Type 32 rw Default value 100000000 9 38 POSITION_ENCODER_RESOLUTION 0x608F Object description Designation Position encoder resolution SDO ID Ox608F Type Record Number of entries 2 Encoder increments per revolution position encoder resolution encoder increments motor revolutions WY Nanot
65. imum current and subsequent change to Switch On Disabled 4 5 Position Demand Value SDO 0x6062 Object description Designation Position Demand Value SDO ID 0x6062 Type 32 ro Value range 32 Specifies the current demanded position 4 6 Target Position SDO 0x607A Object description Designation Target Position SDO ID 0x607A Type 32 rw Value range 100000000 to 100000000 Specifies the target position Depending on the command of the control word the end position is interpreted as relative to the current position or absolute to the reference position The direction can be reversed with the object 0x607E polarity 4 7 Home Offset SDO 0x607C Object description Designation Home Offset SDO ID 0x607C Type 32 rw Value range 32 Specifies the difference between the zero position the application and the reference point the machine Nanotec PLUG amp DRIVE 4 8 Profile Velocity SDO 0x6081 Object description Designation Profile Velocity SDO ID 0x6081 Type u32 rw Value range Depending on the Feed Constant Specifies the maximum traveling speed in steps per second 4 9 End Velocity SDO 0x6082 Object description Designation End Velocity SDO ID 0x6082 Type u32 rw Value range Depending on the Feed Constant Specifies the minimum traveling speed
66. ion Active e Fault The states from Switch On Disabled to Operation Enabled must be run through in the specified order This occurs through the consecutive following setting of bits 0 1 and 3 All three bits are set at the end of the switch on process 4 Nanotec PLUG amp DRIVE Bit 2 Bits 4 to 15 Quick Stop inverted 0 means Quick Stop Active Bit 2 must always be set to 1 unless a Quick Stop is required If this bit is set to O the motor carries out a Quick Stop During the Quick Stop the motor is in the state Quick Stop Active After the Quick Stop the motor automatically goes into the state Switch On Disabled Bits 4 to 6 Mode specific Bit 7 Fault Reset If an error occurs the firmware is in the Fault state after the error reaction To set the firmware back to Switch On Disabled this bit must carry out a transition from O to 1 a duration of 1 is not sufficient here Bit 8 Stop mode specific Bit 9 Mode specific Bit 10 Reserved Bits 11 to 15 Manufacturer specific 3 3 Status word SDO 0x6041 Object description Bits Designation Status word SDO ID 0x6041 Type u16 Value range Bits This object is available as a PDO with the COB ID 0x180 node ID in the default setting An RTR is not configured Each time the status word changes this object is automatically sent as a PDO Bit 0 Ready to switch on Bit 1 Swi
67. iption 622 2b 40 60 00 OF 00 Reset of the start bit 5A2 60 40 60 00 00 00 00 00 Response OK Nanotec PLUG amp DRIVE 3 Control and status word 3 1 Introduction The control and status word are Service Data Objects SDO and are used to control and request the motor status They are made up of individual bits The control and status word are mapped to Process Data Objects PDO as standard In the respective available modes positioning speed and reference mode some bits always have the same meaning whereas others are specific to the respective mode Only those bits that have the same meaning in all modes are described 3 2 Control word SDO 0x6040 Object description Designation Control word SDO ID 0x6040 Type u16 Value range Bits This object is available in the default setting as a PDO with the COB ID 0x200 node ID An RTR is not configured Bits 0 1 and 3 Bit 0 Switch On Bit 1 Enable Voltage Bit 3 Enable Operation The motor commands the state from Switch On Disabled to Operation Enabled with bits O 1 and 3 see also section 2 The states are e Switch On Disabled e Ready to Switch On e Switch on e Operation Enabled From the Switch On state the holding brake is released and the electric field of the motor is active A movement of the motor is only possible in the Operation Enabled state Additional states are e Quick Stop Active e Fault React
68. is set to 1 and the right hand rotary switch is set to 2 this results in the number 1672 1 33 Here the baud rate is set to 1 Mbaud and the node ID is 33 PD4 N The PD4 N has only one rotary switch The node ID can therefore only be set in the range from 1 to 7 Other node IDs can only be set via SDO SMC112 and PD2 N The SMC112 and PD2 N have no rotary switches due to the confined space conditions The node ID and baud rate can only be set via SDO 4 Nanotec PLUG amp DRIVE 1 1 2 Configuration with the NanoCAN software Note Information on the configuration can be found in the NanoCAN User Manual 1 1 3 Configuration via CAN objects Procedure Proceed as follows to put a motor controller into operation using CAN objects Step Action 1 Set the value 1 left switch to O right switch to 1 with the two rotary switches This sets the baud rate permanently to 1 Mbaud and the node ID to 1 Invalid values for the baud rate in the EEPROM are thus ignored 2 Make default settings of the firmware To do so write the string load in the restore all default parameters SDO 0x1011 Subindex 1 COB ID Data bytes Description 601 23 11 10 01 6C 6F 61 64 Load defaults 581 60 11 100100000000 Response OK takes up to 5 seconds All settings are reset to the presettings defined in the EDS with the exception of the object for setting the baud rate see Step 4 3 Set the
69. ject description For controllers with DSPdrive PD2 N PD4 N SMCI12 SMCI36 the current controller parameters can be changed Designation DSPdrive current controller parameters SDO ID Ox200E Type Array Number of entries 6 Subindex 00h Number of entries Type u8 ro Default value 6 Subindex 01h KP low not used Type u16 rw Default value 1 Subindex 02h KP high Type u16 rw Default value 10 KP value at a standstill Subindex 03h KP scale Type u16 rw Default value 58 KP value is increased in proportion to the speed Subindex 04h KI low not used Type u16 rw Default value 1 Subindex 05h KI high Type u16 rw Default value 10 KI value at a standstill Subindex 06h KI scale Type u16 rw Default value 200 KI value is increased in proportion to the speed Nanotec PLUG amp DRIVE 11 16 Speed mode controller type 0x200F Object description If this object is set to 1 the position controller is used in VL mode instead of the speed controller This can be an advantage at very low speeds Designation Controller type speed mode SDO ID Ox200F Type u8 rw Value range O or 1 Default value 0 11 17 External reference run IO 0x2010 Object description An external IO node can also be used as a reference switch instead of input 6 of the
70. m braking ramp see also MAX ACCEL 0x60C5 9 43 SUPPORTED DRIVE MODES 0x6502 Object description Designation Supported drive modes SDO ID 0x6502 Type record ro Value range u32 The object describes the supported drive modes Only PP HM VL IP and TQ are currently supported in CANopen operation WY Nanotec PLUG amp DRIVE Bits Bit Meaning Supported 31 16 Not used manufacturer specific 15 20 Reserved CO CST CSV CSP IP Interpolated Position mode HM Homing mode R TQ Torque Mode DV VL Velocity mode DISIN BIB O OD N PP Profile Position mode 0 0 0 0 0 1 as of firmware version 06042009 1 0 1 0 1 1 9 44 Boolean Dummy Object 0x0001 Object description Designation Boolean SDO ID 0x0001 Type Bit rw Value range Bit Intended as a dummy object for PDO mapping Cannot be mapped as PDO 9 45 Integer8 Dummy Object 0x0002 Object description Designation Signed Integer 8 SDO ID 0x0002 Type Integer 8 rw Value range 128 to 128 Can be used as a dummy object for RxPDO 9 46 Integer16 Dummy Object 0x0003 Object description Designation Signed Integer 16 SDO ID 0x0003 Type Integer 16 rw Value range 32768 to 32767 Can be used as a dummy object for RxPDO
71. mware has an effect on the outputs These cannot then be affected by SDO 0x60FE Subindex 1 Bits 0 to 15 Unassigned 0 Bits 16 to 18 Mask for Output 1 to Output 3 Bits 19 to 31 Unassigned 0 If unassigned bits have a 1 written to them the entire mask is discarded Object description Bits Designation Polarity SDO ID Ox607E Type u8 Value range 8 bit bitmask bits 6 and 7 can be used bits O to 5 are reserved 0 Bit 6 Reverses the direction of rotation in Velocity Mode Bit 7 Reverses the direction of rotation in Profile Position Mode 1 means reversal is activated O means direction of rotation as described in the respective mode 9 5 Producer Heartbeat Time 0x1017 Object description Designation Producer Heartbeat Time SDO ID 0x1017 Type u16 Value range u16 Sets the Heartbeat Time in ms milliseconds Default setting is O deactivated 4 Nanotec PLUG amp DRIVE If the value is set to 0 the Heartbeat is switched off With values that are not equal to 0 the CANopen network status is sent to the COB ID 0x700 node ID in the set interval Attention By setting shorter intervals the CAN bus can be so heavily loaded that other communication is hardly still possible Requesting the network status If the Heartbeat is switched off the network status can be requested by sending a Remote Transmission
72. n Bit 2 is used to trigger an emergency stop If it is set to O the motor carries out a quick stop with the ramp set in SDO 0x604A The motor then goes into Switch On Disabled see general description of the control word Bit 8 Halt On a transition of O to 1 the motor accelerates up to the target speed with the set ramp On a transition of O to 1 the motor brakes and comes to a stop 6 2 Status word 0x6041 Object description bit 11 Designation Status word SDO ID 0x6041 Type u16 Value range Bits This object is available as a static PDO with COB ID 0x180 node ID An RTR is possible Each time the status word changes this object is automatically sent as a PDO Internal Limit Active This bit is set when a nominal value exceeds or undercuts internal limits e g target speed SDO 0x6082 greater than 25000 steps s Nanotec PLUG amp DRIVE 6 3 VL target velocity 0x6042 Object description Designation VL target velocity SDO ID 0x6042 Type s16 Value range 25000 to 25000 Specifies the target speed in steps s Values greater than O stand for right hand rotation values less than O stand for left hand rotation The direction can be reversed with the Polarity object 6 4 VL velocity demand 0x6043 Object description Designation VL velocity demand SDO ID 0x6043 Type s16 Value ra
73. n RTR is not configured Each time the status word changes this object is automatically sent as a PDO Bits O to 9 11 14 15 See section 3 Control and status word Bit 10 Target reached This bit is set to 1 when the last target has been reached motor at a standstill Bit 11 Internal limit active This bit is set when one of the nominal values exceeds internal range limits e g default speed is greater than the maximum possible speed Bit 12 Set point acknowledge This bit confirms receipt of a new target point It is set and reset synchronously to the New set point bit in the control word An exception is if a new travel is started when another travel has not yet been completed and the next travel should only be carried out after the end of the first travel In this case the bit is only reset when the command has been accepted and the controller is ready to carry out new travel commands If a new travel order is sent the latest travel order is overwritten although this bit is still set Bit 13 Following error This bit is set in Closed Loop mode if the following error is greater than the set limits see chapter 9 32 and 9 33 4 Nanotec PLUG amp DRIVE 4 4 Quick Stop Option Code SDO 0x605A Object description Designation Quick Stop Option Code SDO ID Ox605A Type s16 ro Value range 3 Specifies the behavior upon a Quick Stop Braking is currently only supported with max
74. nd between upper limit and infinity are active Designation Analog Input Interrupt Lower Limit SDO ID 0x6425 Type Array Number of entries 1 Designation Number of analog inputs Subindex 0 Type u8 ro Value range 1 Designation Analog 1 lower limit Subindex 1 Type 32 rw Value range 0x0 to Ox3FF 10 bit 10 6 Analog Input Interrupt Delta 0x6426 Object description If the analog value changes and the difference to the last sent value is greater than the value set in this object a PDO is sent In addition the limits from the upper and lower limits are evaluated Designation Analog Input Delta SDO ID 0x6426 Type Array Number of entries 1 Designation Number of analog inputs Subindex 0 Type u8 ro Value range 1 WY Nanatec PLUG amp DRIVE Designation Change limit Analog 1 Subindex 1 Type u32 rw Value range 0x0 to Ox3FF 10 bit 10 7 Analog Input Interrupt negative Delta 0x6427 Object description If the analog value changes to a negative value and the difference to the last sent value is greater than the value set in this object a PDO is sent In addition the limits from the upper and lower limits are evaluated If this value is less than the analog input delta it is not evaluated Designation Analog Input negative Del
75. ndex 15 8 subindex 7 0 object length in bits 9 24 TPDO3_MAPPING 0x1A02 Object description Designation Transmit PDO2 Mapping Parameter SDO ID 0x1A02 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1802 Subindex 1 8 Mapped objects Designation Transmit PDO Mapping Parameter Type u32 rw Describes one mapped object at a time Bits 31 16 index 15 8 subindex 7 0 object length in bits Nanotec PLUG amp DRIVE 9 25 TPDO4 MAPPING 0x1A03 Object description Designation Transmit PDO4 Mapping Parameter SDO ID 0x1A03 Type Record Number of mapped objects 0 8 Describes which object is mapped to the COB ID defined in the object 0x1803 Subindex 1 8 Mapped objects Designation Transmit PDO Mapping Parameter Type u32 rw Describes one mapped object at a time Bits 31 16 index 15 8 subindex 7 0 object length in bits 9 26 ERROR_CODE 0x603F Object description Designation Error Code SDO ID 0x603F Type u16 ro Value range u16 Includes the error code of the last error that occurred 9 27 VL DIMENSION FACTOR 0x604C Object description Designation vl dimension factor SDO ID Ox604C Type Record Number of 2 entries Conversion factor for the user specific speed e g 1 s
76. nge 25000 to 25000 Specifies the current target speed in steps s This object is read only 6 5 VL velocity actual value 0x6044 Object description Designation VL velocity actual value SDO ID 0x6044 Type s16 Value range 25000 to 25000 Specifies the current actual speed in steps s A value is only output when the closed loop is activated This object is read only Nanotec PLUG amp DRIVE 6 6 VL velocity min max amount 0x6046 Object description Notes Designation VL velocity min max amount SDO ID 0x6046 Type 2x u32 Value range 1 to 25000 The minimum speed and maximum speed in steps s can be set with this object Subindex 1 contains the minimum speed Subindex 2 contains the maximum speed If the magnitude of a target speed SDO 0x6042 is less than the minimum speed the minimum speed applies If the target speed is O the motor stops A target speed greater than the maximum speed sets the speed to the maximum speed and sets bit 11 internal limit active in the status word SDO 0x6041 6 7 VL velocity acceleration 0x6048 Object description Note Designation VL velocity acceleration SDO ID 0x6048 Type u32 u16 Value range u32 u16 both not equal 0 Sets the acceleration ramp in VL mode The acceleration is specified as a fraction Speed change per time change Subindex 1 contains the speed
77. not reset by an EEPROM Reset 11 11 CL is enabled 0x200A Object description It is possible to determine whether the Closed Loop Mode is active with the aid of this object If the object returns the value 1 Closed Loop Mode is active Designation CL is enabled SDO ID 0x200A Type u8 ro Value range 0 and 1 Default value 0 4 Nanotec PLUG amp DRIVE 11 12CL POSCNT Offset 0x200B Object description Specifies the distance between encoder index and rotor alignment A value of 65536 corresponds to an electrical angle of 360 or 0 This value is set by the CL test run and is different for each individual motor Designation CL POSCNT Offset SDO ID 0x200B Type u16 rw Value range 0 to 65535 Default value 0 11 13 CL load angle curve 0x200C Object description Specifies the speed dependent load angle A value of 65536 corresponds to an electrical angle of 360 or 0 This value is set by the CL test run and is identical for motors of the same series Each of the subindices of 1 to 7 contains a load angle for a speed range The speed interval between the individual values can be set in SDO 2004 Subindex 8 Designation CL load angle curve SDO ID 0x200C Type Array Number of entries 10 Subindex 00h Number of entries Type u8 ro Default value 10 Subindex 01h Load angle at a standstill Type u16
78. of the control word Bit 4 starts a travel order This is carried out on a transition of O to 1 Bit 5 If this bit is set to 1 a travel order triggered by bit 4 is immediately carried out If it is O the travel order just being carried out is completed and only then is the next Nanotec PLUG amp DRIVE travel order started If no travel order is being carried out at the moment of starting the next travel order is started immediately Bit 6 If O the target position SDO 0x607A is absolute and if 1 the target position is relative to the current position Bit 7 Error Reset see general description of the control word Bit 8 Halt If this bit is set to O the motor accelerates to the target speed with the set ramp If it is set to 1 the motor brakes and comes to a stop Bit 9 If this bit is set and the new travel command should only be carried out after the end of the current travel command the speed is only changed when the first target position is reached This means that braking is not performed before the first destination is reached as the motor should not stop at this position Bits 10 to 15 Reserved to be set to 0 4 3 Status word SDO 0x6041 Object description Bits Designation Status word SDO ID 0x6041 Type u16 Value range Bits This object is available as a PDO with the COB ID 0x180 node ID in the default setting A
79. or starting up the power drive See section 3 Control and status word Bit 2 is used to trigger an emergency stop If it is set to O the motor carries out a quick stop with the ramp set in SDO 0x6085 The motor then goes into Switch On Disabled see section 3 Control and status word Bit 4 starts the referencing This is carried out until either the reference position has been reached or bit 4 is set to O again Bits 5 to 6 Reserved Bit 7 See section 3 Control and status word Bit 8 If this bit is set the motor stops Bits 9 to 15 See section 3 Control and status word 5 2 Status word 0x6041 Object description Bits Designation Status word SDO ID 0x6041 Type u16 Value range Bits This object is available as a PDO with the COB ID 0x180 node ID in the default setting An RTR is not configured Each time the status word changes this object is automatically sent as a PDO Bits O to 9 11 14 15 See section 3 Control and status word Bit 10 Target reached Set to 1 when the motor is at a standstill Bit 11 Unused Bit 12 Homing attained Set to 1 when the reference position is reached Bit 13 Set to 1 when an error has occurred 4 Nanotec PLUG amp DRIVE 5 3 Homing Method 0x6098 Object descripti on Designation Homing Method SDO ID 0x6098 Type u8 Value range 19 20 21 22 33
80. ple the control word 0x6040 sub 0 is mapped to RPDO 1 gt e g object 0x1600 Subindex 1 set to u32 60400000 COB ID Data bytes Description 601 23 00 16 01 00 00 40 60 Write Mapping 1 581 60 00 16 01 00 00 00 00 Response OK If several objects are mapped to a PDO it is important to note that a PDO has a maximum length of 8 bytes If the maximum length of a PDO is exceeded the firmware registers an error during mapping 4 Nanotec PLUG amp DRIVE Activating mapping For activation of the mapping it is necessary to write the number of objects to be mapped to SDO 0x1600 Subindex 0 gt e g object 0x1600 Subindex 0 set to u8 1 COB ID Data bytes Description 601 2F 00 16 00 01 00 00 00 Write number of mappings to 1 581 60 00 16 00 01 00 00 00 Response OK Activating PDO The mapping must be activated as the last step To do so the MSB in the SDO 0x1400 Subindex 0 must be deleted gt e g object 0x1400 Subindex 1 set to u32 0x201 COB ID Data bytes Description 601 2F 00 14 01 01 02 00 00 Write COB ID 581 60 00 14 01 00 00 00 00 Response OK Activation of the node As the PDOs only function in Operational mode the mode must be changed to this mode after the end of PDO mapping per network management See chapter 2 2 COB ID Data bytes Description 0 01 01 Node after Operational 701 5 Response Node 1 Operational
81. point SDO ID Ox60C1 Subindex 1 Type 32 Value range 32 The next target position is to be written in this subindex When using the Interpolated Position Mode it is recommended to map this object in a synchronous RPDO T T Object description Interpolation Time Period 0x60C2 In the controller these objects are present for reasons of compatibility Set values are ignored In the controller the interpolation time is derived from the time intervals of the Synchronous object Designation Interpolation Time Period SDO ID Ox60C2 Type Array Number of entries 2 Subindex 1 Designation Interpolation time period value SDO ID Ox60C2 Subindex 1 Type u8 Value range u8 Subindex 2 Designation Interpolation time index SDO ID Ox60C2 Subindex 2 Type s8 Value range s8 Nanotec PLUG amp DRIVE 7 8 Object description Subindex 1 Subindex 2 Subindex 3 Subindex 4 Interpolation Data Configuration 0x60C4 This object is used as a placeholder for future modes Its values currently have no influence on the behavior of the Interpolated Position mode Designation Interpolation Data Configuration SDO ID Ox60C4 Type Array Number of entries 6 Designation Maximum Buffer Size SDO ID Ox60C4 Subindex 1 Type u32 Value range 1 Maximum length of the buffer Designation
82. ps For example this can prevent the current position which changes continuously during travel from blocking the CAN bus reserved Type u8 rw Default value 0 No meaning event timer Type u16 rw Default value 0 For Transmission Type 255 asynchronous transmission upon a change this value indicates the maximum time between two transmitted objects of the same type This setting can be used to cyclically send objects that rarely change A value of O in this setting deactivates this behavior default 9 19 TPDO2 COMMUNICATION PARAMETER 0x1801 Object description Subindex 01h Designation Transmit PDO2 Communication Parameter SDO ID 0x1801 Type Record Number of entries 5 Contains the communication parameters for the TPDO 2 COB ID Type u32 rw Default value 0x280 Node ID The default value does not take effect by changing the node ID but only by resetting the EEPROM see section 1 1 3 Nanotec PLUG amp DRIVE Subindex 02h Subindex 03h Subindex 04h Subindex 05h Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 Sending of the object after the next Sync object if it has changed its v
83. ption Designation Digital Inputs SDO ID OXGOFD Type u32 Value range 32 bit bitmask The digital inputs of the motor can be read with this SDO This SDO is read only Bits Bits 0 to 1 Unassigned 0 Bit 2 Input 6 reference switch Bits 3 to 15 Unassigned 0 Bits 16 to 21 Input 1 to Input 6 Bit 22 to 31 Unassigned 0 9 2 Digital outputs SDO 0x60FE Subindex 1 Object description Designation Digital outputs SDO ID Ox60FE Subindex 1 Type u32 Value range 32 bit bitmask The digital outputs of the motor can be written with this SDO The writing of the outputs via this SDO is only possible if they are also released with the output mask SDO 0x60FE Subindex 2 for the user Otherwise the outputs specify the motor status see also manual Bits Bits O to 15 Unassigned 0 Bits 16 to 18 Output 1 to Output 3 Bits 19 to 31 Unassigned 0 Nanotec PLUG amp DRIVE 9 3 Digital outputs bitmask SDO 0x60FE Subindex 2 Object description Bits 9 4 Polarity 0x607E Designation Bitmask SDO ID Ox60FE Subindex 2 Type u32 Value range 32 bit bitmask The digital outputs of the motor can be reserved for the user with this SDO A 0 means that the respective output is reserved for the user and can thus be changed with SDO Ox60FE Subindex 1 A 1 in the mask means that the status of the fir
84. re Motor moves backwards by one electrical revolution Second run Motor rotates in a clockwise direction with speed from object 0x6099 2 Search for zero until the shaft is blocked The objects Following Error Window and Following Error Timeout are evaluated here Motor moves backwards by one electrical revolution Motor moves to precisely the blocked position of the second run and sets the position to Home Offset 4 Nanotec PLUG amp DRIVE Mode 3 Reference run set to blocking e Like mode 2 only counterclockwise Mode 4 Reference run to external IO node e Like mode 19 only instead of input 6 an external IO node is used as limit switch see also SDO 0x2010 Mode 5 Reference run to external IO node e Like mode 20 only instead of input 6 an external IO node is used as limit switch see also SDO 0x2010 Mode 6 Reference run to external IO node e Like mode 21 only instead of input 6 an external IO node is used as the limit switch see also SDO 0x2010 Mode 7 Reference run to external IO node e Like mode 22 only instead of input 6 an external IO node is used as the limit switch see also SDO 0x2010 5 4 Homing Speeds 0x6099 Object description Designation Homing Speeds SDO ID 0x6099 Type 2x u32 Value range 1 to 25000 Specifies the speeds for the Homing mode in steps s The speed for the search of the switch is specified in Subindex 1 T
85. rw Default value 16384 Subindex 02h Load angle at speed load angle sampling spacing 1 Type u16 rw Default value 17000 Subindex 03h Load angle at speed load angle sampling spacing 2 Type u16 rw Default value 17500 Subindex 04h Load angle at speed load angle sampling spacing 3 Type u16 rw Default value 17750 Nanotec PLUG amp DRIVE Subindex 05h Load angle at speed load angle sampling spacing 4 Type u16 rw Default value 18000 Subindex 06h Load angle at speed load angle sampling spacing 5 Type u16 rw Default value 18000 Subindex 07h Load angle at speed load angle sampling spacing 6 Subindex 08h is not used Subindex 09h is not used Subindex OAh is not used Type u16 rw Default value 18000 Type u16 rw Default value 18000 Type u16 rw Default value 18000 Type u16 rw Default value 18000 11 14 Encoder rotation direction change 0x200D Object description If this object is set 1 the direction of the quadrature encoder is reversed Designation Encoder Reverse Direction SDO ID 0x200D Type u8 rw Value range 0 or 1 Default value 0 4 Nanotec PLUG amp DRIVE 11 15 DSPdrive current controller parameter 0x200E Ob
86. s also possible that the current travel order is still carried out to the target position but the transition to the new record is carried out as flying i e without reducing the speed Change on Setpoint Position controller If the position controller closed loop is active the objects Ox6067 and 0x6068 are used in order to decide when the travel is regarded as complete In addition the SDO 0x6065 and 0x6066 are evaluated in order to display the following error in the status word If the position controller is not active open loop a position error correction after a travel can be carried out if an encoder is present To do so the settings in SDO 0x2004 Subindices 5 and 6 are used If the error is greater than the tolerance set there a correction travel is started 4 2 Control word SDO 0x6040 Object description Bits Designation Control word SDO ID 0x6040 Type u16 Value range Bits This object is available in the default setting as a PDO with the COB ID 0x200 node ID An RTR is not configured The motor is switched on and travel commands can be carried out with this object Bits 0 1 and 3 are used for starting up the power drive These are described in the General section Bit 2 is used to trigger an emergency stop If it is set to O the motor carries out a quick stop with the ramp set in SDO 0x6085 The motor then goes into Switch On Disabled see general description
87. ss or send an email to info nanotec com Additional manuals Please also note the following manuals from Nanotec NanoCAN User Manual Configuration of the CAN communication for CANopen capable controls with the NanoCAN software Nanotec Benutzerhandbuch Programming manual Control programming e Command reference e NanoJ e COM interface WNanotec Programmierhandbuch fur Schrittmotor at Firmware 28022011 Technical manuals The manuals are available for downloading at www nanotec com Connection and commissioning of stepper motor controls or Plug amp Drive motors 4 Nanotec PLUG amp DRIVE Contents 1 COMMISSIONING RE EE EE N EE 9 1 1 Configuration of CAN Communication 9 1 2 Motor COnfIQUIATION EE EE EE EE 11 2 Getting started in CANopen mode ee see ee RE RE RR RE BEER AR RE REG AR RE EER AR RE EE ER RR RE EER KAR RE EE Ee ee 14 2 1 OVEINIEW paaa RE N EE E 14 2 2 Starting CANOPEN NOU TE 14 2 3 Requesting CANopen node status naaa AE GR EA AA Ge ee ee ee Ge Re Re ee ee ee ee ee 15 2 4 Switching op the power driVe iss EE ESE KRIGE AE SG GE AE ge TE Re Ge SR EE ee Ke Ge AE ge eg Ke ge eg 15 2 5 Selecting the operation mode ee ee Re AR AR ee ee ee ee ee ee ee ee ee ee ee ee 17 2 6 Elle E di RE RR ER EE OE OR RR EE N 17 2 7 Specifying a new end position Ux 234 18 3 Control and Status Word NANANA Ge REK EE EE REK Ge GEGEE EE Ee VOE Ge Ge GE De GE Ee EK ee 19 3
88. ta SDO ID 0x6427 Type Array Number of entries 1 Designation Number of analog inputs Subindex 0 Type u8 ro Value range 1 Designation Negative change limit Analog 1 Subindex 1 Type u32 rw Value range 0x0 to Ox3FF 10 bit 10 8 Analog Input Interrupt positive Delta 0x6428 Object description If the analog value changes to a positive value and the difference to the last sent value is greater than the value set in this object a PDO is sent In addition the limits from the upper and lower limits are evaluated If this value is less than the analog input delta it is not evaluated Designation Analog Input negative Delta SDO ID 0x6428 Type Array Number of entries 1 Nanotec PLUG amp DRIVE Designation Number of analog inputs Subindex 0 Type u8 ro Value range 1 Designation Positive change limit Analog 1 Subindex 1 Type u32 rw Value range 0x0 to Ox3FF 10 bit 4 Nanotec PLUG amp DRIVE 11 Manufacturer specific CAN Objects 11 4 STEP MODE 0x2000 Object description Designation Step mode SDO ID 0x2000 Type u8 rw Value range Default 1 2 4 5 8 10 16 32 64 255 value This object is obsolete The step mode that can be set here results from the objects Feed Constant and
89. tation rotation 0x6081 0x6084 Full step 200 400 16000 1600000 Half step 400 800 32000 3200000 Quarter step 800 1600 64000 6400000 Fifth step 1000 2000 80000 8000000 Eighth step 1600 3200 128000 12800000 Tenth step 2000 4000 160000 16000000 1 16 step 3200 6400 256000 25600000 1 32 step 6400 12800 512000 51200000 1 64 step 12800 25600 1024000 102400000 4 Nanotec PLUG amp DRIVE 2 Getting started in CANopen mode 2 1 Overview After the supply voltage is applied the controller is not automatically ready for operation immediately The following steps have to be carried out first e Starting CANopen node e Requesting CANopen node status e Switching on the power drive e Selecting the operation mode e Starting a travel e Specify new end position The individual steps are described in detail in the following sections 2 2 Starting CANopen node Operational status In order to use the features and functions of the controller each time the controller is switched on it must be put into operational status This occurs by sending a network management message with the COB ID 0x0 and the 2 byte long contents lt Command gt and lt node ID Input in IXXAT MiniMon Commands The full input in IXXAT MiniMon is 0 1 22 e 0 COB ID for NMT message e 1 Start node e 22 CANopen node ID here 0x22 or 34 The commands are e 0x01 Start node switches to operational status 0x05 e
90. tched on Bit 2 Operation enabled The selected operating Mode is active and accepts commands e g Profile Position mode Bit 3 Fault Set in case of a fault Bit 4 Voltage enabled Bit is set when the motor is provided with current Bit 5 Quick stop Bit 6 Switch on disabled Bit 7 Warning Bit 8 PLL sync complete This bit is set as soon as the synchronization with the SYNC object is complete Bit 9 Remote Bit 10 Target reached This bit is set when the motor has reached its target Profile Position Mode IV Nanotec Reference Manual PLUG amp DRIVE CANopen Control and status word Bit 11 Internal limit active This bit is set when the desired values exceed the maximum limits Bits 12 13 Mode specific Bits 14 15 Manufacturer specific not used Issue V 2 4 21 Nanotec PLUG amp DRIVE 4 1 Function 4 Profile Position Mode PP Introduction The Profile Position Mode is used to reach positions relative to the last target position or absolute to the last reference position with a predefined speed and ramp Carrying out travel orders This mode also supports the sending of new travel orders to the controller although the current travel order is not yet complete Depending on the setting in the control word the travel order is only carried out after the current order no option or the new travel order interrupts the current travel order Change Set Immediately It i
91. tec PLUG amp DRIVE 11 23 Life Time Factor 0x100D Object description Designation Life Time Factor SDO ID Ox100D Type u8 rw Value range 0 to 255 Default value 0 The Life Time Factor specifies after how many missing NMT status requests RTR of 0x700 node ID an error is generated The time resulting from the objects Guard Time and Life Time Factor must not exceed one minute 11 24 Store Parameters 0x1010 Object description Designation Store Parameters SDO ID 0x1010 Type u32 rw Value range 0x65766173 Default value If Ox65766173 is written in this object the entire object directory is written into the EEPROM of the controller Thus settings are retained after a restart of the controller However a switch on Power State machine is still necessary 11 25 Restore Parameters 0x1011 Object description Designation Restore Parameters SDO ID 0x1011 Type u32 rw Value range 0x64616F6C Default value a If Ox64616F6C is written in this object the entire object directory is reset to the default values The default values are also immediately transferred into the EEPROM Nanotec PLUG amp DRIVE 11 26 Acceleration notation index 0x608D Object description Designation Acceleration notation index SDO ID 0x608D Type u8 rw Value range u8 Default value 0
92. ter sending each command it is recommended to check whether the intended status has been reached as status transitions are prevented e g by a undervoltage error or can be delayed e g by the delay time of the mechanical brake or through the execution time of internal transitions by requesting the status word Input in IXXAT MiniMon For activation several transitions of the control words are necessary The transitions are made as an input in IXXAT MiniMon for CANopen node ID 34 A multiple transition during switch on e g from Switch on Disabled to Operation Enabled is not possible Only a jump from Ready to Switch On to Operational is possible COB ID Data bytes Description 622 2B 40 60 00 00 00 Switch On Disabled basic state 5A2 60 40 60 00 00 00 00 00 Response OK 622 40 41 60 00 Request of the status word 5A2 4B 41 60 00 60 02 00 00 Response Switch on Disabled Nanotec PLUG amp DRIVE COBID Data bytes Description 622 2B 40 60 00 06 00 Ready to Switch On 5A2 60 40 60 00 00 00 00 00 Response OK 622 40 41 60 00 Request of the status word 5A2 4B 41 60 00 21 02 00 00 Response Ready to Switch On COB ID Data bytes Description 622 2B 40 60 00 07 00 Switch On power drive on 5A2 60 40 60 00 00 00 00 00 Response OK 622 40 41 60 00 Request of the status word 5A2 4B 41 6
93. terrupt Enable 0x6423 Object description Only when this object has been set to 1 can a change of the analog value trigger the sending of the corresponding PDO Designation Analog Global Interrupt Enable SDO ID 0x6423 Type U8 rw Value range 0 or 1 Default 0 10 4 Analog Input Interrupt Upper Limit 0x6424 Object description If the analog value changes and is greater than the limit set in this object a PDO is sent If the upper limit is less than the lower limit the range between the upper and lower limit is active If the upper limit is greater than the lower limit the ranges between 0 and lower limit and between upper limit and infinity are active Designation Analog Input Interrupt Upper Limit SDO ID 0x6424 Type Array Number of entries 1 Designation Number of analog inputs Subindex 0 Type u8 ro Value range 1 Designation Analog 1 upper limit Subindex 1 Type 32 rw Value range 0x0 to Ox3FF 10 bit Nanotec PLUG amp DRIVE 10 5 Analog Input Interrupt Lower Limit 0x6425 Object description If the analog value changes and is less than the limit set in this object a PDO is sent If the upper limit is less than the lower limit the range between the upper and lower limit is active If the upper limit is greater than the lower limit the ranges between O and lower limit a
94. this setting deactivates this behavior default 9 21 TPDO4_COMMUNICATION_PARAMETER 0x1803 Object description Subindex 01h Subindex 02h Designation Transmit PDO4 Communication Parameter SDO ID 0x1803 Type Record Number of 5 entries Contains the communication parameters for the TPDO 4 COB ID Type u32 rw Default value 0x480 Node ID The default value does not take effect on changing the node ID but only by resetting the EEPROM see section 1 1 3 Bits Bit 31 1 PDO deactivated Bit 30 1 RTR not allowed Bit 29 1 29 bit ID O 11 bit ID Bits 28 11 Bits 28 11 of the 29 bit ID otherwise 0 Bits 10 0 Bits 10 0 of the COB ID Transmission Type Type u8 rw Default value 255 Values 0 Sending of the object after the next Sync object if it has changed its value 1 to 240 Sending of the object after the set number of Sync objects 1 to 240 independently of whether the object has changed 255 Sending the object after a change independent of the Sync object Nanotec PLUG amp DRIVE Subindex 03h Subindex 04h Subindex 05h inhibit time Type u16 rw Default value 1000 When Transmission Type 255 asynchronous transmission on a change is used this value indicates the minimum time between the transmission of two consecutive objects in 100us steps For example this
95. ture encoder e 2 BLDC with Hall sensor and with quadrature encoder If a BLDC motor is used the Hall sensor must also be configured object 0x2004 Subindex C The value 0x243015 must be entered for the Hall configuration default setting for all Nanotec motors except for the DB42 series The value 0x510342 applies for motors of the DB42 series 4 Nanotec PLUG amp DRIVE Number of pole pairs The number of pole pairs of the stepper motor determines its step angle The formula for the conversion is Step angle 360 4 number of pole pairs This means that a motor with a step angle of 1 8 has 50 pole pairs default setting in the controller and a 0 9 motor has 100 pole pairs The number of pole pairs must be correctly entered in the object 0x2006 Subindex 0 Encoder resolution Gear factor If an encoder is used its resolution must be known to the controller The resolution is specified in increments per rotation Because of the quadrature principle an encoder with 500 marks per rotation for example has four time the number of increments per rotation 2000 This value must be entered in the object 0x608F Subindex 1 The default value is 2000 When using gearing its translation or reduction ratio can be specified in the Gear Ratio object 0x6091 This ratio is given as a fraction The number of motor revolutions is in Subindex 1 and the number of revolutions of the gearing on the drive side
96. ust send the next demanded position in this PDO after each Sync object The demanded position is then adopted in the next Sync object see Figure 3 When using several controllers it makes sense to pack the demanded position for two controllers in one PDO and to mask the target position of the other controller by an s32 dummy object Nanotec PLUG amp DRIVE SDO 0x0004 in the respective controller Thus the necessary CAN bandwidth can be reduced and the saved bandwidth can be used for a higher interpolation frequency 7 10 Information about commissioning If other modes have been used before the IP mode is used it is very probable that the current position of the rotor is not zero If the IP mode is then selected the user must ensure that the demanded position in the Interpolation Data Record object SDO 0x60C1 corresponds to the actual position before interpolation is started with bit 4 of the control word If this is not done a movement to the zero position can occur within an interpolation period the time interval between two Sync objects when switching on the interpolation In Open Loop mode this is expressed by jerking of the shaft or short whistling steps are lost here In Closed Loop Mode the controller uses maximum current until the target position is reached To prevent this the Position Demand value object SDO 0x6062 must be adopted for Open Loop mode and the Position actual value object

CANopen Reference Manual V2.4

Contents

Download Pdf Manuals

Related Search

Related Contents