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1. HOMING MODE 22 Index Pulse Home Switch Neg Limit Switch Pos Limit u Switch pu 79 Rev 1 2 7 25 2013 CANopen User Manual Homing Methods 23 and 24 Home to the home switch transition shown below and bounce off the CCW limit if re quired HOMING MODE 23 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 80 7 25 2013 CANopen User Manual Homing Methods 25 and 26 Home to the home switch transition shown below and bounce off the CCW limit if re quired HOMING MODE 25 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch HOMING MODE 26 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 81 Rev 1 2 7 25 2013 CANopen User Manual Homing Methods 27 and 28 Home to the home switch transition shown below and bounce off the CW limit if re
2. CANopen User Manual Appendix E Profile Velocity Mode General Mode Description Profile Velocity Mode is a relatively simple operating mode Once the velocity accelera tion and deceleration are set the drive will either command the motor to accelerate to the running velocity according to the acceleration parameter or to halt movement according to the deceleration parameter The figure below shows an example of Profile Velocity Mode The top graph shows the actual speed of the motor the middle graph the target speed value and the bottom graph the halt bit in the controlword The table below explains how the halt bit and target velocity may be used together to af fect motor speed Between points B and C the motor does not come to a complete stop but decelerates according to the profile deceleration value starting at point B When the halt bit transitions at point C it accelerates immediately back to the target speed At Point E reducing the target speed to zero has the same effect as enabling the halt bit since the drive is com manding the motor to move at zero speed It should be noted that both enabling the halt bit and setting the target velocity to zero keep torque applied to the motor In order to allow the shaft to move freely the NMT state must be put in the Drive Disabled state Enable Profile Velocity Mode To enable the profile velocity mode the value 0003 must be written to the mode of operation OD entry located
3. When subindex 0 is read the actual number of valid mapped objects is returned If data types Index 1h 7h are mapped they serve as dummy entries The corresponding data in the PDO is not evaluated by the device This optional feature is useful e g to transmit data to several devices using one PDO each device only utilising a part of the PDO It is not possible to create a dummy mapping for a TPDO Rev 1 2 34 7 25 2013 CANopen User Manual A device that supports dynamic mapping of PDOs must support this during the state PRE OPERATIONAL state If dynamic mapping during the state OPERATIONAL is supported the SDO client is responsible for data consistency CT es E i D Appl Obj 2 Application Object 3 Appl Obj 1 Figure 11 Principle of PDO mapping Object Type Sub Number Record 9 Subindex Name Data Type es FE COS Default value Type Mapping mapped GE EE GE GE 06 mapped object6 UNSIGNED32 nl no me oxooo00000 08 mapped object8 UNSIGNED32 w no f no oxooo00000 0x1600 0x1603 RPDO mapping parameter To change mapping Number of mapped objects must be set to 0 PDO oes PDO Number of mapped objects mapped object subindex 1 8 bit 0 7 data length in bits bit 8 15 subindex from OD bit 16 31 index from OD 35 Rev 1 2 7 25 2013 CANopen User Manual 0x1800 0x1803 TPDO communication parameter Contains the communication pa
4. Error status bits except CAN bus passive but including bus off or Heartbeat consumer 03 Communication passive any communication error including CAN bus passive 04 Generic error critical errors see Error status bits 05 Device profile error bit 5 in error register is set 06 Manufacturer specific error bit 7 in error register is set 0x1200 SDO server parameter The object holds the COB ID communication object ID also known as CAN message ID values used to access the driver s SDO 1 Sub index 0 contains the number of sub elements of this record 2 Sub index 1 used by the driver to receive SDO packets The value is 0x600 NODEID 3 Sub index 2 gives the COB ID used by the driver to transmit SDO packets The value is 0x580 NODEID Rev 1 2 30 7 25 2013 CANopen User Manual Object Type Sub Number Data Type j Access Type PDO Mapping Default value UNSIGNEDS w m n 2 20 ro pono 2 01 COB ID client UNSIGNED32 ro no no 0x600 NODEID to server to client 0x1400 0x1403 RPDO communication Contains the communication parameters for the PDOs the device is able to receive The type of the PDO communication parameter 20h is described in CiA 301 section 9 5 4 The sub index Oh contains the number of valid entries within the communication record Its value is at least 2 If inhibit time supported the value is 3 At sub index 1h resides the COB ID of the PDO This entry has be
5. 1A03h 0 Transmit PDO Mapping Parameter 3 RECORD TI Table 3 CiA 301 Object Descriptions For more information see Appendix A for detail decription of OD Access PDO Sub Comment Fields Data Type Mapping 5000h o PositionGain_Tuning UNSIGNED16 Rw 5001h 0 PositionDeriGain_Tuning UNSIGNED16 Rw 5002h O0 PositionDeriFilter_Tuning UNSIGNED16 Rw 5003h 0 VelocityGain_Tuning UNSIGNED16 RW 5004h o VelocityintegGain_Tuning UNSIGNED16 Rw Ir s005 o AccFeedFoward Tuning Liege nw __ ae o PiFiter Tuning Liege w Cd 5007h l 500Eh Eg NotchFilterX_Tuning INTEGER16 am ooo am 0 Poston nson w soron 0 een max unseneoie ew somn 0 Smoon unseneoe ew LI ano 0 Driver Tempera neser RO Table 4 Tuning Parameter setting For more information see Appendix A for detail decription of OD Rev 1 2 16 7 25 2013 CANopen User Manual Access Index Sub Comment Fields Data Type mesg am 0 Controword J unsieneoie wo ves am 0 L t Unsieneore Ro ves aen 0 Quick Stop option code wees rw aen 0 Modes of Operation weem wo ves ae 0 Modes of Operation Display weem Ro ves aen 0 Postion Target value calculated L weee RO ves aen 0 folowing eror window unsieneos2 rw eosch 0 Velocity Target value calculated NTEGERs2 Ro ves eorn o Target Torque servos only
6. Appendix H Q Program Mode sisisiccciccciscsswtnuebonnssasddaccavnsonsinbindassdduadvarbannenncand ducdiacwnnbvawbeiastadeines 89 General Mode Description EE 89 Loading a Q e EE 89 Normal Q Program Execution EE 89 Synchronous Q Program E ene aR E E eee 90 More a ee e E 90 Appendix Understanding NMT States EE 91 5 Rev 1 2 7 25 2013 CANopen User Manual Building a CANopen NMT Data Frame Example Appendix J SDO and Eet Enable SDO RTE Building an SDO Read Data Frame Exaimple i ssccstceccccicecsdeuetsinecidaxeddeveneseciedetcuacenstciees EE Enable ne ER TPDO Transmission Types eebe PDO el NA er ae E E E E PDO Mapping Proced re sercaneicenneen eneren a a E E E GEE E Default Mapping Example Consumer PDO 2 Default PDO Mapping Stepper niccutccersatereatccncarcaddeninaiaseiianceceakesinsdunntleceiaantdtuaneladiadebeaeecus Default PDO Mapping EE PDO GOB ID kiinitete reae ane ee O E Ca eE EE EEE A aE a Anine anaa Building an RPDO Data Frame Example cccccccccceicsensceccccenecernortnortanentenetenensusgsdedeceenscenetees Appendix K Operation Mode Specific Control and Status Word Control Word of Profile Position MOG6 vi i ceicicccacddeceinestotetecdatediianeieiendbsadaddnacdudbsDsiabwedadarsdddans Status Word of Profile Position Mode egegtandegrerggC edina EE eege Ego Control Word of Profile Velocity MOde eege eege Status Word of Profile Velocity MOOG sscccccc Seege giereg eebe ee e gege Control Word of Homing lee EE Stat s
7. CiA 402 Motion Control Modes Profile Profile Homing Q Profile Velocity Torque Modes Program Position Mode Mode Mode Mode Limit Switches Etc Encoder Option Figure 4 CANopen Drive Motion Control Modes 13 Rev 1 2 7 25 2013 CANopen User Manual Object Dictionary The Object Dictionary OD is the core of any CANopen node It provides links to all the communication and running parameters of anode The Object Dictionary is defined in the Electronic Data Sheet EDS which lists all supported objects along with any sub objects For more information see Appendix A for a detail decription of Object Dictionary Any OD Entry may be accessed using the standard Service Data Object SDO protocol while some may be accessed using the low overhead Process Data Object PDO protocol For more information see Appendix J for a description of SDO and PDO Access Rev 1 2 14 7 25 2013 CANopen User Manual Electronic Data Sheet The EDS available on MOONS website lists all the properties of every supported object in the OD here following the list of Object Dictionary description ooon Device Type O onson ROC Moon EnorRegister f UNSIGNED RO ves am 0 Manufacturer status register UNsIeNEDa2 RO ves wen 0 COB D Sync messas unsieneDs2 Rw wen 0 Communication cyce pero unsieneDs2 Rw won 0 Synchronous window length UNSIGNED32__ _ Rw 1008h o Manufacturer Device Name 1 VISI
8. bg 0 Enable bit 4 a Stop axis Status Word of Homing Mode Halt Bit 8 in controlword 0 Home position not reached Target Halt Bit 8 in controlword 1 Axis decelerates Reached 1 Halt Bit 8 in controlword 0 Home position reached Halt Bit 8 in controlword 1 Velocity of axis is 0 Homing oo Homing Mode not yet complete Attained Homing Mode carried out successfully 13 Homing Error a E Homeng error Rev 1 2 98 7 25 2013 CANopen User Manual Control Word of Q Mode Bit 4 Q Program O0 Toggle this bit from 0 gt 1 to run Q program Start Reg 0 Enable bit 4 Stop axis Halt Bit 8 in controlword 0 Q program running Halt Bit 8 in controlword 1 Axis decelerates Halt Bit 8 in controlword 0 Q program finishes or not started Halt Bit 8 in controlword 1 Velocity of axis is 0 99 Rev 1 2 7 25 2013 CANopen User Manual Appendix L Example Programs Profile Position Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Profile Position Mode 0603 8 2F 60 60 00 01 00 00 00 Set to Profile Position Mode 777 Set Motion Parameters 0603 8 23 81 60 00 FO 00 00 00 Set Profile Velocity to 1 rps 0603 8 23 83 60
9. ro ys ws The value reading from driver should be divided 240 to change to rps unit e g the reading value of index 0x606c is 2400 means the calculated velocity is 10rps 51 Rev 1 2 7 25 2013 CANopen User Manual 0x6071 target_torque This parameter is the input value for the torque controller in Profile Torque Mode This object only can be accessed in Servo or Step Servo driver Object Type Data Type Access Type PDO Mapping cos Default value O v neee w vw o This object parameters is related to the other torque values such as torque_slope index 0x6078 and torque_constant index 0x7005 Please see the detail described in Appendix G in this document 0x6073 max_current This object shall configure the max current can be reached value of the driver Object Type Data Type Access Type PDO Mapping Default value C va nson w vws mw The unit of this object is 0 01Amps 0x6074 torque_demand_value This parameter is the output value of the torque limit function if available within the torque control and power stage function Object Type Data Type Access Type PDO Mapping cos Default value C va UNSIGNEDTE w vws w o This object is only available on servo step servo drivers The unit of this object is mNm 0x6078 current_actual_value The current actual value refers to the instantaneous current in the drive motor Object Type Data Type Access Type PDO Mapping c
10. sec new target Figure 17 Set Running Parameters Enable Drive Operation After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation the value OOOF must be written to the controlword OD entry located at dictionary address 6040 This puts the drive into the Operation Enabled state with no torque applied It should be noted that both enabling the halt bit and setting the target torque to zero will ramp down the torque applied to the motor according to the torque slope At the end of the slope no torque will be applied to the motor allowing the shaft to move freely Rev 1 2 86 7 25 2013 CANopen User Manual Starting Stopping Torque To start and stop motion toggle the controlword halt bit bit 8 When the halt bit is set to 0 motion will start or continue when the halt bit is set to 1 motion will stop The bit can be toggled by writing 010F and OOOF to controlword OD entry 6040 Parameter Calculations Example An application requires a torque of 50 oz in and a torque slope of 25 oz in sec The motor print lists the Torque Constant of the motor as 0 07Nm A The Nm A constant given must fi
11. Home Switch Neg Limit Switch Pos Limit Switch 73 Rev 1 2 7 25 2013 CANopen User Manual Homing Method 10 Starts moving CCW and homes to the first index CCW of the home switch transition HOMING MODE 10 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 11 Starts moving CW or CCW if the home switch is active and homes to the first index CCW of the home switch transition HOMING MODE 11 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 7A 7 25 2013 CANopen User Manual Homing Method 12 Starts moving CW or CCW if the home switch is active and homes to the first index CW of the home switch transition HOMING MODE 12 mo Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 13 Starts moving CW and homes to the first index CCW of the home switch transition HOMING MODE 13 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 75 Rev 1 2 7 25 2013 CANopen User Manual Homing Method 14 Starts moving CW and homes to the first index CW of the home swit
12. L wesees Rw ves am 0 Max Running Carem unsieneore Rw ves am 0 toraue_demand vaus mreceRte Ro ves ae 0 curent actual vaus meceRrte Ro ves eoran 0 Target Posion Lues Rw ves aen Home otse mecerte Rw ves amgangen J UNSIGNED Rw ves am 0 max protiespee unsienena2 Rw ves aen 0 Profle Velocity Unsienens2 Rw ves aen 0 Profle Acceleration unsienena2 Rw ves ann o Profle Deceleraton unsienena2 Rw ves aen 0 Quick Stop Deceleraton UnsieneDs2 Rw ves aen 0 torque slope J unsieneoa2 Rw ves age 0 Homing meos weem Rw ves aosan Homing Speeds Lass Lo max subsindex S CSN ROC aa 0 Homing Acceleraion unsienena2 RW ves eren Drive Outputs Recon id 0 max sub index Tunsigneds RO LI are 0 Targetveociy weem RW ves ep 0 Supported Drive Modes unseneosa Ro Table 5 CiA 402 Objects For more information see Appendix A for detail decription of OD 17 Rev 1 2 7 25 2013 CANopen User Manual Index Sub Comment Fields Data Type Geseis hae Type Mapping Croom o Home Swich Lienen rw ves Croan 0 tele Current NSIT ew om 0 Display Drive inputs UNSIGNED Ro ves Froosn 0 torque Constant mees rw 7o06 0 DSP cearnan unseneos wo men 0 a Sequence Number onsieneDs Rw ves mm 0
13. NMT master bit 1 0 1 if bit3 0 start explicitly assigned all nodes bit 2 0 1 automaticaly enter DO NOT automaticaly enter the operational state on bootup 1 NMT master may may not start nodes automatically bit 4 0 1 if monitored node fails heartbeat handle that all node s bit 5 0 1 flying master process not yes supported 1 bit 6 0 1 use bit 4 ignore bit 4 stop all nodes bit 7 31 reserved set to 0 Rev 1 2 38 7 25 2013 CANopen User Manual Manufacturer Specific Objects The object describe this section is manufacturer specific by AMA to config or monitor the AMA CANopen driver 0x2014 0x2017 PDOx_transmit_mask The TPDO detects COS means on change data transmit event for PDOs can be mask off by these indexs By default all data in a PDO is considered when checking for change Each Index has 2 sub indexes sub index 1 is used to mask or reveal bits in the lower 32bits 4bytes of data Sub index 2 is the same for the upper 32bits Object Type Sub Number Data Type Access Type aie COS Defaut value no senga w mo Default value 00 maxsubindex OxFFFFFFFF OxFFFFFFFF PDOx_mask_LowerBytes bit0 31 mask off the lower 4 bytes of a TPDO when the data is on change PDOx_mask_upperBytes bit0 31 mask off the upper 4 bytes of a TPDO when the data is on change 0x2100 Error status bits Error Status Bits indicates error conditions inside
14. Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 02 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 5F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 02 00 00 Clear New Set Point Bit Rev 1 2 100 7 25 2013 CANopen User Manual Multiple Move Immediate Change in Motion 0603 8 23 81 60 00 BO 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 7F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 6F 02 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 7F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 6F 02 00 00 Clear New Set Point Bit Profile Velocity Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 01 00 00 Operation Enabled Motion Halted Set to Profile Velocity Mode 0603 8 2F 60 60 00 03 00 00 00 Set to Profile Veloc
15. Velocity Actual vae unsieneDre Ro Yes ga 0 Positon Actual vele Uess Ro Yes 7008h 0 DSP status Code Lumsenems RO ves oe 0 zero Postion onsieneos wo man 0 Acceleration Gure Liens rw oe 0 Anaig mpi UNSIGNED Ro ves Table 6 MOONS Manufacture Specific Objects For more information see Appendix A for detail decription of OD Rev 1 2 18 7 25 2013 CANopen User Manual Global Control Word and Status Word Byte Bit Control Word Status Word Satis word Homing Poston veloaty Toraue a Homing Poston vetocty Trae a 1 8 Reserved Homing Following Reserved Reserved Reserved Error Error Homing Set Point Speed Reserved Reserved Attained Ack Internal Limit Active Target Reached Change of Reserved Reserved Reserved Reserved Remote Set Point Halt Reserved SOS SE Reset Warning Reserved Set Point Reserved Reserved Reserved Quick Stop Immediately Homing Q New Set 4 Operation Point Reserved Reserved Program Voltage Enabled Start Start Figure 5 Global Control Word and Status Word 19 Rev 1 2 7 25 2013 CANopen User Manual General Purpose Registers MOONS CANopen products provide 23 general purpose registers These registers are 32 bit read write registers They are volatile so the information sent there will not be saved after a power cycle These registers may also be accessed and manipula
16. Word 19 General Purpose e EE 20 Appendix A The Object Dictionary ccccc ccceeececeeeeeeeeeee eee eeeeeeenenenenenaaeeseeeseneeeeeeeeeeeeeeeeee 21 COMMUNICATION PROMS scctsaicedeanncicidatdiauciobdiniaveleaxadadddadedobtedendsdadidsduanaraidcbiaddaddeddakSoleamediaduds 22 Manufacturer Specific e 39 Device e OU 46 Appendix B Parameter Unit Scaling EE 60 Appendix C Response e 61 Appendix D Profile Position Mode ENEE 62 General Mode Description svccsvachindacavasdiskoetnisinsxaxasddaxedinewebelesusisdsianesediecbiadedddeddadbsviaumesiadads 62 Enable Profile Position Mode iascesiccaccccnasectranenduccatiaaaaaontnnidinnddeneteceassenasybacdianetoneiuenesataccandant 62 Set Running Eu E 62 Starting Stopping Kom sster reesgegeguoebeuegh ee eebtebeeggegEeeE eebe geseet 62 Appendix E Profile Velocity Mode siticarussasinasevarsdaaddandedeiirsveacumancandtanearautsiuteddecmiouststunieiasacandians 67 General Mode Description Steiger eEARLENE EENS 67 Enable Profile Velocity lee edteieiegredeegtE eege 67 Set Running FP AVA SS ec ectccecccete tuecececeeadacenadan onadanesnedtacetaceceecese tes duaacensauseeneseredecudece 67 Enable Drive ee 67 Starting Stopping Motion sso ceccdicededsocieccndegahencdl nensaddaiasacdi wadeneddegedededhnebadbecletaadcassecteebeecdeleeasdiue 67 Appendix F Homing Oe 69 Set Running Nu E 69 Enable Homing ModE nicer ee i ear eiei eel aiae eiiiai 69 Starting the Homing Procedure ce ccceue vce cecdicnaceaeacdslnst
17. Word of Homing Mode ieena eee EE EE E S ERRi Control Word of Q Mode E Status Word OfO ee EE Appendix L Example EEN Prone Position MOOG adscsaetiivinncieyinssasteveneDimebeandacasnadswedrnetileutadanannledoyeieneiepeatieceaaeMawesdaaies Profile Velocity MOOG E HomAg e Kli Eet WIC E Eege Bl Ee ple EE Rev 1 2 6 7 25 2013 CANopen User Manual List of Tables Table 1 Bit Rate Switch Settings aasaccsecesnsc cnet scenetexancnanannezecexscaensucacetesaecesjeaeanecmmenn teaeeseas 12 Table 2 Modes of ES lol ige EE 13 Table 3 CiA 301 Object Descriptions AAA 16 Table 4 Tuning Parameter Setting cccccccccccececesssseeseeescececececeeseseneneneneneneneeseeteees 16 Table 5 CIA 402 Objects sciri cinese eenei ea 17 Table 6 MOONS Manufacture Specific Objects eeeeeeeeeeeeeeeereeeererrrrrrr rreren eenen 18 Table 7 User Defined Registers in CANopen and Q Programmer 20 Table 8 Gerard 21 Table 9 Description of SYNC COB ID entry ceecceeeeeeeee cect eeeeeeenneeeeteeeeeeeeeeeees 24 Table 10 Description of PDO COB ID entry eeeeeeeeeeeeceeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeees 31 Table 11 Description of transmission type cise cacseecasecuderlviesasacs esgcsgstadexarasedeaoseteueviossess 32 Table 12 Controlword Data Description Ae 46 Table 13 Device Control Command Bit Patterns Bits 0 3 and 7 eeeeeeeeeeeeeees 46 Table 14 Bits in EE EE 47 Table 15 Device State Bits ENEE 48 Ta
18. are of type UNSIGNED32 and are composed of a 16 bit error code and a 16 bit additional error information field which is manufacturer specific The error code is contained in the lower 2 bytes LSB and the additional information is included in the upper 2 bytes MSB If this object is supported it must consist of two entries at least The length entry on sub index Oh and at least one error entry at sub index 1H Access PDO Default Object Type Sub Number Data Type Mapping COS Array 9 UNsieNED32 o optiona no o Default value 28 Numberoferors Standard error fied o 2 Standarderorfiea 28 Standarderorfied 0 20 Standarderrorfield 0 26 Standarderorfiea nr 26 Standarderrorfied In 7 Standarderorfied 28 Standarderrorfield Tt Number of Errors subindex 0 bit 0 7 Zero can be written to erase error history Standard Error Field subindex 1 8 bit 0 15 Error code as transmited in the Emergency object bit 16 31 Manufacturer specific additional information 23 Rev 1 2 7 25 2013 CANopen User Manual 0x1005 COB ID SYNC message Index 1005h defines the COB ID of the Synchronisation Object SYNC Further it defines whether the device generates the SYNC The structure of this object is shown in following Fig and Table UNSIGNED32 MSB LSB bits 28 11 11 bit ID on 01 0 000000000000000000 11 bit Identifier 29 bit ID 29 bit Identifier F
19. at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted Set Running Parameters Set the velocity acceleration and deceleration using OD entries 60FF 6083 and 6084 respectively Enable Drive Operation After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation the value 010F must be written to the controlword OD entry located at dictionary address 6040 This puts the drive into Operation Enabled state with the motion halted Starting Stopping Motion To start and stop motion toggle the controlword halt bit bit 8 When the halt bit is set to 0 motion will start or continue when the halt bit is set to 1 motion will stop The bit can be toggled by writing 010F and 000F to controlword OD entry 6040 67 Rev 1 2 7 25 2013 CANopen User Manual v2 v1 Actual Speed 0 v2 v1 Target Speed PROFILE VELOCITY MODE j T Halt Bit Drive command to Motor T Motor stopped 1 gt 0 E Motor accelerates fr
20. current rating of the drive and well below the peak current rating of 14A It is possible for the drive to maintain a current of 7A indefinitely and peak up to 14A for up to two seconds continuously Values between 7A and 14A may be held proportionally long For more information see CiA 402 2 Profile Torque Mode PROFILE TORQUE MODE CC IS l T Actual 8 Torque T4 T2 Target Torque T4 Figure 18 Profile Torque Mode Graph Point Target Torque Halt Bit Drive command to Motor Oo stat o DL DL RamptorquetoTi Ooa o n Maintain torque at 1 Pet Ramp torque to zero P20 Ramp torque to zero Pe 0 Maintain torque dee Table 24 Profile Torque Mode Example Rev 1 2 88 7 25 2013 CANopen User Manual Appendix H Q Program Mode General Mode Description In order to expand the functionality of MOONS CANopen drives the Q programming language may be used to execute complex motion profiles that may not be possible within the scope of CiA 402 The Q program must be written and pre loaded into the CANopen drive using Q Programmer v1 3 5 or later Q Programs may also access and manipulate the CANopen General Purpose registers for use in stored programs The section above on General Purpose Registers has a chart to convert from the OD entry to the Q address Loading a Q Program As with ST Configurator and Quick Tuner the drive must be powered up with the RS 232 port con
21. end of Velocity loop The filter is a very simple single pole low pass filter that is used to limit the high frequency response of the Velocity and therefore the Position control loops This object is only available on step servo driver Object Type Data Type Access Type PDO cos Default value P vw UNSIGNEDT6 w w we o 0x5007 0x500E NotchFilterx_Tuning These eight objects shall configure the NotchFilter parameters in torque mode This object is only available on step servo driver Object Type Data Type Access Type PDO Mapping cos Default value e mesere w mm v o Note3 x should be from A to H 0x500F PositionError This object shall indicate the configured range of tolerated position values symmetrically to the position demand value If the position actual value is out of the following error window a following error Position Limit occurs Object Type Data Type Access Type PDO Mapping Default value P va UNSIGNEDIO w o f o f o This object is the same functional with standard object which index is 0x6065 0x5010 Velocity MAX This object shall configure the max velocity can be allowed in the driver This value have no effect in Profile Position Mode Object Type Data Type Access Type PDO Mapping cos Default value P vw UNSIGNEDTE w w w o Rev 1 2 44 7 25 2013 CANopen User Manual 0x5011 SmoothFilter This object provides a filter to change in the
22. of Sublndex Entries 1 2 Byte ControlWord 6040h 2 4 Byte Target Position 607A BYTES 0 1 BYTES 2 5 BYTE 6 7 ControlWord Target Position Position Data 00 00 00 00 ControlWord 03Fh j aa Move to Absolute SetPoint nabled ControlWord 05Fp lt Transition Bit Move to Relative SetPoint g MUST be reset to zero between set points ControlWord 00Fh Reset New Set Point Bit to Prepare for Next Move Figure 19 PDO Mapping Showing the Default Mapping for RPDO2 Rev 1 2 94 7 25 2013 CANopen User Manual Default PDO Mapping Stepper PDO First Mapped OD Entry Bytes Second Mapped OD Entry Bytes Bytes Name Parameter Parameter Total Co 664 4 2 4 2 d TPDO2 Statusword 6041 TPDO3 Statusword 6041 O o4 6 Target Velocity 606c 2 4 a a Oe Oo S S S ee Target Distance 607A 4 Target Velocity eo 2 4 RPDO4 OutputState oer 1 TT Table 31 PDO Mapping Stepper Target Position 6064 e Default PDO Mapping Servo PDO First Mapped OD Entry Bytes Second Mapped OD Entry Bytes Bytes Name Parameter Parameter Total TPDO1 Statusword 6044 2 2 ene Statuewors 0041 2 AetualPostion 700m 4 6 mem Input Status 7003 1 Ss Cd soo Controword eoa TTT L ReDO2 Gottes 6040 2 TargetDistance sor 4 6 ReDo Outputstate a
23. on an internal event or timer Remote Request Node will send TPDO after a remote request In PDO transmitted on the next SYNC pulse after the statusword has changed PDO transmitted on every SYNC pulse 2 240 PDO transmitted on every n SYNC pulses 254 255 PDO transmitted every time statusword changes or the Event Timer has expired Table 28 TPDO Transmission Types PDO Mapping The Moons CANopen allows you to map objects to PDOs to reduce the transfer application data more efficiently By using the PDO mapping the user can map multiple mappable Objects to a PDO and the max length for a PDO is 8 bytes The hereafter describe the process of a TPDO mapped to several objects TPDO Index Sub Index Mapped To Index J JL Di ll TAD e Gg 7OOA Table 29 PDO Mapping 93 Rev 1 2 7 25 2013 CANopen User Manual PDO Mapping Procedure PDO Mapping Example 1 Mapping StatusWord and Position_Actual_ Value to TPDO2 Return back PreOperation State FT Turn off TPDO2 1801 ub Set the number of Mapped objects to 0 1A01 Oh 2h On 80000280 ap StatusWord to TPDO2 mapped object1 1A01p 60410010 0 700A0020 0 2 4 n O2 Set the number of Mapped objects to 2 1A01 0 Turn On TPDO2 1801 Ot 00000280 We Ce ee NEE E CH CH gt gt ap Position_actual_value to TPDO2 mapped object2 Ce 8 Es Table 30 PDO Mapping Example Default Mapping Example Consumer PDO 2 Index 0 2
24. stack or inside application i Access PDO Object Type Data Type Mapping COS Default value Var OCTET_STRING 00 00 00 00 00 00 00 00 00 00 Default error status bits are Communication or protocol errors from driver informative 00 ERROR_NO_ERROR Error Reset or No Error 01 ERROR_CAN_BUS_WARNING CAN bus warning 02 ERROR_RXMSG_WRONG LENGTH Wrong data length of received CAN message 03 ERROR_RXMSG_OVERFLOW Previous received CAN message wasn t processed yet 04 ERROR_RPDO_WRONG_LENGTH Wrong data length of received PDO 05 ERROR_RPDO_OVERFLOW Previous received PDO wasn t processed yet 06 ERROR_CAN_RX_BUS _ PASSIVE CAN receive bus is passive 39 Rev 1 2 7 25 2013 CANopen User Manual 07 ERROR_CAN_TX_BUS_PASSIVE CAN transmit bus is passive Communication or protocol errors from driver critical 08 ERROR_08_reserved reserved 09 ERROR_09_reserved reserved 0A ERROR_CAN_TX_BUS_OFF CAN transmit bus is off 0B ERROR_CAN_RXB_OVERFLOW CAN module receive buffer has overflowed OC ERROR_CAN_TX_OVERFLOW CAN transmit buffer has overflowed OD ERROR_TPDO_OUTSIDE_WINDOW TPDO is outside SYNC window OE ERROR_CAN_CONFIGURATION_ FAILED Configuration of CAN module CAN failed Rx or Tx OF ERROR_OF_reserved reserved Communication or protocol errors informative 10 ERROR_NMT_WRONG_ COMMAND Wrong NMT command received 11 ERROR_SYNC_EARLY SYNC message wa
25. value of 001F must be written to the controlword The Q program will then run to completion The Q program may be re executed by a 0 gt 1 transition of the Q Program start bit bit 4 in the controlword To halt execution of a Q program the halt bit bit 8 of the controlword must be set to 1 The Q program will halt immediately and start from the beginning the next time a 0 gt 1 transi tion is seen on the Q Program start bit after the halt bit has been cleared 89 Rev 1 2 7 25 2013 CANopen User Manual Synchronous Q Program Execution To execute a stored Q program on a single drive a value of 2 FE must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD entry 6061 mode of operation display which is updated when the cur rent operation mode is accepted Next the desired Q segment number 1 12 must be written to the Q Segment Number register located at address 7007 To enable operation 001F must be written to the controlword OD entry 6040 After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation a value of OOOF m
26. 0 00 Homing Stops 101 Rev 1 2 7 25 2013 CANopen User Manual Normal Q Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Normal Q Mode 0603 8 2F 60 60 00 FF 00 00 00 Set to Normal Q Mode 0603 8 2F 07 70 00 01 00 00 00 Set Q Segment Number to 1 Start Stop Q Program 0603 8 2B 40 60 00 1F 00 00 00 Q Program Starts 0603 8 2B 40 60 00 1F 01 00 00 Q Program Halts Sync Q Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Sync Q Mode 0603 8 2F 60 60 00 FE 00 00 00 Set to Sync Q Mode 0603 8 2F 07 70 00 01 00 00 00 Set Q Segment Number to 1 0603 8 23 05 10 00 80 00 00 00 Set Sync Pulse to 0x80 Start Stop Q Program 80 0 Q Program Starts 0603 8 2B 40 60 00 0F 01 00 00 Q Program Halts PDO Mapping Mapping TPDO2 0000 2 80 03 Return back to PreOperation Mode 0603 8 23 01 18 01 80 02 00 80 Turn off the TPDO2 0603 8 2F 01 1A 00 0
27. 0 00 00 00 Set Number of Mapped objects to zero 0603 8 23 01 1A 01 10 00 41 61 Map object1 0x6041 to TPDO2 subindex1 0603 8 23 01 1A 02 20 00 0A 70 Map object2 0x700A to TPDO2 subindex2 0603 8 2F 01 1A 00 02 00 00 00 Set Number of total Mapped objects to Two 0603 8 23 01 18 01 80 02 00 00 Turn on the TRDO2 BR Shanghai AMP A MOONS Automation Co Ltd No 168 Mingjia Road Industrial Park North Minhang District Service Center Shanghai 201107 P R China movin im better w Tel 86 21 52634688 Fax 86 21 62968682 86 400 820 9661 E mail info moons com cn Web www moonsindustries com Rev 1 2 102 7 25 2013
28. 00 58 02 00 00 Set Acceleration to 100 rps s 0603 8 23 84 60 00 58 02 00 00 Set Deceleration to 100 rps s Single Move Absolute 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 1F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 0F 00 00 00 Clear New Set Point Bit Single Move Relative 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit Multiple Move Stopping between Moves 0603 8 23 81 60 00 B0 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit Multiple Move Continuous Motion 0603 8 23 81 60 00 BO 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 02 00 00
29. 16 bit index The overall layout of the standard Object Dictionary is shown below This layout closely conforms with other industrial serial bus system concepts Index hex Table 8 Object Dictionary Structure 21 Rev 1 2 7 25 2013 CANopen User Manual Communication Profile 0x1000 Device type Contains information about the device type The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The Additional Information parameter is device profile specific Its specification does not fall within the scope of this document it is defined in the appropriate device profile The value 0000h indicates a device that does not follow a standardised device profile For multiple device modules the Additional Information parameter contains FFFFh and the device profile number referenced by object 1000h is the device profile of the first device in the Object Dictionary All other devices of a multiple device module identify their profiles at objects 67FFh x 800h with x internal number of the device 0 7 These entries describe the device type of the preceding device Object Type Data Type Access Type PDO Mapping Default value UNSIGNED32 0x00000000 bit 0 15 Device profile number bit 16 31 Additional information Note 1 COS me
30. 609 0030h is generated transmission type PDO transmission po cyclic soe _ synchronous asynchronous RTR BEE 1 240 GEES 241 251 reserved E BE E EC BECH Table 11 Description of transmission type Synchronous transmission types 0 240 and 252 means that the transmission of the PDO shall be related to the SYNC object Preferably the devices use the SYNC as a trigger to output or actuate based on the previous synchronous Receive PDO respectively to update the data transmitted at the following synchronous Transmit PDO Details of this mechanism depend on the device type and are defined in the device profile if applicable Asynchronous means that the transmission of the PDO is not related to the SYNC object A transmission type of zero means that the message shall be transmitted synchronously with the SYNC object but not periodically A value between 1 and 240 means that the PDO is transferred synchronously and cyclically The transmission type indicating the number of SYNC which are necessary to trigger PDO transmissions Receive PDOs are always triggered by the following SYNC upon receiption of data independent of the transmission types 0 240 The transmission types 252 and 253 mean that the PDO is only transmitted on remote transmission request At transmission type 252 the data is updated but not sent immediately after reception of the SYNC object At transmission type 253 the data is updated at the reception of the remote
31. BLE_STRING CONST 1009h o Manufacturer hardware version 1 VISIBLE_STRING CONST o o o E EY 100Ah Manufacturer software version VISIBLE_STRING CONST 1010h Store parameters max sub index UNSIGNED8 1 save all parameters UNSIGNED32 1017h Producer Heart Beat NSIGNED16 wian o COBIDEWCY UNSIGNED o a a Kdenily Object GC EE Cc E AIC gt m A S S D lt w NSIGNEDS 1 Vendor ID NSIGNED32 Product code UNSIGNED32 Revision number UNSIGNED32 Serial number UNSIGNED32 1200n 0 Server SDO Parameter RECORD 1400h po Receive PDO Communications Parameter 0 RECORD o o 1401h Receive PDO Communications Parameter 1 RECORD 1402h Receive PDO Communications Parameter 2 RECORD ona 0 Receive PDO Communications Parameters RECORD LL ena 0 Receive PDO Mapping ParameterO LES ll 160th 0 Receive PDO Mapping Parameter RECORD ll eo 0 Receive PDO Mapping Paramoter2 LES ll 1608n 0 Receive PDO Mapping Parameter3 RECORD 1800n 0 Transmit PDO Communications Parameter 0_ RECORD 1801n 0 Transmit PDO Communications Parameter 1_ RECORD o icati o 1802h Transmit PDO Communications Parameter 2 RECORD 1803h Transmit PDO Communications Parameter 3 RECORD 15 Rev 1 2 7 25 2013 CANopen User Manual 1A00h_ 0 Transmit PDO Mapping Parameter 0 RECORD TI 1A01h 0 Transmit PDO Mapping Parameter 1 RECORD i O 1A02h 0 Transmit PDO Mapping Parameter 2 RECORD i
32. CANopen User Manual Rev 1 2 AMP amp MOONS Automation ChangeLog 7 25 2013 Rev 1 2 Summary of Major changes Implement the dynamic PDO mapping Detail description of all Object Dictionary 12 1 2010 Initial Release CANopen User Manual Introduction This manual describes MOONS CANopen implementation of CiA 301 and CiA 402 specifications It is expected that the user fully understands both CiA standards That understanding along with this specification will enable the user to develop a distributed motion control system The intent of this manual is to highlight manufacturer specific requirements as they pertain to MOONS drives Information and standards may be obtained from the CA website at http www can cia com Information and software relating directly to the MOONS CANopen drives including an open source example program may be obtained from our website at http www moons com 3 Rev 1 2 7 25 2013 CANopen User Manual Contents MOA OL KEE 2 ege e EE 3 Reference POGUE E 9 Commonly Used ACTONYMS eedeege dees Eed 9 CANopen Network Topology Overview sccccccceciccccenceccecceciecdstideccestdtedatedetcancadsadadensiebenecdedencee 10 Diye EE 10 Wiring the Power and BE 10 Wiring the CANopen Connector for CANopen Drtves rn rnnn 11 CANopen BitRat DREES EE ee 11 INS Config ratiON WE 12 Supported CA 402 Modes of Operation 13 Eegen 14 Electronic Data E 15 Global Control Word and Status
33. E 13 le 19 le E 24 le E 27 ie E 27 ie E 31 Figure Ir a eigenen ca deat acted EEA ERE EERE EERE EEEE 34 ForS NEE 35 Figure KE 63 UM SS cae sce ae secede RESER RERET EEEE keds RETETE ESEE SENEE E RERE ESAs EE EEE EEEE 64 ele in E 65 Figure EE 66 le CL 68 Fore EE 86 le Un E 88 Figure KE 94 Rev 1 2 8 7 25 2013 CANopen User Manual Reference Documents MOONS CANopen Drive Hardware Manual CiA 301 CiA 303 CiA 402 Bosch CAN Physical Layer Specifications 2 0B MOONS Host Command Reference Commonly Used Acronyms CAN Controller Area Network CiA CAN in Automation Group Standards Body COB ID Communication Object Identification EDS Electronic Data Sheet NMT Network Management OD Object Dictionary PDS Power Drive System PDO Process Data Object RPDO Receive incoming PDO SDO Service Data Object TPDO Transmit outgoing PDO 9 Rev 1 2 7 25 2013 CANopen User Manual CANopen Network Topology Overview MOONS CANopen drives can be integrated into a CANopen system with other device types as shown below CANopen Motion Master CAN Bus MOONS MOONS Other Other CANopen CANopen CANopen CANopen Drive Drive Device Device Figure 1 CANopen Network Topology Overview Drive Setup There are four phases to setting up a MOONS CANopen Drive Wiring the power and motor E Wiring the CANopen connector to the drive Setting the Bit Rate and Node ID E Configuring the Drive Wiring the Power and Motor
34. On Specific pF Oo Ion M Table 12 Controlword Data Description Bit of Controlword 6040h Fault Enable i Enable Switch On Operation Voltage Bit 0 i i i Bit 1 1 1 Table 13 Device Control Command Bit Patterns Bits 0 3 and 7 Rev 1 2 46 7 25 2013 CANopen User Manual Here is the Command Structure Object Type Data Type Access Type PDO Mapping Default value vw onson w w ww d 0x6041 StatusWord The read only object statusword indicates the current status of the drive and it s bit mapped as following MSB LSB Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 High Byte L Byte Bi o ReadytoSwittnOn OO o O BEER operation Enebe v Con o o e it CCS 5 L n O S O o sworo 1 oor S we S 8 ManutacturerSpeciio BER Remote CPCS TL Operation Mode Spese s Operation Mode Specto 1 C a Manufacturer Spect C Manufacturer Spete Table 14 Bits in the statusword 47 Rev 1 2 7 25 2013 CANopen User Manual The following bits indicate the status of the device Bit 6 i i Bit 2 Bit 1 Bit 0 Switch On i Operation Switch Ready to Disable Enabled Switch On Fault Reaction Active Quick Stop Active Table 15 Device State Bits Bits marked x are irrelevant for the state Other bit combinations are not allowed Bit 9 Remote If bit 9 is set then parameters may be modified via the CAN netwo
35. Please refer to the drive s hardware manual for this step The appropriate manual can be found from our website www moons com Rev 1 2 10 7 25 2013 CANopen User Manual Wiring the CANopen Connector for CANopen Drives Please refer to MOONS CANopen Drive Hardware Manual for the Communication connection Hereby we only take the connection of MSST5 C drive for example MOONS MSST5 C drive uses a four pin spring connector shown in Figure 2 below and conforms to CiA303 specification The connector should be wired in a daisy chain configuration as shown in Figure 3 below with a 120 ohm resistor used to terminate each end GND CAN_L SHLD CAN_H Other wiring topologies such as star networks are not recommended due to wave reflection problems Please reference specific hardware manuals for your drive s wiring configuration Figure 2 The CANopen Connector Figure 3 shows a CANopen network with two MOONS MSST5 C drive connectors wired to a Kvaser Leaf USB to CANopen Adapter CAN_L CAN_GN CAN SOLD CAN H DSUB9 Female CAN_BUS q 17 Spacing Spring Plug 1 Spacing Spring Plug R termination n Network must be terminated at each Cable may be made with up to 127 drive end with a 120 ohm resistor connectors Termination is only required at each end Figure 3 Wiring Schematic CANopen BitRate amp NodelD MOONS CANopen drives have three se
36. Positioning shall be executed or continued Axis shall be stopped The previous set point will be completed and the motor will come to rest before a new set point is processed Change of Set Point The motor will continue at the speed commanded by the previous set point until it has reached the position commanded by the previous set point then transition to the speed of the new set point Halt Bit 8 in controlword 0 Target position not reached Halt Bit 8 in controlword 1 Axis decelerates L Halt Bit 8 in controlword 0 Target position reached Halt Bit 8 in controlword 1 Velocity of axis is 0 Gate A Previous set point already processed waiting for new set point Previous set point still in process set point overwriting shall be accepted Following No following error Error Following error 97 Rev 1 2 7 25 2013 CANopen User Manual Control Word of Profile Velocity Mode Halt o The motion shall be executed or continued a Axis shall be stopped Status Word of Profile Velocity Mode Halt Bit 8 in controlword 0 Target velocity not reached Target Halt Bit 8 in controlword 1 Axis decelerates Reached Halt Bit 8 in controlword 0 Target velocity reached Halt Bit 8 in controlword 1 Velocity of axis is 0 12 Speed Speed is not equal to 0 STEE Control Word of Homing Mode Homing po Do not start homing procedure Operation Start 1 Start or continue homing procedure
37. S Pre Operational m r O Operational Stopped Table 25 Understanding NMT States Building a CANopen NMT Data Frame Example This example will show how to send a broadcast message to all CANopen nodes to put them into an operational NMT state The COB ID for NMT commands is always 0 This en sures that an NMT command has the highest priority on the bus and will never be preempted except by another node sending out an NMT command The first data byte of an NMT command contains the NMT Control Command which is 1 Operational in this case The second data byte contains either the Node ID of a target Node or in the event that the NMT master is requesting that all nodes change their NMT Mode a zero To send a broad cast message a zero is used The completed data frame is below COB ID Data Length Data Byte 0 Data Byte 1 O o o J 2 n f o Ek Table 26 Example NMT Data Frame 91 Rev 1 2 7 25 2013 CANopen User Manual Appendix J SDO and PDO Access Enable SDO Use To enable Service Data Object SDO use the NMT state must be either Pre Operational or Operational Send an NMT message to put the node into either state When completed the heartbeat should return either 127 Pre Operational or 5 Operational The drive is now ready to read and or write all OD entries Building an SDO Read Data Frame Example This example will show how to read the heartbeat time of node ZE An SDO read request must be sent to t
38. Type Data Type Access Type PDO Mapping cos Default value vw onson w o o gt bit 0 15 Inhibit time of emergency message in 100us 0x1017 Producer heartbeat time The producer hartbeat time defines the cycle time of the heartbeat The producer heartbeat time is 0 if it not used The time has to be a multiple of 1ms Object Type Data Type Access Type PDO Mapping Default value UNSIGNED16 bit 0 15 Heartbeat producer time in ms 0 disable transmission 0x1018 Identity The object at index 1018h contains general information about the device 1 The Vendor ID sub index 1h contains a unique value allocated to each manufacturer 2 The manufacturer specific Product code sub index 2h identifies a specific device version 3 The manufacturer specific Revision number sub index 3h consists of a major revision number and a minor revision number The major revision number identifies a specific CANopen behaviour If theCANopen functionality is expanded the major revision has to be incremented The minor revisionnumber identifies different versions with the same CANopen behaviour 4 The manufacturer specific Serial number sub index 4h identifies a specific device Rev 1 2 28 7 25 2013 CANopen User Manual Object Type Sub Number Name Default value max sub index UNSIGNED8 4 Vendor ID Revision number Serial number max sub index Vendor ID bit 0 31 Assigned by CiA here is 0x000002D9 for Shanghai AMP
39. aee tegen 69 Homing Method Diagrams EE 69 Homing Meth d EE 69 Homing AE EE 70 Rev 1 2 4 7 25 2013 CANopen User Manual Homing RA Ve Fact eecectschiesiners rants veers Baca ats x eee x Be ne Seine AETERNE EEEE EEEE 70 eelst WK 71 H ming Method EE 71 Homing Method EE 72 felten ue E 72 H ming d week Sane eee tee cee eer er renee eee mere nee anne eer ey 73 Homing SP SUN E 73 Homing Method AE 74 Homing Method Ii arssinat eien qe aaa aE iaaa 74 blenden KE 75 eiis Metod No E 75 Homing Method E 76 Homing Methods E 76 Homing Method KEE T7 H ming Method 18 E if Homing Methods 19 En KT E 78 Homing d EE 79 Homing Methods 23 and 2 cates cdsttcdaenttoneieueucuciduccececletedecaseddddexemensualteie deescotitdeaedarceeeeted 80 Homing Methods KE 81 Homing Methods 2 EE 82 Homing Methods EE E 83 Homing Methods 31 and 32 orcas ees cnaasie deiealuilsonesian sl ancdnmicatcaatlde SEEE EEs nanen Ennes Eaei aeaa 84 Homing Td UOC E 84 Homing Method E 85 beleen Ve 85 Appendix G Profile Torque Mode Servo EEN eesetgesg egeeedee eege Age 86 General Mode Description AANEREN 86 Enable Profile Torque e EE 86 Set Running Parameters sssr eere araa EE aE Eege 86 Enable DRIVE Operati N E 86 Starting Stopping gil 2 2 et ee a ee ene eon eee eee eee eee ern ee epee eeEDee 87 Parameter Calculations EE aggies Eeer 87 Current Verification Example ccccecccecccceeceeceeesseeeseeeeeeeeeeeceeeeeceeeaaaasceseeeeeeeeeeeesenees 87
40. alue 2000 can be sent to OD 607A Sending a negative number must be done in two s complement notation To find the two s complement subtract the value 2000 from 2 since the Target Position is a 32 bit number 2 2000 4 294 965 296 FFFFF830 Rev 1 2 60 7 25 2013 CANopen User Manual Appendix C Response Codes CW Limit Over Voltage Over Current Not Used Note Items in bold italic represent Drive Faults which automatically disable the motor Use the OF command in a Q Program to branch on a Drive Fault Table 17 Object 603F CA 402 Error Codes 0080 aiting for an input 8000 Table 18 Object 700B DSP Status Codes S M S Waiti 0100 Saving parameter data is being saved Homi Wai Wi C 61 Rev 1 2 7 25 2013 CANopen User Manual Appendix D Profile Position Mode General Mode Description Profile Position Mode is a point to point operating mode using set points which consist of velocity acceleration deceleration and target position Once all these parameters have been set the drive buf fers the commands and begins executing the set point When using a set of set points method a new set point can be sent to the drive while a previously sent set point is still executing Enable Profile Position Mode To enable the Profile Position Mode the value 0001 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be ver
41. and Moons Automation o Product code Product code bit 0 31 Manufacturer specific Revision number bit 0 15 Minor revision num CANopen behavior has not changed bit 16 31 Major revision number CANopen behavior has changed Serial number bit 0 31 Manufacturer specific Lot Number 0x1019 Synchronous counter overflow value This object contains the max counters of SYNC message If it is O the producer will send the SYNC message without any data otherwise with data length 1 Object Type Data Type Access Type PDO Mapping Default value a Lampe w o o o If value is zero then SYNC message is transmitted with data length 0 If value is from 2 to 240 then SYNC message has one data byte which contains the counter Other values are reserved 29 Rev 1 2 7 25 2013 CANopen User Manual 0x1029 Error behavior This object contains the error information of the CANopen driver Object Type Sub Number Data Type Access Type PDO Mapping UNSIGNEDS P00 maxeub index ll 01 Communication ao LI 02 Communication oner x00 LI 03 Communication passe oot oa Gener o o S o Device profie oo S P06 Manufacturerspecite owo Value definition for all subindexes 0x00 if operational switch to NMT pre operational 0x01 do nothing 0x02 switch to NMT stopped 01 Communication error bus off or Heartbeat consumer error 02 Communication other error critical errors see
42. ans TPDO detects the change of State 0x1001 Error Register This object is an error register for the device The device can map internal errors in this byte This entry is mandatory for all devices It is a part of an Emergency object Object Type Data Type Access Type PDO Mapping Default value UNSIGNEDS o option n o0 bit 0 generic error bit 1 current bit 2 voltage bit 3 temperature bit 4 communication error overrun error state bit 5 Reserved always 0 bit 6 Reserved always 0 bit 7 Reserved always 0 Rev 1 2 22 7 25 2013 CANopen User Manual 0x1002 Manufacturer status register not implement This object is a common status register for manufacturer specific purposes Object Type Data Type Access Type PDO Mapping COS Default value Var UNSIGNED32 ro optiona mn 0x1003 Pre defined error field The object at index 1003h holds the errors that have occurred on the device and have been signaled via the Emergency Object In doing so it provides an error history 1 The entry at sub index 0 contains the number of actual errors that are recorded in the array starting at sub index 1 2 Every new error is stored at sub index 1 the older ones move down the list 3 Writing a 0 to sub index 0 deletes the entire error history empties the array Values higher than 0 are not allowed to write This have to lead to an abort message error code 0609 0030h 4 The error numbers
43. ary switch such as NodelD and BitRate switchs setting information if it has there is no those switches in IP65 compatibles CANopen driver Object Type Data Type Access Type PDO Mapping 009 _ Default value C va onsen o mm o o 0x4000 UserRegisters This object provide user 23 general purpose registers They are volatile so the information sent there will not be saved after a power cycle Object Type Sub Number Data Type Access Type PDO Mapping Default value Array a nEceR2 w vs n 0 C oo userRegistert 0 ooz userRegister2 0 oos userRegisters 0 C ooa userRegistera 0 oos userRegisters 0 0x06 userRegisters 0 0x07 userRegister7 0 0x08 userRegistere 0 0x09 userRegistero 0 pa userRegisterto 0 0x08 userRegistertt 0 mee userRegisteri2 0 m Lepage 0 on userRegisterta 0 er userRegisterts 0 oao userRegistert6 0 C om userRegistert7 0 C oaz userRegisterta 0 C oas userRegistert9 0 xia userRegister20 0 C oas userRegister2i 0 oe userRegister22 1 C oar userRegister2a 0 Rev 1 2 42 7 25 2013 CANopen User Manual 0x5000 PositionGain_Tuning This object shall configure the proportional Gain in Position loop to step servo drive This object is only available on step servo driver Object Type Data Type Access Type PDO Default value C va nson w w 0x5001 PositionDeriGain_Tuning This objec
44. ble 16 Parameter Scaling Chart ccccccccsecececeeesseeseeseceeccececeeseseneneseneneeeneeeeeteees 60 Table 17 Object E e E EN el 61 Table 18 Object 700Bp DSP Status COU CS eege eegene ees 61 Table 19 Single Set Point Profile Position Move sseesssennnnnnnnnnnnnennererennnnnnnnnrnnenne 63 Table 20 Multiple Set Point Profile Position Move with Stopping Between Moves 64 Table 21 Multiple Set Point Profile Position Move with Continuous Motion 65 Table 22 Multi Set Point Profile Position Move with Immediate Change in Moon 66 Table 23 Profile Velocity Mode eege eege een 68 Table 24 Profile Torque Mode Exvample Abee 88 Table 25 Understanding NMT States cccccccccecesesseeseeeeeeeeeeeeceneeeeeeeeeeeeeeeeeeenseneess 91 Table 26 Example NMT Data brame 91 Table 27 Enable SDO EE ganeeee r getes ieet geg eekteeegGe Ee eeEegdeeb Etgen 92 Table 26 TPDO Transmission Types s scncencccncccccccaenenacannsdensvesaceccueueceeacncsicnssninennntnansiadssiene 93 Table29 PDO MappIng E 93 Table 30 PDO Mapping Eat iccnicisicsccdaddvacaiensbebencdudtidadaneletbidbcadadacaududbSviawnedatadeca 94 Table 31 PDO Mapping Stepper wncinssncncccreccncsnrmnbawsievaceasadadsnndicimmnsuedecedadsawnwawnnandiacetede 95 Table 32 PDO Mapping E EE 95 Table ee PDO COB IDS ett Eege aner iiaa a aa a aa EE 96 S Rev 1 2 7 25 2013 CANopen User Manual List of Figures PUM KE 10 ele E 11 ie E E 11 le
45. can be stored on the device 3 Sub Index 2 refers to communication related parameters Index 1000h 1FFFh manufacturer specific communication parameters 4 Sub Index 3 refers to application related parameters Index 6000h 9FFFh manufacturer specific application parameters 5 At Sub Index 4 127 manufacturers may store their choice of parameters individually 6 Sub Index 128 254 are reserved for future use In order to avoid storage of parameters by mistake storage is only executed when a specific signature is written to the appropriate Sub Index The signature is save Signature MSB LSB S ISO 8859 v EE pe tv Ja Object Type Sub Number Data Type Access Type D Default value apping no seng w no m Name Default value o maswan 1 save all parameters 0 Writing value 0x65766173 s a v e from LSB to MSB into this location stores all Manufacture specific parameters into the EEPROM Here list the parameters which can be stored 0x5000 positionGain_Tuning 0x5001 positionDeriGain_ Tuning 0x5002 positionDeriFilter_ Tuning 0x5003 velocityGain_Tuning 0x5004 velocitylntegGain_Tuning 0x5005 accFeedForward_Tuning 0x5006 PIDFilter_Tuning 0x5007 notchFilterA_ Tuning 0x5008 notchFilterB_ Tuning 0x5009 notchFilterC_ Tuning Ox500A notchFilterD_Tuning Ox500B notchFilterE_Tuning Rev 1 2 26 7 25 2013 CANopen User Manual Ox500C notchFilterF_ Tunin
46. ceeded maximum execution time 2D ERROR_INTERNAL_STATE_APPL Error in application software internal state 2E ERROR_2E_reserved reserved 2F ERROR_2F_reserved reserved 0x2101 CAN node ID The object allows the user to set the CAN Node ID of the Node the change takes effect at next power cycle Object Type Data Type Access Type PDO Mapping cos value SSC REES This object can not be stored in non volatile memory at this moment 0x2102 CAN bit rate The object allows the user to set the CAN bit rate of the Node the change takes effect at next power cycle Object Type Data Type Access Type PDO Mapping cos Default value eege w Im w o This object can not be stored in non volatile memory at this moment 0x2103 SYNC counter The object contains the counts of the SYNC message transmits receives Object Type Data Type Access Type PDO cos Default value P var UNSIGNEDT6 w w w o SYNC Counter is incremented each time SYNC message is received or transmitted 0x2104 SYNC time Contains the time information between every adjacent two SYNC message Object Type Data Type Access Type PDO Mapping cos Default value var UNSIGNEDIO o mo Sr SYNC Time is incremented each timer period and reset to zero each time SYNC is received or transmitted 41 Rev 1 2 7 25 2013 CANopen User Manual 0x3000 switch value for factory use only The object contains the rot
47. ch transition shown above HOMING MODE 14 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Methods 15 and 16 Homing Methods 15 and 16 are reserved for future expansion Rev 1 2 76 7 25 2013 CANopen User Manual Homing Method 17 Homes to the CW limit switch HOMING MODE 17 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 18 Homes to the CCW limit switch HOMING MODE 18 cw Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 77 Rev 1 2 7 25 2013 CANopen User Manual Homing Methods 19 and 20 Home to the home switch transition HOMING MODE 19 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch HOMING MODE 20 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 7 25 2013 78 CANopen User Manual Homing Methods 21 and 22 Home to the home switch transition HOMING MODE 21 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch
48. configuration and tuning for servo drives are performed using Quick Tuner or Step Servo Quick Tuner In all cases the drive will need to be connected to a Windows PC using the included RS 232 serial cable Please refer to the appropriate software manual or built in help screens for details Note When the CANopen drive is first powered on the drive will automatically send a power up packet over the RS 232 port If a MOONS application is present it will send a re sponse back to the drive over RS 232 and the drive will hold the CAN node in the Initialization state until the application is closed If no response is detected the drive will continue the nor mal CANopen startup procedure the drive will power up into the Initialization state send out a boot up packet move into the Pre Operational state and start sending out heartbeats with the Pre Operational state as a status code Rev 1 2 12 7 25 2013 CANopen User Manual Supported CiA 402 Modes of Operation Mode MSST MSSTAC STM SWM SSM TSM TXM SS SV SVAC _Profle velocity e gt ProflePosiion e e le ww ll F r fe a T KEES Table 2 Modes of Operation For detailed information on each mode see the corresponding appendix Profile Position Mode Appendix D Profile Velocity Mode Appendix E Homing Modes Appendix F Profile Torque Mode Appendix G Q Program Mode Appendix H MOONS CANopen Drive Detail CiA 301 CANopen Communications
49. e Object Type Data Type Access Type PDO Default value C va unsieneoa w o bit 0 31 period of SYNC transmission in ms 0 no transmission no EE 0x1007 Synchronous window length Contains the length of the time window for synchronous PDOs in ms It is 0 if not used Object Type Data Type Access Type PDO Mapping cos Default value a UNSIGNEDS2y w o So dC bit 0 31 window length after SYNC when PDOS must be transmited in us 0 not used 0x1008 Manufacturer device name Contains the manufacturer device name Object Type Data Type Access Type PDO Mapping Default value AMA Var Visible string const no no CANopen Motor Driver Name of the manufacturer as string 0x1009 Manufacturer hardware version Contains the manufacturer hardware version description Object Type Daa Type Access Type PDO cos Default value er Visible string cont ro w a Name of the hardware version as string 0x100A Manufacturer software version Contains the manufacturer software version description Object Type Daa Type Access Type PDO cos Default value PF v Visiblestring const no m 2o Name of the software version as string 25 Rev 1 2 7 25 2013 CANopen User Manual 0x1010 Store parameters This object supports the saving of parameters in non volatile memory 1 Sub Index 0 contains the largest Sub Index that is supported 2 Sub Index 1 refers to all parameters that
50. e 1 SSC o Ot Table 32 PDO Mapping Servo 95 Rev 1 2 7 25 2013 CANopen User Manual PDO COB ID Because PDOs are directly mapped to OD entries no overhead is required when working with them RPDOs may be sent directly with the COB ID being the default RPDO COB ID plus the Node ID For example the default RPDO1 COB ID is 200 Therefore the COB ID for RPDO1 to Node ZE would be 200 02E 22E The default COB IDs for each PDO may be found in CiA 301 on page 78 Building an RPDO Data Frame Example This example will show how to set the controlword of node 2E to 7E4F using RPDO1 The paragraph above shows how the COB ID of 22E was determined The mapping table above that shows that the first two message bytes will contain the controlword According to Endianness the first data byte will be 4F and the second will be E The entire message will then read COB ID Data Length Data Byte 0 Data Byte 1 Table 33 PDO COB IDs For more information on PDO mapping see CiA 402 3 For more information on the PDO protocol see CiA 301 Rev 1 2 96 7 25 2013 CANopen User Manual Appendix K Operation Mode Specific Control and Status Word Control Word of Profile Position Mode Positioning shall be completed target reached before the next one gets Set Point started Immediately Next positioning shall be started immediately Target position shall be an absolute value Target position shall be a relative value
51. e bit7 position polarity bit indicates the position demand value related to the target_postition object whose index is 0x607A shall be multiplied by 1 of by 1 The polarity flag shall have no influence to the homing mode And the bit6 velocity polarity bit indicates the velocity demand value related to the profile velocity whose index is 0x60FF shall be multiplied by 1 or 1 Bit Meaning 7 Position polarity 0 gt multiply by 1 default 1 gt multiply by 1 6 Velocity polarity 0 gt multiply by 1 default 1 gt multiply by 1 Object Type Data Type Access Type PDO Mapping cos Default value soen rw ws No o0 The position polarity bit shall be used only for profile position pp mode The velocity polarity bit shall be used only for profile velocity pv mode 53 Rev 1 2 7 25 2013 CANopen User Manual 0x607F max_profile_speed This object configures the maximum speed allowed in either direction in a move profile Object Type Data Type Access Type PDO Mapping cos O Default value e UNSIGNEDS2 w s SONOS This object is given the same unit as the objects velocity_value_calculated index O0x606C and profile_velocity Ox60FF 0x6081 P2P_profile_velocity This object shall configure the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion This objects set the velocity value except the velocity parameter in Pro
52. en defined as UNSIGNED32 in order to cater for 11 bit CAN Identifiers CAN 2 0A as well as for 29 bit CAN identifiers CAN 2 0B UNSIGNED32 MSB LSB bits 28 11 11 bit ID on Ion o 000000000000000000 11 bit Identifier 29 bit ID 29 bit Identifier Figure 9 Structure of PDO COB ID entry RECETTE PF oes nt exist snot va PSR Rallowed on this PDO Pt RR alowed on this PDO POF CAN 2 08 28 11 pi bit 29 0 X if bit 29 1 bits 28 11 of 29 bit COB ID EE GEESS Table 10 Description of PDO COB ID entry 31 Rev 1 2 7 25 2013 CANopen User Manual The PDO valid not valid allows to select which PDOs are used in the operational state There may be PDOs fully configured e g by default but not used and therefore set to not valid deleted The feature is necessary for devices supporting more than 4 RPDOs or 4 TPDOs because each device has only default identifiers for the first four RPDOs TPDOs Devices supporting the standard CAN frame type only or do not support Remote Frames an attempt to set bit 29 to 1 or bit 30 to O is responded with an abort message abort code 0609 0030h It is not allowed to change bit 0 29 while the PDO exists Bit 31 0 The transmission type sub index 2 defines the transmission reception character of the PDO Table 11 describes the usage of this entry On an attempt to change the value of the transmission type to a value that is not supported by the device an abort message abort code 0
53. er can be used to verify the overall mapping length It is mandatory The structure of the entries from sub index 1h 40h is as follows Byte MSB LSB index 16 bit sub index 8 bit object length 8 bit Figure 10 Structure of PDO Mapping Entry If the change of the PDO mapping cannot be executed e g the PDO length is exceeded or the SDO client attempts to map an object that cannot be mapped the device responds with an Abort SDO Transfer Service Subindex 0 determines the valid number of objects that have been mapped For changing the PDO mapping first the PDO has to be deleted the sub index 0 must be set to 0 mapping is deactivated Then the objects can be remapped When a new object is mapped by writing a subindex between 1 and 64 the device may check whether the object specified by index sub index exists If the object does not exist or the object cannot be mapped the SDO transfer must be aborted with the Abort SDO Transfer Service with one of the abort codes 0602 0000h or 0604 0041h After all objects are mapped subindex 0 is set to the valid number of mapped objects Finally the PDO will be created by writing to its communication parameter COB ID When subindex 0 is set to a value gt 0 the device may validate the new PDO mapping before transmitting the response of the SDO service If an error is detected the device has to transmit the Abort SDO Transfer Service with one of the abort codes 0602 0000h 0604 0041h or 0604 0042h
54. file velocity mode pv Object Type Data Type Access Type PDO Mapping Default value An Lupp w ys o0 This object is given the same unit as the objects velocity_value_calculated index 0x606C and profile_velocity 0x60FF 0x6083 profile_acceleration This object shall configure the acceleration ramp in a profiled move Object Type Data Type Access Type PDO Mapping Default value var unsieneo3s2 w we no o The value transmit to or reading from driver should be multiply 6 divided to 6 to change to rps s unit e g Set the acceleration as 100 rps s the value transmit to driver should be 600 0x6084 profile deceleratton This object shall configure the deceleration ramp in a profiled move Object Type Data Type Access Type PDO Mapping Default value C v unsoneos2 w vws The value transmit to or reading from driver should be multiply 6 Le to re to change to rps s unit e g Set the deceleration as 100 rps s the value transmit to driver should be 600 Rev 1 2 54 7 25 2013 CANopen User Manual 0x6085 quick_stop_deceleration This object shall configure deceleration used to stop the motor when the quick stop function is activated and the quick stop code object 605Ah is set to 2 Object Type Data Type Access Type PDO Mapping Default value UNSIGNED32 w ws N 0o The value transmit to or reading from driver should be multiply 6 divided to 6 to change to r
55. from position sensor which is encoder here Object Type Data Type Access Type PDO Mapping Default value UNSIGNED16 ro ves we Io This object is given the same unit as the objects velocity_value_calculated index 0x606C and profile_velocity Ox60FF Rev 1 2 58 7 25 2013 CANopen User Manual 0x700A position_actual_value This object represents the actual value of the position measured by the position sensor Object Type Data Type Access Type PDO Mapping Default value yar NEG ro we we 0o 0x700B DSP_statuscode This object represents the current status code of the driver Object Type Data Type Access Type PDO Mapping Default value UNSIGNED 16 Please see the detail described in Table 18 in Appendix C of this document 0x700C zero Position This object provides the feature to zero all position parameters such as position_actual_ value which index is 0x700A Object Type Data Type Access Type PDO BE cos Default value C vw nson w w w o Set this value to 01h can zero all position parameters 0x700D Acceleration_Current This object shall configure the current of driver during in acceleration state Object Type Data Type Access Type PDO EN cos Default value v onson w o o o This object only available on STM CANopen drivers It is given the same units as the objects max_current and idle_current whose value should be divided by 100 0x700E Analog Input Thi
56. g 0x500D notchFilterG_ Tuning Ox500E notchFilterH_Tuning Ox500F _ positionError 0x5010 velocity MAX 0x5011 smoothFilter 0x1011 Restore default parameters Not implement With this object the default values of parameters according to the communication or device profile are restored Object Type Sub Number Data Type Access Type NEE Default value apping no UNSIGNEDS2 a no no o Name Default value 00 maxsubindex 1 restore all parameters 0 0x1014 COB ID EMCY This object defines the COB ID of the Emergency Object EMCY UNSIGNED32 MSB LSB bits t1 bit ID on o o 000000000000000000 11 bit Identifier 29 bit ID 31 MSB EMCY exists is valid EMCY does not exist is not valid 30 reserved always 0 11 bit ID CAN 2 0A 29 bit ID CAN 2 0B if bit 29 0 if bit 29 1 bits 28 11 of 29 bit COB ID bits 10 0 of COB ID Figure 8 Description of EMCY COB ID entry 2y Rev 1 2 7 25 2013 CANopen User Manual Devices supporting the standard CAN frame type only an attempt to set bit 29 is responded with anabort message abort code 0609 0030h It is not allowed to change Bits 0 29 while the object exists Bit 31 0 bit 0 10 COB ID bit 11 30 set to O for 11 bit COB ID bit 31 0 1 node uses does NOT use Emergency object 0x1015 inhibit time EMCY The inhibit time for the EMCY message can be adjusted via this entry The time has to be a multiple of 100ms Object
57. he CCW limit is hit the drive resets to the CW limit and continues searching for a limit in the CCW direction HOMING MODE 34 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 35 Takes the current position to be the home position the Home Offset value is ignored and the motor does not move at all HOMING MODE 35 cw E Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 85 Rev 1 2 7 25 2013 CANopen User Manual Appendix G Profile Torque Mode Servo Only General Mode Description Profile Torque mode is a servo control torque operating mode It requires knowledge of the Torque Constant of the motor in Nm A This information can be found in the motor print Enable Profile Torque Mode To enable Profile Torque Mode the value 0004 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted Set Running Parameters To operate in Profile Torque mode the following parameters must be set Parameter Object Dictionary Length in Units Description Name Entry bytes a motor print motor Torque Slope 6087 4 m Nm Rate at which to ramp torque to
58. he drive The default COB ID for SDO requests is 600 see CiA 301 plus the Node ID of ZE This results in a specific COB ID for this message of 62E The first data byte is reserved for the control byte which is always 40 for an SDO Read The next 2 bytes are reserved for the OD entry address in Little Endian format To obtain OD entry 1017 we stuff data byte 1 with 17 and data byte 2 with 10 Data byte 3 is reserved for the sub index of the OD entry which in this case is zero The last 4 bytes are unused for SDO reads The whole message appears as COBID Data Length Data Byteo 1 2 3 4 5 6 7 Table 27 Enable SDO Use The drive will respond with a message with COB ID 580 Node ID or SAE For more information see CiA 301 SDO protocol PDO Access Enable PDO Use To enable Process Data Object PDO use the NMT state must be set to Operational and an NMT message sent to enable the Operational state When completed the heartbeat should return a 5 The drive is now ready to receive RPDOs and will transmit TPDOs depending on the Transmission Type Rev 1 2 92 7 25 2013 CANopen User Manual TPDO Transmission Types There are several triggering options for Transmit PDOs which are controlled by OD en tries 1800 to 1803 and their associated sub entries Possible TPDO Triggers SYNC pulse Node will send TPDO after receiving one or multiple SYNC pulses Event Timer Node will issue TPDO based
59. ified using OD 6061 mode of operation display which is updated when the current operation mode is accepted Set Running Parameters Set the distance velocity acceleration and deceleration using OD entries 607A 6081p 6083 and 6084 respectively Starting Stopping Motion After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To indicate a new set point and start motion toggle bit 4 by sending 001F to controlword OD entry 6040 To enable drive operation the value 001F must be written to the controlword OD entry located at dictionary address 6040 This will also signal that there is a new set point ready The drive acknowl edges the receipt of a valid set point using bit 12 of the statusword at OD 6041 Because the set point is edge triggered once the drive receives and processes the set point the new set point of the control word must be cleared by writing OOOF to the controlword register While the drive is acting on a set point a new set point may be entered and triggered using the new set point The second set point will be received as soon as it is processed or at the end of the previous set point which ever
60. igure 6 Structure of TIME COB ID entry 31 MSB Device does not consume TIME message Device consumes TIME message Device does not produce TIME message Device produces TIME message a5 gt O 11 bit ID CAN 2 0A 29 bit ID CAN 2 0B ap if bit 29 0 28 11 Gras if bit 29 1 bits 28 11 of 29 bit TIME COB ID 10 0 LSB bits 10 0 of TIME COB ID Table 9 Description of SYNC COB ID entry xo Bits 29 30 may be static not changeable If a device is not able to generate SYNC messages an attempt to set bit 30 is responded with an abort message abort code 0609 0030h Devices supporting the standard CAN frame type only either ignore attempts to change bit 29 or respond with an abort message abort code 0609 0030h The first transmission of SYNC object starts within 1 sync cycle after setting Bit 30 to 1 It is not allowed to Ge Bit 0 29 while the objects exists Bit 30 1 Se a ee Cova UNSIGNED we ne no 0x00000080 bit 0 10 COB ID for SYNC object bit 11 29 set to 0 bit 30 1 0 node generates does NOT generate SYNC object bit 31 set to 0 Rev 1 2 24 7 25 2013 CANopen User Manual 0x1006 Communication cycle period This object defines the communication cycle period in ms This period defines the SYNC interval It is O if not used If the communication cycle period on sync producer is changed to a new value unequal 0 the transmission of sync object resumes within 1 sync cycle of the new valu
61. ion objects 0x60FE digital_outputs This object configures or monitors the digital outputs for drivers Object Type Sub Number Subindex Name Data Type E GE COS ri Type Mapping value 00 max sub index UNSIGNEDS UNSIGNED32 BitO bit3 maximum 4 outputs for drivers BitO output 1 Bit1 output 2 Bit2 output 3 Bit3 output 4 Bit4 31 reserved 0x60FF profile_velocity This object configures the velocity parameters in Profile Velocity Mode Object Type Data Type Access Type PDO Mapping Default value Pp ver nece w vws o o This object is given the same unit as the objects velocity_value_calculated index 0x606C Rev 1 2 56 7 25 2013 CANopen User Manual 0x6502 supported_drive_modes This object shall provide information on the supported drive modes 0 Profile Position ie 2 Profile Velocity Mode 3 Profile Torque ee e 8 Y Homing Mode 6 Interpolated Postion Mode ee Lens ee Lens Object Type Data Type Access Type PDO Mapping Default value 8 unsieneo32 o Iw Iw The supported mode in Moons CANopen driver BitO Profile Position Mode Bit2 Profile Velocity Mode Bit3 Profile Torque Mode Servo Step Servo only Bits Homing Mode 0x7001 home_switch This object shall configure the number of Inputs as the Home switch in Homing Object Type Data Type Access Type PDO Mapping Default value 0x7002 idle_current This object configures monitors the m
62. is later Controlword Bits New Set point bit 4 set this bit high to clock in a new set point Once the drive has accepted the set point it will respond by setting statusword bit 12 high Controlword bit 4 should then be taken low Change of Set point bit 9 if this bit is low the previous set point will be completed and the mo tor will come to rest before a new set point is processed If bit 9 is high the motor will continue at the speed commanded by the previous set point until it has reached the position commanded by the previ ous set point then transition to the speed of the new set point Change Set point Immediately bit 5 if this bit is high the new set point will take effect immedi ately The motor speed will transition to the speed and position commanded by the new set point Abs rel bit 6 if this bit is high the set point distance is relative For example if the previous motor position was 10 000 steps and a new set point is issued with a distance of 20 000 the final position will be 30 000 If bit 6 is low the distance is absolute If the previous motor position was 10 000 and a new set point is issued with a distance of 20 000 the new position will be 20 000 The distance travelled from the previous position to the new position will be 10 000 steps For best results do not Rev 1 2 62 7 25 2013 CANopen User Manual change this bit while the motor is moving Note Two set points can be set up b
63. ity Mode Set Motion Parameters 0603 8 23 FF 60 00 FO 00 00 00 Set Target Velocity to 1 rps 0603 8 23 83 60 00 58 02 00 00 Set Acceleration to 100 rps s 0603 8 23 84 60 00 58 02 00 00 Set Deceleration to 100 rps s Start Stop Motion 0603 8 2B 40 60 00 0F 00 00 00 Motion Starts 0603 8 23 FF 60 00 60 09 00 00 Change Target Velocity to 10 rps 0603 8 2B 40 60 00 0F 01 00 00 Motion Halts Homing Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Homing Mode 0603 8 2F 60 60 00 06 00 00 00 Set to Homing Mode 0603 8 2F 98 60 00 13 00 00 00 Set Homing Method to 19 Set Motion Parameters 0603 8 23 9A 60 00 58 02 00 00 Set Homing Acceleration to 100rps s 0603 8 23 99 60 01 FO 00 00 00 Set Homing Velocity Search for Switch to 1rps 0603 8 23 99 60 02 78 00 00 00 Set Index Velocity Search for Index or Zero to 0 5rps 0603 8 23 7C 60 00 40 9C 00 00 Set Homing Offset to 40000 Steps 0603 8 2F 01 70 00 03 00 00 00 Set Homing Switch to Input 3 7 Start Stop Homing 0603 8 2B 40 60 00 1F 00 00 00 Homing Starts 0603 8 2B 40 60 00 1F 01 0
64. located at dictionary address 6040 must transition from 0 to 1 The status of the homing procedure can be monitored using the statusword OD entry 6041 Homing Method Diagrams Homing Method 1 Homes to the first index CCW after the CW limit switch is reached HOMING MODE 1 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 69 Rev 1 2 7 25 2013 CANopen User Manual Homing Method 2 Homes to the first index CW after the CCW limit switch is reached HOMING MODE 2 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 3 Homes to the first index CW after the positive home switch changes state the initial direc tion of motion is dependent on the state of the home switch HOMING MODE 3 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 70 7 25 2013 CANopen User Manual Homing Method 4 Homes to the first index CCW after the positive home switch changes state the initial direction of motion is dependent on the state of the home switch HOMING MODE 4 DREES Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 5 Homes t
65. nected and Q Programmer running for the CANopen drive to delay the normal boot up procedure The CAN boot up can be resumed by closing the Q Programmer application or by power cycling the drive with the RS 232 port disconnected Once Q Programmer is in control of the drive it may be used in the same way as any other MOONS Q drive See the Q Com mand Reference for more information on Q programming Normal Q Program Execution To execute a stored Q program on a single drive a value of 1 FF p must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD entry 6061 mode of operation display which is updated when the cur rent operation mode is accepted Next the desired Q segment number 1 12 must be written to the Q Segment Number register located at address 7007 After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To enable drive operation a value of OOOF must be written to the controlword OD en try located at dictionary address 6040 This puts the drive into Operation Enabled state and ready to run the Q program To run the selected Q program a
66. o NODEID 0x2002 RPDO iransmission type _ UNSIGNED 0x1400 0x1403 RPDO communication parameter max sub index COB ID bit 0 10 COB ID for PDO to change it bit 31 must be set bit 11 29 set to 0 for 11 bit COB ID bit 30 0 1 rtr are allowed are NOT allowed for PDO bit 31 0 1 node uses does NOT use PDO Transmission type value 0 240 receiving is synchronous process after next reception of SYNC object value 241 253 not used value 254 manufacturer specific value 255 asynchronous Note 2 Index 1400 01h Default value is 0x200 NODEID Index 1401 01h Default value is 0x300 NODEID Index 1402 01h Default value is 0x400 NODEID Index 1403 01h Default value is 0x500 NODEID 33 Rev 1 2 7 25 2013 CANopen User Manual 0x1600 0x1603 RPDO mapping parameter Contains the mapping for the PDOs the device is able to receive The type of the PDO mapping parameter 21h is described in 9 5 4 of CiA 301 The sub index Oh contains the number of valid entries within the mapping record This number of entries is also the number of the application variables which shall be transmitted received with the corresponding PDO The sub indices from 1h to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index sub index and length All three values are hexadecimal coded The length entry contains the length of the object in bit 1 40h This paramet
67. o the first index CCW after the negative home switch changes state the initial direction of motion is dependent on the state of the home switch HOMING MODE 5 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 71 Rev 1 2 7 25 2013 CANopen User Manual Homing Method 6 Homes to the first index CW after the negative home switch changes state the initial di rection of motion is dependent on the state of the home switch HOMING MODE 6 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 7 Starts moving CCW or CW if the home switch is active and homes to the first index CW of the home switch transition HOMING MODE 7 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 72 7 25 2013 CANopen User Manual Homing Method 8 Starts moving CCW or CW if the home switch is active and homes to the first index CCW of the home switch transition HOMING MODE 8 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Homing Method 9 Starts moving CCW and homes to the first index CW of the home switch transition HOMING MODE 9 Index Pulse
68. om V1 to V2 2 Motor decelerates from V2 to 0 Tes Motor remains stopped Rev 1 2 7 25 2013 Table 23 Profile Velocity Mode Example 68 CANopen User Manual Appendix F Homing Methods Set Running Parameters Set the homing and index velocities acceleration deceleration offset and home sensor if required using OD entries 6099 609A 607C and 7001 respectively Note It is important that the limit switch settings have been defined in ST Configurator or Quick Tuner prior to using the CANopen Homing Mode Enable Homing Mode To enable Homing Mode the value 0006 must be written to the mode of operation OD entry located at dictionary address 6060 The mode of operation can be verified using OD 6061 mode of operation display which is updated when the current operation mode is accepted After power up or node reset the drive is in disabled state The value 0006 must be written to the control word OD entry located at dictionary address 6040 This will put the drive into ready to switch on state and is ready to enable drive operation If the value 0006 is not written to the control word first the drive operation can not be enabled To put the drive into Operation Enabled Mode write OOOF to the controlword OD entry located at dictionary address 6040 Starting the Homing Procedure Set the Homing Method required using OD entry 6098 To start the homing procedure bit 4 of the controlword OD entry
69. on The meaning of the returned value corresponds to that of the Modes of Operation option code index 6060h Object Type Data Type Access Type PDO Mapping Default value ya meeer o ves we This value of operation mode display indicates the current mode of operation 0x6064 Position_value_calaculated This object represents the calculate value of the position at current moment in user defined units Object Type Data Type Access Type PDO Mapping Default value C vw INTEGERS o w w CS 0x6065 following_error_window This object shall indicate the configured range of tolerated position values symmetrically to the position demand value If the position actual value is out of the following error window a following error Position Limit occurs A following error may occur when a drive is blocked unreachable profile velocity occurs Jog mode should be Mode 1 or at wrong closed loop coefficients The value shall be given in user defined position units If the value of the following error window is 0 the following control shall be switched off Object Type Data Type Access Type PDO BEEN Default value Lens w Oo o o This object is the same functional with Manufacture specific object which index is 0x500F 0x606C Velocity_value_calaculated This object represents the calculate value of the velocity at current moment in user defined units Object Type Data Type Access Type PDO Mapping Default value 8 wem
70. op Immediately Homing Q Operation Mew Sel Reserved Reserved Program Voltage Enabled Point Start Quick Stop Operation Enabled Enable Voltage Switch On Switch On Ready to Switch On The above table shows that all the bits of control word and status word mapped in every operation mode 49 Rev 1 2 7 25 2013 CANopen User Manual 0x605A Quick_stop_option_code The parameter quick_stop_option_code determines what action should be taken if the Quick Stop Function is executed Object Type Data Type Access Type PDO Mapping Default value e Leen w mw wo o quiok_stop_option_code EE Slow down on the current limit and stay in Quick Stop 9 32767 It is only supported of option code 1 and 2 feature at this moment 0x6060 Modes_of_operation The parameter modes_of_operation switches the actually chosen operation mode Object Type Data Type Access Type PDO Mapping Default value An INTEGERS wo ys w o0 Mode of Operation 2 1 Torque Profile Mode Servo only Homing Mode 1 Normal Q mode manufacturer specific mode 2 SYNC Q mode manufacturer specific mode Velocity Mode and Interpolated Position Mode are not supported in this CANopen driver Also the Torque profile Mode is only supported for Servo or Step Servo CANopen driver Rev 1 2 50 7 25 2013 CANopen User Manual 0x6061 Modes_of_operation_display The modes_of_operation_display shows the current mode of operati
71. os Default value Pp v mesere w w v o This object is only available on servo step servo drivers The unit of this object is 0 01Amps 0x607A target_position The Target Position is the position that the drive should move to in position profile mode using parameters such as velocity acceleration and deceleration The target position is given in terms of Electrical Gear parameters steps per motor shaft revolution The target position will be interpreted as absolute or relative depending on the absolute relative flag bit 6 in the controlword Object Type Data Type Access Type PDO Mapping cos Default value O v meser w vws o o Rev 1 2 52 7 25 2013 CANopen User Manual 0x607C home_offset The home_offset object is the difference between the zero position for the application and the machine home position found during homing During homing the home position is found and once the homing is completed the zero position is offset from the home position by adding the home_offest to the home position All subsequent absolute moves shall be taken relative to this new zero position This is illustrated in the following diagram Home Zero Position Position Home_ Offset Object Type Data Type Access Type PDO Mapping cos Default value ver meee w w o o 0x607E polarity This object contains two individual bits to set the polarity of position and velocity in their own mode Th
72. otor holding current of the device in idle mode Object Type Data Type Access Type PDO Mapping Default value UNSIGNED 16 The units of this object is current in Amps multiply 100 e g if the reading value of this object from the drive is 210 it means the idle current at this moment is 2 1Amps 57 Rev 1 2 7 25 2013 CANopen User Manual 0x7003 drive_inputs This object contains the information of driver s digital inputs Object Type Data Type Access Type PDO Mapping Default value UNSIGNED 16 D input 1 Bit1 input 2 Bit2 input3 BG input 4 Bit4 input 5 Bit5 input 6 Bit6 input 7 Bit7 input 8 Bit8 15 reserved 0x7005 torque_Constant This object shall configure the motor s torque constant in manufacturer specific units The units should be mNm Amps Object Type Data Type Access Type PDO Mapping Default value UNSIGNED16 w Im ws o This object only supported in servo step servo drives 0x7006 DSP_clearAlarm This object provides the feature to clear alarm of the drives Object Type Data Type Access Type PDO Mapping Default value Var unsieneos wo Iw m 0 Set this value to 01h can clear alarm of the drive 0x7007 QSegment This object shall configure the number of Q Segment will be executed in Q mode Object Type Data Type Access Type PDO Mapping Default value C vaw usone w w w 0x7009 velocity_actual_value This object shall provide the actual velocity value derived
73. position command to cause a smoother movement of the motor Object Type Data Type Access Type PDO cos Default value UNSIGNED w m wm o Please note that a lower filter value will result in much smoother motion but will cause a lag in response 0x5012 Driver_Temperature This object contains the information of driver s temperature Object Type Data Type Access Type PDO cos Default value O w wm o The unit of this object is 0 1 centigrade 45 Rev 1 2 7 25 2013 CANopen User Manual Device Profile The objects described in this section are parameters for all those motion profile such as profile position mode profile velocity mode and also Homing mode 0x603F DSP Error Code The DSP error code captures the DSP alarm code of the last error that occurred in the drive Object Type Data Type Access Type PDO Mapping Default value UNSIGNED16 ro ws n 0 Each bit in DSP Error code indicate one type alarm or faults status see the detail described in Appendix C 0x6040 ControlWord This object is used to controls the state and motion control of the drive It can be used to enable disable the driver power output start and abort moves in all operating modes and clear fault conditions The bits of the controlword are defined as follows LSB MSB 15 11 6 4 2 1 0 10 9 8 7 3 Reserved Halt Fault Operation Enable Quick Enable Switch Reset Mode Operation Stop Voltage
74. ps s unit e g Set the quick_stop_deceleration as 1000 rps s the value transmit to driver should be 6000 0x6087 torque_slop This parameter describes the rate of change of torque in units of per thousand of rated torque per second The units should be Nm s Object Type Data Type Access Type PDO Mapping Default value e UNSIGNED32 w ws NCTC 0x6098 homing_method This object determines the method that will be used during homing Object Type Data Type Access Type PDO Mapping Default value var Heen w w o o Please see the detail described in Appendix F in this document 0x6099 homing_speed This object determines the speeds that will be used during homing There is two parts to define those speeds Sub index 1 to set the speed to search home switch Sub index 2 to set the speed to search zero position Object Type Sub Number Data Type Access Type Bes Default value apping yes uNsiGNeDo2 rw yes no o Default value 00 maxsubindex 2 D speed during search_for_switch 0 02 speed during search_for zero 0 55 Rev 1 2 7 25 2013 CANopen User Manual 0x609A homing_acceleration This object establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes Object Type Data Type Access Type PDO Mapping Default value UNSIGNED32 w ws n n 0o The value units should be the same as profile_acceleration decelerat
75. quired HOMING MODE 27 l Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 82 7 25 2013 CANopen User Manual Homing Methods 29 and 30 Home to the home switch transition shown below and bounce off the CW limit if re quired HOMING MODE 29 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch HOMING MODE 30 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch 83 Rev 1 2 7 25 2013 CANopen User Manual Homing Methods 31 and 32 Homing Methods 31 and 32 are reserved for future expansion Homing Method 33 Homes to the next index pulse CW from the current position If the CW limit is hit the drive resets to the CCW limit and continues searching for a limit in the CW direction HOMING MODE 33 Index Pulse Home Switch Neg Limit Switch Pos Limit Switch Rev 1 2 84 7 25 2013 CANopen User Manual Homing Method 34 Homes to the next index pulse CCW from the current position If t
76. rameters for the PDOs the device is able to transmit The type of the PDO communication parameter 20h is described in 9 5 4 of CiA 301 A detailed description of the entries is done in the section for the Receive PDO Communication Parameter 1400h 1403h Object Type Sub Number Type UNSIGNEDE COB ID used by TPDO UNSIGNED32 transmission type UNSIGNED8 compatibility entry UNSIGNED8 UNSIGNED16 SYNC start value UNSIGNED8 0x1800 0x1803 TPDO communication parameter SS SS max sub index COB ID bit 0 10 COB ID for PDO to change it bit 31 must be set bit 11 29 set to 0 for 11 bit COB ID bit 30 0 1 RTR are allowed are NOT allowed for PDO bit 31 0 1 node uses does NOT use PDO Transmission type value 0 transmiting is synchronous specification in device profile value 1 240 transmiting is synchronous after every N th SYNC object value 241 251 not used value 252 253 Transmited only on reception of Remote Transmission Request value 254 manufacturer specific value 255 asinchronous specification in device profile inhibit time bit 0 15 Minimum time between transmissions of the PDO in 100us Zero disables functionality compatibility entry bit 0 7 Not used Rev 1 2 36 7 25 2013 CANopen User Manual event timer bit 0 15 Time between periodic transmissions of the PDO in ms Zero disables functionality SYNC start value value 0 Counter of the SYNC message shall no
77. rk and the drive executes the content of a command message If the bit remote is reset then the drive is in local mode and will not execute the command message The drive may transmit messages containing valid actual values like a position_actual_ value depending on the actual drive configuration The drive will accept accesses via service data objects SDOs in local mode Bit 10 Target Reached If bit 10 is set by the drive then a setpoint has been reached torque speed or position depending on the modes_of_operation The change of a target value by software alters this bit If quickstop_option_code is 5 6 7 or 8 this bit must be set when the quick stop operation is finished and the drive is halted If Halt occured and the drive has halted then this bit is set too Bit 11 Internal Limit Active This bit set by the drive indicates that an internal limitation is active e g position_range_ limit Here is the Command Structure Object Type Data Type Access Type PDO Mapping Default value UNSIGNEDTG w ws w o Rev 1 2 48 7 25 2013 CANopen User Manual Global Control Word and Status Word Byte Bit Control Word Status Word Reserved Homing Following Reserved Reserved Reserved Error Error Reserved 7 SEP oming et Point Internal Limit Active Target Reached Reserved Change or Reserved Reserved Reserved Remote Set Point Fault Reset Warming Change Set Point Reserved Reserved Reserved Quick St
78. rst be converted into mNm A as required by the Torque Constant OD entry The formula used for this is Nm mA _ n me Nm As the drive works primarily in Nm the desired 50 oz in of torque must also be converted into Nm using the conversion factor 141 6 oz in Nm 50 oz in _ 141 6 oz in 0 3531 Nm Nm Now the resultant torque of 0 3531Nm must be converted into mNm as required by the Target Torque OD entry 0 3531 Nm 1000 D 353 1 meNm The result is a value of 353 mNm rounded to the nearest whole number for the Target Torque OD Entry Finally the desired slope must be converted from the given units of oz in sec into the re quired units of mNm sec 25 a 7 E r oe ha RE r Rounding to the nearest whole number results in a Torque Slope of 177 mNm sec Current Verification Example It is important to check that the current required of the drive is within the limits of the servo amplifier The drive being used for example has a continuous rating of 7 amps and a peak current of 14 amps which may be held continuously for 2 seconds This means that a current of 7 amps can be held indefinitely and currents between 7 and 14 amps may be used in short 87 Rev 1 2 7 25 2013 CANopen User Manual bursts Using the target torque and torque constant from the example above the current draw can be checked as shown 0 3531 Nm Nm 0 07 A 5 0443A The resultant current 5 0443A is below the 7A continuous
79. s object contains the information of Analog input value as manufacturer specific units Object Type Data Type Access Type PDO Mapping EEN Default value vw UNSIGNEDTE o w o The value reading from the driver of index 0x700E should be divided by ees to unit Volts 59 Rev 1 2 7 25 2013 CANopen User Manual Appendix B Parameter Unit Scaling The table below shows conversions from physical units to internal drive units Use this table to scale parameters before they are sent to the drive Units must be rounded to the near est whole number and represented in hexadecimal Negative numbers should be expressed using two s complement notation Parameter Type Multiplier Velocity 0 0042 0 1667 Table 16 Parameter Scaling Chart Querying the Point to Point Profile Acceleration from the drive An SDO read from OD 6083 returns a value of 226 or 550 decimal Using the accelera tion multiplier this yields an acceleration of 91 685 rps s 550 0 1667 RPS 91 685 rps s Set the Point to Point Acceleration to 10 rps When setting a known rps divide the rps by the acceleration multiplier to obtain the hexa decimal number 10 rps 0 1667 59 988 Using the formula above and rounding to the nearest whole number results in a value of 60 decimal or 3C to send as an SDO Write to OD 6083 Set the Target Position to 2000 steps Because the relationship between physical steps and internal steps is one to one the v
80. s too early 12 ERROR_12_reserved reserved 13 ERROR_13_reserved reserved 14 ERROR_14 _reserved reserved 15 ERROR_15 _ reserved reserved 16 ERROR_16_reserved reserved 17 ERROR_17_reserved reserved e e e e e Communication or protocol errors critical 18 ERROR_SYNC_TIME_ OUT SYNC message timeout 19 ERROR_SYNC_LENGTH Unexpected SYNC data length 1A ERROR_PDO_WRONG_MAPPING Error with PDO mapping 1B ERROR_HEARTBEAT_ CONSUMER Heartbeat consumer timeout 1C ERROR_HEARTBEAT_CONSUMER_REMOTE_RESET Heartbeat consumer detected remote node reset 1D ERROR_1D_reserved reserved 1E ERROR_1E_reserved reserved 1F ERROR_1F_reserved reserved Generic errors informative 20 ERROR_20_reserved 21 ERROR_21_reserved 22 ERROR_22_reserved 23 ERROR_23_reserved 24 ERROR_24_reserved 25 ERROR_25_ reserved 26 ERROR_26_reserved 27 ERROR_27_reserved Generic errors critical 28 ERROR_WRONG_ERROR_REPORT Wrong parameters to lt CO_errorReport gt function 29 ERROR_ISR_TIMER_OVERFLOW Timer task has overflowed reserved reserved reserved reserved reserved reserved reserved reserved NN Le Rev 1 2 A0 7 25 2013 CANopen User Manual 2A ERROR_MEMORY_ALLOCATION_ERROR Unable to allocate memory for objects 2B ERROR_GENERIC_ERROR Generic error test usage 2C ERROR_MAIN_TIMER_OVERFLOW Mainline function ex
81. t 0 e ing ready to receive another set point 0 gt 1 gt 0 D gt 0 oz Drive acknowledges set point buffers it as another set point is still in progress piso E User pulls new set point ready bit low gt 0 Drive pulls set point ack bit low starts executing new set point as soon as old one is finished 1 The set point is finished no set points in buffer so Target Reached bit is set Table 20 Multiple Set Point Profile Position Move with Stopping Between Moves Rev 1 2 64 7 25 2013 CANopen User Manual PROFILE POSITION MODE Set of Set Points Actual Speed New Set Point Ready Bit 4 0 Set Point Ack Bit 12 0 Target Reached Bit 10 SSS A B C D E F G l Figure 14 Multiple Set Points Canis Motion In this example controlword bit 9 Change of Set point is 1 and controlword bit 5 Change Set Immediately is 0 The motor continues at the speed of the first set point until is reaches the distance of the first set point then changes to the new set point speed The motion is continuous Point Ready Bit Acknowledge Bit Bit Drive acknowledges set point starts executing set point User pulls new set point ready bit low Drive pulls set point ack bit low indicat ing ready to receive another set point Drive acknowledges set point buffers it as another set point is still in progress User pulls new set point ready bit low Drive pulls set poin
82. t ack bit low starts executing new set point as soon as the old one is finished Table 21 Multiple Set Point Profile Position Move with Continuous Motion 65 Rev 1 2 7 25 2013 CANopen User Manual PROFILE POSITION MODE Set of Set Points Actual Speed New Set Point Ready Bit 4 O Set Point Ack Bit 12 0 Target Reached Bit 10 0 ABCD E F GH I Figure 15 Multiple Set Points Immediate Change in Motion In this example controlword bit 9 Change of Set point is 1 and controlword bit 5 Change Set Immediately is 1 The motor immediately changes to the new set point speed without completing the first set point The motion is continuous Graph New Set Point Set Point Target Reached What s Going On Point Ready Bit Acknowledge Bit Bit User tells drive a set point is ready Drive acknowledges set point starts executing set point User pulls new set point ready bit low Drive pulls set point ack bit low indicat ing ready to receive another set point User tells drive another set point is ready Drive acknowledges set point immedi ately executes it beginning transition to new set point speed and position User pulls new set point ready bit low Drive pulls set point ack bit low The set point is finished no set points in buffer so Target Reached bit is set Table 22 Multi Set Point Profile Position Move with Immediate Change in Motion Rev 1 2 66 7 25 2013
83. t be processed value 1 240 The SYNC message with the counter value equal to this value shall be regarded as the first received SYNC message Note 3 Index 1800 01h Default Value is 0x180 NODEID Index 1801 01h Default Value is 0x280 NODEID Index 1802 01h Default Value is 0x380 NODEID Index 1803 01h Default Value is 0x480 NODEID 0x1A00 0x1A03 TPDO mapping parameter Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter 21h is described in 9 5 4 of CiA 301 A detailed description of the entries is done in the section for the Receive PDO Mapping Parameter 1600h 1603h Object Type Sub Number Name Data Type Access Type Default value Mapping nur or UNSIGNED8 1 mapped objects mapped object 1 UNSIGNED32 mapped object 2 UNSIGNED32 mapped object 5 mapped object 6 UNSIGNED32 mapped object 7 08 mapped object 8 UNSIGNED32 0x1A00 0Ox1A03 TPDO mapping parameter To change mapping Number of mapped objects must be set to 0 0x00000000 0x00000000 03 mapped object 3 UNSIGNED32 01 02 03 04 05 07 mapped object 4 Number of mapped objects mapped object subindex 1 8 bit 0 7 data length in bits bit 8 15 subindex from OD bit 16 31 index from OD 37 Rev 1 2 7 25 2013 CANopen User Manual 0x1F80 NMT startup Not implemented The object set the NMT status when the device powerup bit 0 0 1 device is not is
84. t shall configure the Derivative Gain in Position loop to step servo drive This object is only available on step servo driver Object Type Data Type Access Type PDO E Default value C va onson w w 0x5002 PositionDeriFilter_Tuning This object provides a very simple single pole low pass filter that is used to limit this high frequency noise and make the system quieter and more stable Data Type Access Type PDO Mapping cos Default value Punsieneots w w o o 0x5003 VelocityGain_Tuning This object shall configure the proportional Gain in Velocity loop to step servo drive This object is only available on step servo driver Object Type Data Type Access Type PDO Mapping Default value C v LUS w o we o 0x5004 VelocitylntegGain_Tuning This object shall configure the Integral Gain in Velocity loop to step servo drive This object is only available on step servo driver Object Type Data Type Access Type PDO Default value O va onson w w 43 Rev 1 2 7 25 2013 CANopen User Manual 0x5005 AccFeedForward_Tuning This object shall configure to add a feed forward acceleration deceleration to the torque command to faster the system s response This object is only available on step servo driver Object Type Data Type Access Type PDO Mapping Default value P vw onson w w we o 0x5006 PIDFilter_Tuning This object provide a torque command over all filter at the
85. ted via a stored Q Program if de sired The table below cross references the CANopen OD entries and the Q Programmer register addresses For more information on using these general purpose registers in a Q Program please see the Host Command Reference available at www moons com For more information about the Q Program Mode see Appendix H User Defined Register 40000 o d User Defined Register 400002 3 User Defined Register 40000 gt User Defined Registera 400005 User Defined Registers 40000 5 User Defined Registers 40000 6 User Defined Registers 40000 s User Defined Registers a000 gt User Defined Register 10 200008 SCS User Defined Registern a000 User Defined Sege 200006 SSSSC User Defined Sege 40000 gt User Defined Sege 4000 1 User Defined Sege 2919 O User Defined Register19 400074 1O User Defined Register21 400016 User Defined Register22 4000 7 Note 4000 01h means OD address is index 4000h and sub index 01h Table 7 User Defined Registers in CANopen and Q Programmer Rev 1 2 20 7 25 2013 CANopen User Manual Appendix A The Object Dictionary The most important part of a device profile is the Object Dictionary description The Object Dictionary is essentially a grouping of objects accessible via the network in an ordered pre defined fashion Each object within the dictionary is addressed using a
86. transmission request hardware and software restrictions may apply These value are only possible for TPDOs For TPDOs transmission type 254 means the application event is manufacturer specific manufacturer specific part of the Object Dictionary transmission type 255 means the application event is defined in the device profile RPDOs with that type trigger the update of the mapped data with the reception Rev 1 2 32 7 25 2013 CANopen User Manual Sub index 3h contains the inhibit time This time is a minimum interval for PDO transmission The value is defined as multiple of 100us It is not allowed to change the value while the PDO exists Bit 31 of sub index 1 is 0 Sub index 4h is reserved It does not have to be implemented in this case read or write access leads to Abort SDO Transfer abort code 0609 0011h In mode 254 255 additionally an event time can be used for TPDO If an event timer exists for a TPDO value not equal to 0 the elapsed timer is considered to be an event The event timer elapses as multiple of 1 ms of the entry in sub index 5h of the TPDO This event will cause the transmission of this TPDO in addition to otherwise defined events The occurrence of the events set the timer Independent of the transmission type the RPDO event timer is used recognize the expiration of the RPDO Object Type Sub Number Type Mapping w o 2 max sub index UNSIGNED8 n o 0 2 01 COB ID used by UNSIGNED32 rw no n
87. ttings one for Bit Rate and two for Node ID The Bit Rate is configured using an 8 position switch See Table 1 for the Bit Rate settings Please reference the drive s hardware manual for the location of the Bit Rate switch Ti Rev 1 2 7 25 2013 CANopen User Manual The Node ID is configured using a 16 position switch to set the lower 4 bits of the Node ID and a 8 position switch to set the upper 3 bits of the Node ID In some cases the upper 3 bits of the Node ID are configured using ST Configurator Step Servo Quick Tuner or SV Quick Tuner Please reference the drive s hardware manual for Node ID switch configuration and setup Valid ranges for the Node ID are 01 through 7F Node ID 00 is reserved in accordance with the CiA 301 specification Note The Node ID and Bit Rate are captured only after a power cycle or after a network reset command has been sent Changing the switches while the drive is powered on will NOT change the Node ID until one of those conditions has also been met Switch Setting Resultant Bit Rate 1 Mbps 800 kbps a a 500 kbps ee ee ow Table 1 Bit Rate Switch Settings Drive Configuration Once the CAN connector has been wired to the drive and the Node ID and Bit Rate have been set the drive can be configured Drive configuration for MSST MSSTAC stepper drives and STM Integrated Motors is accomplished using the ST Configurator software which can be found on the MOONS website Drive
88. ust be written to the controlword OD entry located at dictionary address 6040 This puts the drive into Operation Enabled state and ready to run the Q program To run the drive based on the SYNC pulse the pulse must be set in the COB ID SYNC register located at OD entry 1005 A standard value for the SYNC pulse is 80 but any unused COB ID may be used Refer to CiA301 for a list of reserved COB IDs Once the SYNC pulse has been set and the desired Q segment has been set the drive will execute the Q segment every time it receives a SYNC pulse In this way multiple drives may be instructed to start a Q program with a single network wide instruction To halt execution of a Q program set the halt bit bit 8 of the controlword to 1 The Q program will halt immediately and start from the beginning the next time a SYNC pulse is sent after the halt bit has been cleared More Information For more information see CiA 301 COB IDs For more information on Q programming see the Host Command Reference Rev 1 2 90 7 25 2013 CANopen User Manual Appendix I Understanding NMT States Under normal operating conditions a Network Management NMT state machine will power up into an Initialization state send out a boot up packet move into a Pre Operational state and start sending out heartbeats with the Pre Operational state status code NMT Mode NMT Control NMT Status Code Command Heartbeat Initialization Node Reset F129 S o SO
89. ut if status bit 12 is high then the buffer is full and another set point will be ignored For more information See CiA 402 2 Profile Position Mode PROFILE POSITION MODE Single Set Point Actual Speed New Set Point Ready Bit 4 O Set Point Ack Bit 12 O Target Reached Bit 10 O Figure 12 Single Set Point Target Reached What s Going On Point Ready Bit Acknowledge Bit Bit aal o0 o l o Drive waiting for set point HL _ User tells drive a set point is ready O O0 executing set point S User pulls new set point ready bit low 1 Drive pulls set point ack bit low indicat ing ready to receive another set point E 1 The set point is finished and the Target Reached bit is set Table 19 Single Set Point Profile Position Move 63 Rev 1 2 7 25 2013 CANopen User Manual PROFILE POSITION MODE Set of Set Points Actual Speed New Set Point Ready Bit 4 Set Point Ack Bit 12 O A Target Reached Bit 10 O A B C D E F G H l Figure 13 Multiple Set Points Stopping Between Moves In this example controlword bits 9 Change of Set point and 5 Change Set Immediately are 0 The motor comes to rest between moves Se Ready Bit EECHER Bit Bit Star Drive acknowledges set point starts executing set point fe User pulls new set point ready bit low Drive pulls set point ack bit low indicat g

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