EDC series Servo drive CANopen user`s Manual Version: V1.01
Contents
1. Set point acknowledge 9 Trajectory generator has assumed the positioning values Following o No following error error Following error 55 7 4 3 Parameters about position control Index Object Name Type Attr 607Ah VAR target position INT32 RW 6081 h VAR profile velocity UINT32 RW 6083 h VAR profile acceleration UINT32 RW 6084 n VAR profile deceleration UINT32 RW 6085 h VAR guick stop deceleration UINT32 RW target position Target position is targeted position which could be a relative value or a absolute value It is up to bit6 f the control word Index 607A n Name target_ position Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Default Value 0 profile_velocity Profile_velocity means the speed that could be reached through acceleration after the positioning is initialized Index 6081 n Name profile_velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 56 profile_acceleration profile_acceleration is the acceleration speed before reaching the set position Index 6083 h Name profile_acceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 0 R 10min s profile deceleration profile deceleration is the dec2. CANopen communication mode defines messages as below Communication objects Abbreviation Full name Description SDO Service Data Object No real time but important data like parameters PDO Process Data Object Real time key process data reference value control word and status information SYNC Synchronization Message Synchronization of CAN node EMCY Emergency Message Alarm message transferring NMT Network Management CANopen Network management Heartbeat Error Control Protocol Supervising the availability of all nodes CAN transmits data between host controller and the bus nodes through data frames Struction of data frame A as below arbitrationarea area Frame control Checksum Response Frame COB ID Data area head area area area tail 1bit 110r29bits 1bit 6bit 0 8byte 16 bits 2 bits 7 bits EDC doesn t support remote frames temporarily COB ID s structure is as below Function code NODE ID node address 10 9 8 7 6 5 4 3 2 1 0 3 1 CAN identifier list DUM Function code COB ID JUGA ie iun Communication bit10 7 COB ID correspondent Object hex communication binary p parameters in OD NMT 0000 000h SYNC 0001 080h 1005p 10065 1007h TIME STAMP 0010 100h 1012n 1013h EMCY 0001 081h OFFh 1024n 1015h PDO1 send 0011 181p 1FFh 1800h PDO1 receive 0100 201h 27Fh 1400h PDO2 send 0101 281h 2FFh 1801h PDO2 receive 0110
3. PDO Mapping YES Units ms Value Range Default Value 0 target_velocity target_velocity is the targeted velocity Index 60FF h Name target_velocity Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 54 7 4 PROFILE POSITION MODE 7 4 1 control word for position mode 15 9 8 7 6 5 4 3 0 h t N Halt T abs rel a ed bd immediately set point Please refer to the previous chapters ame pae poo O New EN Does not assume target position set point 4 Assume target position Change set 0 Finish the actual positioning and then start the next positioning immediatel E EEEE y Interrupt the actual positioning and start the next positioning abs rel Oo Target position is an absolute value Target position is a relative value Halt oO Execute positioning Stop axle with profile deceleration if not supported with profile acceleration 7 4 2 Status word of position control mode 15 14 13 12 ELEN 10 9 0 Set point acknowledge Please refer to previous chapters Name vame josc Target Halt 7 0 Target position not reached nen Halt 1 Axle decelerates 1 Halt 0 Target position reached Halt 1 Velocity of axle is 0 Trajectory generator has not assumed the positioning values yet Following error Target reached ii
4. 62 8 CAN communication parameters CANopen parameters of EDC servo drive Parameter Re power on i Name y Function and instruction number required Axis address of CANopen communication When the ID on the drive s front panel was set as F this Pn063 Axis address yes parameter will be used as axis address When the ID is notF ID on the front panel will be used as axis address CANopen communication baudrate 0 50Kbps RE 1 100Kbps Pn064 Communicat yes 2 125Kbps SPOSA 3 250Kbps 4 500Kbps 5 1Mbps CAN Pn065 communication yes CANopen enabled enable 63 9 CAN communication example The entire test below is based on two conditions 1 Communication has been established correctly 2 The address of the servo drive is 1 If EDC software version gt 3 10 the EDC servo drive has two receive PDO RPDOI 6040 RPDO2 607A 6081 and two send PDO TPDO1 6041 TPDO2 6064 606C by default If EDC software version lt 3 10 the EDC servo drive has one receive PDO RPDOI 6040 60FF and one send PDO TPDO1 6041 6064 by default 9 1 SDO configuration SDO operation is to read and write parameters 06001 gt host sends 0581 gt slave sends Address 0x3022 Pn034 Write 1000 And then read this parameter Activate the downloading process 2B 3022 00 FC18 That is 601 2B 22 30 00 18 FC 00 00 The servo drive should respond 60 3022 00 00 00 00 00 That is 581 60 2
5. HOMING MODE PROFILE VELOCITY MODE PROFILE POSITION MODE This chapter mainly describes these three control modes as above 7 1 Parameters about control mode Index Object Name Type Attr 6060 h VAR modes_of operation INT8 RW 6061 n VAR modes of operation display INT8 RO 7 1 1 modes of operation The control mode of the servo drive will be determined by the parameter modes of operation Index 6060 h Name modes of operation Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 3 6 Default Value 0 Value Instruction 0 NOP MODE 1 PROFILE POSITION MODE 3 PROFILE VELOCITY MODE 6 HOMING MODE 44 7 1 2 modes_of_operation_display The current control mode of the servo drive could be known by reading the parameter modes_of_operation_display Index 6061 h Name modes of operation display Object Code VAR Data Type INT8 Access RO PDO Mapping YES Units Value Range 1 3 6 Default Value 0 45 7 2 HOMING MODE EDC servo drive currenly supports 4 kind of homing modes The consumers need to choose appropriate and correspondent homing modes Users could set the homing methods homing speed and acceleration speed After the servo drive finds reference position it could move the homing position toward and the moving distance is set by home offset 607C p 7 2 1 Control word of homing mode 15 9 8 7 5 4 3 0 Halt
6. This parameters defines several kinds of homing methods Index 6098 h Name homing_method Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 3 4 19 20 Default Value 1 Method direction 3 Negative 4 Positive 19 Negative 20 Positive Homing method form Target position Reference point switch Reference point switch Reference point switch Reference point switch reference position C pulse C pulse Reference point switch Reference point switch 47 DS402 19 20 Attr RW RW RW RW homing_speeds There are 2 kinds of relevant speeds homing speed and acceleration homing speed Index 6099 h Name homing_speeds Object Code ARRAY No of Elements 2 Data Type INT32 Sub Index 01h Name speed_during_search_for_switch Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 Sub Index 02h Name speed_during_search_for_zero Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 homing_acceleration Homing_acceleration will define both the acceleration speed and deceleration speed at the process of homing Index 609A h Name homing_acceleration Object Code VAR Data Type INT32 Access RW PDO Mapping YES
7. Units acceleration units Value Range Default Value 0 48 7 2 4 homing method Method 3 and 4 C pulse and reference point switch ZPS signal The initial moving direction of the servo drive relies on the state of reference point switch Targeted homing position is on the left or right side of the reference point switch one C pulse far away from the reference point switch Hc Index Pulse Home Switch Method 19 and 20 Reference point switch ZPS signal Method 19 and 20 only use Home Switch ZPS signal for homing Homing method is very similar to method 3 and 4 Home Switch 49 Method 35 set current position as the homing point gt 50 7 3 PROFILE VELOCITY MODE 7 3 1 control word of velocity mode 15 9 8 7 4 3 0 Halt Please refer to the previous chapters Name Value Descriion Halt EN Execute the motion Stop axle 7 3 2 Status word of control mode 15 14 13 12 11 10 9 0 R MaxSlippageError Speed Target reached Please refer to the previous chapters Name vawe peserp on Target Halt 7 0 Target velocity not yet reached oma i Halt 1 Axle decelerates 1 Halt 0 Target velocity reached I Halt 1 Axle has velocity 0 EN de en mata 7 3 3 Parameters of speed control mode Index Object Name Type Attr 6069 h VAR velo
8. 2F C2 60 02 FD 000000 Configure the PDO receiving and sending both by the means of the sync step and sync frame Set 1400h 601 2F 00 14 02 01 00 00 00 1400 SYNC Set 1401h 601 2F 01 14 02 01 00 00 00 1401 SYNC Set 1800h 601 2F 00 18 02 01 00 00 00 1800 SYNC Set 1801h 601 2F 01 18 02 01 00 00 00 1801 SYNC Reset the communication to active dynamic PDO configuration 00 82 01 reset communication Set control mode 601 2F 60 60 00 07 00 00 00 IP position control And then set the status machine 601 2B 40 60 00 06 00 00 00 Set 6040h as 6 601 2B 40 60 00 07 00 00 00 Set 6040h as 7 601 2B 40 60 00 OF 00 00 00 Set 6040h as F to servo on Activate the communicaiton 00 01 01 The host sends signals by the period of 1000us 301 10 00 00 00 16 pulses 201 1F 00 IP 80 periodical sending 9 5 Homing Set the control mode as homing control 601 2F 60 60 00 06 00 00 00 Set the control mode as homing control 601 2F 98 60 00 04 00 00 00 Use the fourth way to set the homing mode Set the status machine 601 2B 40 60 00 06 00 00 00 601 2B 40 60 00 07 00 00 00 601 2B 40 60 00 OF 00 00 00 Servo On 67 Send data through PDO Set PDO1 as 6040 status word Set PDO2 as 607A Position pulse number and 6081 Speed unit 0 1rpm Set the homing method as 10rpm 601 23 99 60 02 64 00 00 00 Homing is started 201 1F 00 Cancel homing 201 OF 0 68 Appendix Object dictionary
9. ARRAY Interpolation data record INT32 RW 60 Interpolation sub mode select Interpolation sub mode select is used to select the method of interpolation under IP control EDC servo drive only offers linear interpolation Index 60C0h Name Interpolation sub mode select Object Code VAR Data Type INT16 Access RW PDO Mapping NO Value Range 0 Default Value 0 Comment 0 Linear interpolation Interpolation data record Interpolation data record is used to reserve interpolation potion data EDC servo drive s interpolation command only uses the first data whose subindex is 1 Index 60C1n Subindex 0 Object Code ARRAY Data Type INT32 Access RO PDO Mapping YES Value Range INT8 Default Value 2 Comment number of entries Index 60C1n Subindex 1 Object Code ARRAY Data Type INT32 Access RW PDO Mapping YES Value Range INT32 Default Value 0 Comment the first parameter of ip function Index 60C1n Subindex 2 Object Code ARRAY Data Type INT32 Access RW PDO Mapping YES Value Range INT32 Default Value 0 Comment The second parameter of ip function 61 7 5 4 Function description Some hints 1 In IP mode the host should at first set the servo s PDO receiving method into sync mode Use SYNC frame to receive and send synchronization information Because SYNC is broad casted every servo drive w
10. NO ZIZIZ IZ IZI IZ ZI IZ ZI Z O O O O O O O O O poc var ComespondenctoPmoro UINTIG RW ob var CormespondenttoPmom uwne ew No e om VAR Cmspwewemos uno mw No e Corel E ET Correspondent to Pn079 Correspondent to Pn080 VAR Correspondent to Pn081 Correspondent to Pn082 I INT16 I Nme RW RW RW RW 3053 sos Var Correspondent to Fates inris RW No Correspondent to Pn090 VAR Comesondentto Prodi Correspondent to Pn092 VAR Correspondent to Pn092 VAR R VAR VAR VAR Correspondent to Pn083 ae to VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR AR VAR Correspondent to Pn093 Ti T16 INT16 INT16 N INT16 IN RW RW RW RW RW RW aw RW Correspondent to Pn094 INT16 Z O ZIZ ojo Z O Appendix Object dictionary 12 REPE HR REDE Support A wim pw pro fel Z O Z ZIZIZ oyo Z O ZIZ Z O O ZZ se ojo N E 306 VAR ComespondentoPx007 uwne RW No 3062 Correspondent to Pn098 UINT16 3063 Correspondent to Pn099 UINT16 3064 ESTUN VAR VAR VAR Correspondent to Pn100 UINT16 RW RW RW Ve ZIZ Z ZIZ ele v 1 0 Appendix Object dictionary R ARE HR RHEE ter FRI o EA 307 var Gomspondem
11. NO Units ms Value Range 0 65535 Default Value 0 23 3 7 Network management NMT Message structure Identifier 000h Command Node ID a wo 2 les wm _ Data length Network management status conversion graph 24 Initialisation Pre Operational 5Y 7 Stopped 6 78 12 9 Operational CS Meaning Transition Target state 01 Start Remote Node 3 6 Operational 02 Stop Remote Node 5 8 Stopped 80 Enter Pre Operational 4 7 Pre Operational 81 Reset Application 1219 14 Reset Application 82 Reset Communication 9 10 11 Reset Communication 25 Name Meaning SDO PDO NMT Reset Application No communication All CAN objects are set to their reset values application parameter set Reset No communication Communication The CAN controller will be re initialised Initialising State after Hardware Reset Reset of the CAN node E y sending of the Bootup message Pre Operational Communication via SDOs possible X X PDOs inactive No sending receiving Operational Communication via SDOs possible X X PDOs active sending receiving Stopped No communication except heartbeat NMT 26 4 measuring unit conversion Factor Group Servo drives are widely used in different applications For setting parameters easily in different applications our clients could use the internal measuring unit conversion module to converse any users parameters into drive s internal unit
12. R ARE HR REDS Appendix Object dictionary Index Subindex Object Name Type Attr PDO mapping meena Po aah ml DECO a ana lak AS wm var pre defined ero uws ww wo io var communication cyce peros umm m No e 1 wy var ynchronous window lengh unt m No e 1 pios var manufacture device ane sm Ro w e 1 Dop va marce teen Sm o no e 100A VAR manufacturer software version STR NO 1014 VAR cob_id_emergency_message UINT32 RW o ee l consumer hearteattimet Uma RW wo e S om teen heartbeat time rio m wo e ESTUN 69 V 1 0 1401 1402 ESTUN cob id used by pdo rpdol receive pdo parameter rpdol number of entries rpdol RECORD Appendix Object dictionary x ARE HR REPS Index Subindex Object Name Type Attr PDO und mapping ee gr PP nem pe o umm mw wo e receive a ae BARR rpdo2 O recorn Ltumberofentries pd umts RO NO y cob_id_used_by_pdo_rpdo UINTO RO NO gt transmission typerpdo UINTS RW NO Ra m j ka rpdo3 number_of_entries_rpdo3 RECORD cob_id_used_by_pdo_rpdo3 Un UINT32 70 v 1 0 Index receive_pdo_mapping_rpdo2 number_of_entries first_mapped_object_rpdo2 second_mapped_object_rpdo
13. e ew VAR poso acmal value mro Ro vs e xs Var fotowing emo window Umm mw vs 6 L9 X along ore u onie aw Pos 9 position_window UINT32 Ge var essc pomme aw ves ew var vetociy sensoraetwa vane uinris Ro vs pe S 668 var velocity demand vane mro Ro vs fe f A exc var veto men value mmo Ro xs o TT xb var locity window onne mw vs e 1 sos VAR locity windowsine onne aw vs fe Le mk SS E velocity_threshold_time UINT16 L var penes ICI w ws ESTUN 79 V 1 0 Appendix Object dictionary HR RIEBE BR RHEE Index Subindex Object Name Type Attr PDO en 607B mel Lae see potion int Lo ori number of entries min position_ limit E moto imi nr pom pom var mmy E aa WR anta ura w ws O ew var profile acceleration pura aw ws e e ea ak profile deceleration uma mw ws o e es var quick stop deceteraion umre mw ws e e ms var motion protte iye ints aw ms e e na pede e s mm ur w w fel je ww fue aw wo e le sea e mmberotenies una aw wo e numerator UINT32 E ARRAY U
14. number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT16 UINT16 UINT8 UINT32 UINT32 UINT32 UINT32 19 Acc RO RW RW RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW RW RW Default Value 04 h 00000181 h FF h 64 h OA n 01h 60410010 h 60640020 h 00h 00h Default Value 04 h 00000281 h FFh 64 n OA n 02 n 60640020 n 606C0020 n 00 n 00 n Default Value 04 n 00000381 n FFn 64 n OA h 00 n 60410010 h 00000000 h 00 n 00 n 4 T PDO4 Index Comment Type Acc Default Value 18034 00h number of entries UINT8 RO 04h 1803 n 014 COB ID used by PDO UINT32 RW 00000481 h 18034 02h transmission type UINT8 RW FF n 18034 03h inhibit time 100 us UINT16 RW 64 n 18034 05h event time 1ms UINT16 RW OA n 1A03 h 00 h number of mapped objects UINT8 RW 00 h 1A03 h 01h first mapped object UINT32 RW 60640020 h 1A03 h 02h second mapped object UINT32 RW 606C0020 h 1A03 h 03h third mapped object UINT32 RW 00 h 1A03 h 04h fourth mapped object UINT32 RW 00 h 3 4 SYNC message Synchronization in the network Any input into the network will be preserved and then transmitted if necessary Output will be updated
15. specified in ISO 11898 The CANopen Communication Profile CIA DS 301 includes both cyclic and event driven communication which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times High communication performance can be achieved at relatively low baud rates thus reducing EMC problems and cable costs CANopen device profiles define both direct access to drive parameter and time critical process data communication The NCAN 02 fulfils CIA CAN in Automation standard DSP 402 Drives and Motion Control supporting the Manufacturer Specific operating mode only The physical medium of CANopen is a differentially driven two wire bus line with common return according to ISO 11898 The maximum length of the bus is limited by the communication speed as follows Communication baud rate Max BUS length 1M bit s 25m 500k bit s 100 m 250k bit s 250 m 125k bit s 500 m 100k bit s 600 m 50k bit s 1000 m The maximum theoretical number of nodes is 127 However in practice the maximum number depends on the capabilities of the CAN transceivers used Further information can be obtained from the CAN in Automation International Users and Manufacturers Group www can cia de 2 wiring and connections e EDC series appearance description SERVODANE Charge indicator _ Lights when the main circuit power supply is ON and stays lit as long as the main circ
16. 2 third_mapped_object_rpdo2 fourth_mapped_object_rpdo2 receive_pdo_mapping_rpdo3 number_of_entries first_mapped_object_rpdo3 second_mapped_object_rpdo3 third_mapped_object_rpdo3 fourth_mapped_object_rpdo3 receive_pdo_mapping_rpdo4 aa fen Eu Bar EE 0 number of entries second mapped object rpdo4 third mapped object rpdo4 fourth mapped object rpdo4 transmit pdo parameter tpdol number of entries tpdol cob id used by pdo tpdol Subindex Object Name Type Attr PDO NEM Appendix Object dictionary R ARE HR RHEE support mos Eo A ee es ee A BESE ET 71 no e no e V 1 0 Appendix Object dictionary x RIEBE HR REPS ee A DAN A Sisis inhibit time Apdo EEE EE transmit ea tpdo3 0 number of entries tpdo3 RECORD cob_id_used_by_pdo_tpdo3 transmission_type_tpdo3 HETE O0 inhibit_time_tpdo3 Z 4 m event_timer_tpdo3 transmit_pdo_parameter_tpdo4 EN 4 4 4 4 Z 4 c tpdo4 4 transmission_type_tpdo4 inhibit_time_tpdo4 sisisi 3 am event timer tpdo4 transmit pdo mapping tpdol first mapped object tpdol UINT32 second mapped object tpdol UINT32 ESTUN 72 V 1 0 Appendix Object dictionary x RIEBE HR REDS Index Subindex Object Name Type Attr PDO support mapping transmit_pdo_
17. 2 30 00 00 00 00 00 Activate the uploading 40 3022 00 0000 That is 601 40 22 30 00 00 00 00 00 The servo drive needs to respond 43 3022 00 FC18 That is 581 43 22 30 00 18 FC 00 00 9 2 PDO Configuration pulse Speed 0 1rpm Example To configure two RPDO one of which is 6040h and the other are 607A and 6081h RPDO MAPPing 601 2F 00 16 00 00 00 00 00 RPDO1 stop first RPDO 201 601 23 00 16 01 10 00 40 60 6040h 601 2F 00 16 00 01 00 00 00 RPDO1 enable 601 2F 01 16 00 00 00 00 00 RPDO2 stop Second RPDO 301 601 23 01 16 01 20 00 7A 60 607Ah and 6081h 64 601 23 01 16 02 20 00 81 60 601 2F 01 16 00 02 00 00 00 RPDO2 enable And then set the transmit PDO as SYNC or Timing method The default setting is Time method After configuring the PDO if you need to activate the configuration you need to reset the communication NMT management 00 82 01 Reset the servo drive with the axis address as much as 1 Reactivate the communication 00 01 01 Attention 1 Before configuration please stop PDO For example Cleaning the value with index 1600h and sub index 00 cleaning the value to 0 is necessary After configuration please set a correct number of PDO For example set the value with index 1600h and sub index 00 as 1 to activate the PDO 2 Please pay attention to the data length and number Wrong setting will lead to wrong configuration 3 After configuration resetting communication is necessary
18. 30 NAR Corespondent to Pn037 NAR Cortespondentto Pn038 Correspondent to Pn039 Corespondent to P046 UINTIG RW Correspondent to Pn047 Correspondent to Pn048 INT16 UD JD ESTUN Correspondent to Pn049 NT16 ME EA Eu CES MEME RECZ pow 7 E we ME TN 396 EZ SEM EE EE REC a AE E Ooo MES NT16 NTI6 RW RW RW RW GIGIGIGIG GIG B E zjziziziz iz z z z 22 22 22 DINDNINDNINDNIDI DAD ziziziziziziziz z O O O O O O O O O TI TI TI TI TI NT16 E 6 6 6 6 6 6 6 alalacijcjcic Z TI TI 4 4 4 4 4 4 4 4 4 E E 5 E E F E E Z r r H Z r r H H 4 4 4 4 4 4 4 4 i NT16 E i JINT16 R R R R R R R R R R R R R R R R 5 ajaja JINT16 R RW RW RW RW W W W W W W W W W W W W W W W W W W W 7 No e j No e j NO o Z O ZIZIZ IZIZ Z ZI Z Ololoololo ie suites once name te Appendix Object dictionary R ARE HR REPS 39s var Cmewwewemer Tone ww mw e o I 304 VAR ComesondenitoPnos2 Unie ww wo e 1 ams var Comespondentio Prosa uno mw wo e 1 ESTUN Correspondent to Pn054 Correspondent to Pn055 Correspondent to Pn061 Correspondent to Pn066 Correspondent to Pn067 Correspondent to Pn073 No e j
19. 301h 37Fh 1401h SDO send 1011 581h 5FFh 1200h SDO receive 1100 601n 67Fh 1200h Heartbeat 1110 701h 77Fh 1016h 1017h Notice 1 PDO SDO s sending and receiving is detected by Can slave nodes 3 2 SDO SDO is used to visit the object dictionary of a device A visitor is called a client A CANopen device whose object dictionary is accessed will offer the required service and this devise is called a server CAN messages from client or server always contain 8 bit data even if not each of them is meaningful A client s requirement must have a answer from the server SDO has 2 transmitting mechanism Expedited transfer Segmented transfer SDO basic structure is as below 4 bytes at maximum to transfer More than 4 byte data will be transmitted Byte0 Byte1 2 Byte3 Byte4 7 SDO command Object reference Object sub reference data SDO message s reading writing frame Read commands Low Byte of main index hex UINT8 INT8 Command 40 IXO IX1 SU Answer 4F IXO IX1 SU DO 40 IXO IX1 SU 4B IXO IX1 SU DO D1 Command Answer 40 IXO IX1 SU 43 IXO IX1 SU DO D1 D2 D3 Token for 32 Bit Command Answer For example High Byte of main index hex Ko Subindex hex Write commands Van Token for 8 Bit 2F IXO IX1 SU DO 60 IXO IX1 SU Token for 16 Bit 2B IXO IX1 SU DO D1 60 IXO IX1 SU Token for 32 Bit 23 IX
20. 4 255 Default Value 255 Sub Index 03 n Description inhibit time tpdo1 Data Type UINT16 Access RW PDO Mapping NO Units 100us Value Range Default Value 100 15 Sub Index 05 h Description event time tpdo1 Data Type UINT16 Access RW PDO Mapping NO Units 1ms Value Range Default Value 10 Index 1A00 n Name transmit pdo mapping tpdo1 Object Code RECORD No of Elements 2 Sub Index 00 n Description number of mapped objects tpdo1 Data Type UINT8 Access RW PDO Mapping NO Units Value Range 0 4 Default Value 2 Sub Index 01h Description first_mapped_object_tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units EE Value Range Default Value Please refer the list below Sub Index 02 h Description second_mapped_object_tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value Please refer the list below 16 Sub Index 03 h Description third_mapped_object_tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units n Value Range Default Value Please refer the list below Sub Index 04h Description fourth mapped object tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range Default Value Please refer t
21. EDC series Servo drive CANopen user s Manual CANopen Version V1 01 Estun Limited Warranty This manual does not entitle you to any rights Estun reserves the right to change this manual without prior notice All rights reserved The copyright is held by Estun No part of this publication may be copied or reproduced without written permission from Estun Contents EDG SERIES SERVO DRIVE oaz OE OSIOWE 0 CANOPEN USER S MANUAL ca ia ki Ada i ia 0 1 GENERAL INTRODUCTION ea 00a dildo 3 I I CAN MAIN RELATED FILES 3 berita beras dea BAN ASN eee R ce O OE aah ia 3 1 2 TERMS AND ABBREVIATIONS USED IN THIS GUIDE occccccccncononononononononononononononononononononononononononononononononononononeneneneneness 3 1 3 CANOPEN GENERAL INTRODUCTION veke 4 2 WIRING AND CONNECTIONS iisc cccsccssscsscsssccsavsssssssosssosocsonsenseossannpevssonaseesooncestevecasenssbesauecuseodensnsecocdobaesasdseaoecssanes s 5 3 CANOPEN COMMUNICATION scccccssccsscessccsscssccssccssccsescessensssnssensesscesseescesscesscesscsccccsenssenssensesssesseessesssens 7 S T CAN IDENTIFIER LIST A dee eee a eee ero cd td tard na ama 8 Be DSO no SR EN 9 FI PDPO se 12 9 3 1 PDO parameler 5 sai See te ee BB ae LS ee em tuis 15 34 SYNC MESSAGE s hn akan esa tte tete eR PE R asa tte e Ere E Ne kanan 20 3 9 EMERGENGY MESSAGE Aek ertet eee iere o e ecce ee e bac hades tu Bees oe eu eo Pee SN RN 21 3 6 HEARTBEAT MESSAGE seis ie RII arten IIR 23 3 7 NE
22. INT32 numerator ESTUN 80 V 1 0 Appendix Object dictionary R ARE HR REDE ICON NEON WR Reemi o CE 1 E la p mnie e e OEB ECT ped ding sem a UT RW mo ape OPER E C EE KG GE acceleration 609A UINT32 E S am sisse ne m o Ew pes esses A AN ta first of ip function ee 60C0h YES position units fip x1 the second Mud of ip YES position units function fi gera CJ Ka gt fa DO 1 emws um aw wo e 1 1 2 omm um w wo e ESTUN 81 v 1 0
23. INT32 UINT32 UINT32 18 Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Acc RO RW RW RW RW RW RW RW Default Value 02 h 00000201 h FFh 01h 60400010 h 60FF0020 h 00h 00h Default Value 02h 00000301 h FF h 02h 607A0020 h 60810020 h 00h 00h Default Value 02h 00000401 h FFh 00h 60400010 h 00000000 h 00h 00h Default Value 02h 00000501 h FF h 00h 607A0020 h 60810020 h 00h 00h TPDO 15 T PDO1 Index 1800 h 00h 1800 h 011 1800 h 02h 1800 h 03h 1800 h 05h 1A00 nh 00h 1A00 h 01h 1A00 h 02h 1A00 h 03h 1A00 h _04 h T PDO2 Index 1801 h 00h 1801 hn 01h 1801 hn 02h 1801 h 03h 1801 h 05h 1A01 nh 00h 1A01 h 01h 1A01 h 02h 1A01 n 03h 1A01 h 04h T PDO3 Index 1802 h 00h 1802 hn 01h 1802 hn 02h 1802 h 03h 1802 h 05h 1A02 h 00h 1402 h 01h 1A02 h 02h 1A02 h 03h 1A02 h 04h Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type inhibit time 100 us event time 1ms
24. O IX1 SU DO D1 D2 D3 60 IXO IX1 SU Reading of Obj 6061 00 Returning data 01 UINT8 INT8 Command 40 61 60 00 Answer 4F 61 60 00 01 Reading of Obj 6041 00 UINT16 INT16 Returning data 1234 Command 40 41 60 00 Answer 4B 41 60 00 34 12 Reading of Obj 6093 01 UINT32 INT32 Returning data 12345678 40 93 60 Ol 43 93 60 Oln 78 56 34 12 Command Answer 10 Writing of Obj 1401 02 Data EF 2F Oln 14 02 EF 60 01 14 02 Writing of Obj 6040_00 Data 03E8 2B 40 60 00 E8 03 60 40 60 00 Writing of Obj 6093 01 Data 12345678 23 93 60 01 78 56 34 12 60 93 60 01 SDO error message frame Command Answer Error code F3 F2 F1 FO 05 03 00 00 05 04 00 01 06 01 00 00 06 01 00 01 06 01 00 02 06 02 00 00 06 04 00 41h 06 04 00 42 06 04 00 47 06 07 00 10 06 07 00 12 06 07 00 13 06 09 00 11 06 04 00 43 06 06 00 00 06 09 00 30 06 09 00 31 06 09 00 32 06 09 00 36 08 00 00 20 08 00 00 21 08 00 00 22 08 00 00 23 ED ET ol olx 80 IXO IX1 SU FO F1 F2 F3 Error token KLE code 4 Byte Description Toggle bit not alternated Client server command specifier not valid or unknown Unsupported access to an object Attempt to read a write only object Attempt to write a read only object Object does not exist in the object dictionary Object cannot be mapped to the PDO The number and len
25. Object Code VAR Data Type UINT32 Access RW PDO Mapping NO Units position units Value Range Default Value 10 Index 6068 h Name position_time Object Code VAR Data Type UINT16 Access RW PDO Mapping NO Units ms Value Range 0 65535 Default Value 100 35 6 Device control This chapter describes how the host could control the servo drive through CANopen like enabling servo on and clearing alarms 6 1 Control state machine The host could control the servo drive through controlword It could know the current status of the servo drive through reading the statusword of the servo drive This chapters will use the terms as below State When the main circuit is activated or alarms happen the servo drive is in different status This chapter is mainly about the state machine controlled by CANopen For example SWITCH_ON_DISABLED State Transition Status machine also describes how to transit from one state to another state State transition mainly relies on controlword controlled by the host or servo drive itself for example alarm Command For initialling State Transition the bit composition of control word is defined This bit composition is called Command State diagram All the States and State Transitions compose a State diagram 36 Power Disabled Not Ready to Switch On Switch On 4 Disabled 4 Operation Enable Quick Stop m Activ State ma
26. Position User units Internal units position units position factor Increments Velocity 1R speed units velocity factor 0 lrpm 10min Acceleration acceleration units acceleration factor En W y Irpm s Default internal unit Object name unit instruction length position units Increments Jk speed speed units 1R 10min 0 1rpm accelera Acceleration units 1R 10min s 0 1rpm s tion Note Normal incremental encoder will output 10000 pulses every revolution 27 4 1 Measuring unit conversion parameter Index Object Name Type Attr 6093 h ARRAY position factor UINT32 RW 6094 h ARRAY velocity factor UINT32 RW 6097 h ARRAY acceleration factor UINT32 RW 4 1 1 Position factor Position factor module could convert all the measuring units of client into internal unit of servo drive pulse and at the same time convert the unit pulse of all the output from the drive into the measuring unit of clients position units Position factors includes numerator and division Index 6093 h Name position factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01h Description numerator Access RW PDO Mapping NO Units Value Range Default Value Initialized to 1 when power on Sub Index 02 h Description division Access RW PDO Mapping NO Units Value Range D
27. TWORK MANAGEMENT NMT DEE 24 4 MEASURING UNIT CONVERSION FACTOR GROUP oooooooooooooooooooooooooooooen 27 4 1 MEASURING UNIT CONVERSION PARAMETER sssssseeesesecessseseseceseseceseceseseveceseseseseseseseseseseseseceeeseseseseseseeeseeeseseeees 28 ALT POS Nona dio iss sr A ose eae eee Reden d cond ee 28 4 1 2 Velocity factor A ER LG EP q AT ENES 30 4 1 3 Acceleration factors id een uiae EEE ERE 31 5 POSITION CONTROL FUNCTION ccccsccsscssssssccssccscssccssccssccsssssssesssnssescensesscesceescesscesseseccseeceseseassceseeesesss 32 5 1 PARAMETERS ABOUT POSITION CONTROL rerevevevevevevevevevevenevevevevevennveveveveveveveneveveveveveveveveveveveveveveveneveveveneveveveneveveveee 34 6 DEVICE CONTROL casio dod dada oi dak Oi ad GSL 36 6 1 CONTROL STATE MACHINE a aiii 36 6 2 PARAMETERS FOR DEVICE CONTROL ccccccccncnononnnononononononononononononononononononononononononononononononononononononononononononononononenenonones 38 6 227 CONTO WOLA za ihn eee ste Molded kake dat UAN SO LN AO J tease und EA 39 6 22 St lUSWOrd iii tete dui uade aiat te TA 40 6 2 3 shutdown option COJE sse ener ennt nn etn enne n rente einen enne enne 4 6 2 4 disable operation option code eene nennen enne enne enne 42 6 2 5 Quick stop option COdE suis ue een ca ien da te deed ep diee ain 42 6 2 6 halt option Code e e eR e RT eR enne 43 6 2 7 fault reaction option code aaa aaa aaa aaa aaa aaa treten trn nnne 43 7 CONTROL MODE
28. according to the last SYNC message Host slave mode SYNC host node will send SYNC objects during each certain period SYNC slave node will execute SYNC mission after receiving the message CANopne advises to use a COB ID with the most advanced priority to ensure the proper transmitting of synchronized signal SYNC message could choose not to transmit data to shorten the message COB ID of SYNC message is fixed to be 080h COB ID could be read from 1005 h in object dictionary Index 1005 h Name cob_id_sync Object Code VAR Data Type UINT32 Access RW PDO Mapping NO Units Value Range 80000080 h 00000080 h Default Value 00000080 h 20 3 5 Emergency message When one alarm happens CANopen will activate an Emergency message to inform the consumers about the current drive type and error code Emergency message structure Identifier 80h error_code node number error register Obj 1001 81h 8 Eo E1 Ro o o o o o A Number of data bytes Alarm code error_code i R hex instruction 2310 Over current 3100 Sudden power loss 3110 extraordinary voltage 3130 No power input 5080 RAM chip abnormality 5210 AD sampling error 5581 Parameter checksum error 5583 parameter of motor or drive s type error 6100 drive program error 6300 CAN communication parameter effort address or communication baud rate error 7305 i
29. atio feed_constant Ratio between drive s internal time unit and user s time unit For example 1min 1 10 10min reduction ratio between load shaft and motor shaft when motor s revolution is n and load s revolution is m then gear_ratio m n the distance of position units movement when load shaft rotates for one revolution velocity factor s calculating equation velocity factor numerator gear_ratio time_factor_v division feed_constant 30 4 1 3 Acceleration factor Acceleration factor module will convert all the acceleration units at the perspective of clients into drive s internal unit 0 1rom and at the same time converts output acceleration units 0 1rpm from the drive into acceleration units at the perspective of clients Acceleration factor parameters contain numerator and division Index 6094 h Name acceleration factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01h Description numerator Access RW PDO Mapping YES Units Value Range Default Value 1 Sub Index 02 h Description division Access RW PDO Mapping YES Units Value Range Default Value 1 For calculating velocity factor easily we could define 3 variables as below time_factor_a The ratio between drive s internal time square and clients time square For example 1min 1min min 60s 1min 60 10 10min s gear_rat
30. chine graph As above state machine could be divided into 3 parts Power Disabled Power Enabled and Faullt All the states will transit to Fault after any alarm happens After power on the servo drive will finish initializing and enter the state of SWITCH_ON_DISABLED Under this state CAN communication and servo drive configuration for example setting the work mode of the servo drive as PP mode are still available At then the main circuit is still shut down and motor is out of excitation After state Transition 2 3 and 4 it become OPERATION ENABLE And then the main circuit has been initialized and servo drive will control the servo motor according to the configured work mode Hence we have to confirm we have configured the servo drive s parameters correctly and we have set correspondent input value as 0 before this state State Transition 9 will shut down the power supply to the main circuit Once any alarms happens to the servo drive the state of the servo drive will enter FAULT state State Instruction Not Ready to Switch The servo drive is on the way of initialization and no CAN communication is On available Switch On Disabled Initialization is completed and CAN communication is available now Servo drive waits to enter Switch On state and the servo motor is out of Ready to Switch On ae excitation Switched On The servo drive is inputing excitation signal to the servo motor and control Operation Enable p the s
31. city sensor actual value INT32 RO 606B h VAR velocity demand value INT32 RO 606C h VAR velocity actual value INT32 RO 609D h VAR velocity window UINT16 RW 606E h VAR velocity window time UINT16 RW 606F h VAR velocity threshold UINT16 RW 6070 h VAR velocity threshold time UINT16 RW 60FF n VAR target velocity INT32 RW 51 velocity_sensor_actual_value The host could read velocity_sensor_actual_value to know the current rotation speed The unit is internal speed unit Index 6069 h Name velocity_sensor_actual_value Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units 0 1rmps 1R 10min Value Range Default Value velocity_demand_value The host could read velocity_demand_value to know the set speed The unit is speed unit of the customer Index 606B h Name velocity_demand_value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value velocity_actual_value The host could read velocity_actual_value to know the current speed The unit is speed unit of the customer Index 606C h Name velocity_actual_value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value 52 velocity_window The difference between Velocity actual value 606C p and target velocity 60FF p is defined as the ac
32. duced to 0 the bit will be set When new position is settled the bit will be cleared In Profile Velocity Mode when the speed reaches the targeted speed the bit will be set After Halt is initiated and speed is reduced to 0 this bit will be set Bit11 Internal limit active When the bit is O it means internal torque is bigger than the set value Bit12 13 These 2 bits have different definition under different control mode Bit Control mode profile position mode profile velocity mode homing mode 12 Set point acknowledge Speed Homing attained 13 Following error Max slippage error Homing error Other bits All reserved 6 2 3 shutdown_option_code When Operation Enable state transits to Ready to Switch On state shutdown_option_code will determine how to stop the servo motor Index 605B h Name shutdown_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 Default Value 0 value instruction Excitation of servo motor is shut down and the 0 servo motor will rotate freely till stop 41 6 2 4 disable_operation_option_code When Operation Enable state transits to Switched On state disable_operation_option_code will determine how to stop Index 605C h Name disable_operation_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 De
33. efault Value Initialized to 1 when power on 28 For calculating the position factors easily 2 parameters as below are defined gear_ratio Reduction ration between the load shaft and the motor shaft Cwhen motor s revolution is n and load s revolution is m then gear_ratio m n feed_constant the distance of position units movement when load shaft rotates for one revolution position factor s calculating equation E numerator gear ratio encoder resolution position factor division feed_constant Note Encoder type encoder_resolution Unit Inc Normal incremental encoder 10000 29 4 1 2 Velocity factor Velocity factor module will convert all the speed measuring unit at customer side into drive s internal measuring unit as much as 0 1rpm And at the same time it could transform the drive s output velocity unit 0 1rpm into user s velocity units Velocity factor parameters includes a numerator and a division Index 6094 h Name velocity factor Object Code ARRAY No of Elements 2 Data Type UINT32 Sub Index 01h Description numerator Access RW PDO Mapping YES Units Value Range Default Value 1 Sub Index 02 h Description division Access RW PDO Mapping YES Units Value Range Default Value 1 For calculating velocity factor easily 3 parameters are defined as below time_factor_v gear_r
34. eleration speed before reaching the set position Index 6084 h Name profile deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 0 R 10min s quick_stop_deceleration quick_stop_deceleration is the deceleration speed when Quick Stop happens Index 6085 h Name quick_stop_deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 0 R 10min s 57 7 4 4 Function descreption There are two ways to reach targeted position Single step setting After the servo motor reaches the target position the servo drive will notify the host controller target position reached And then the servo drive will obtain new target position and start movement Ahead of obtaining new target position normally the speed of the servo motor will keep still Continuous setting After the servo motor reaches the target position it will move forward to next previously set target position Then it could keep moving without any pause between 2 target positions and no speed reduction is necessary Both of the two methods above could be changed by bit 4 bit 5 of the control word and bit 12 set point acknowledge of the status word Through handshake mechanism position control that is being executed could be terminated and re establi
35. enne enne 60 7 5 8 Parameters of position interpolation control sse eene 60 7 5 4 Function COSCIIDLION HIR 62 8 CAN COMMUNICATION PARAMETERS eneerererensesenvnverenenevseneneerenenevseneneesenenevseneneeseneneneenenenevneneneesenenevneneneenene 63 9 CAN COMMUNICATION EXAMPLE ooooocooooooooooooooooooooooooooooocooooooooooooo coooooooooo ooooo cooooooooco ooocooooooi 64 9 1 SDO CONFIGURATION e zi w Aoc Ask Mantes cussions An una Foods ang una nak uas naa 64 9 2 PDO CONFIGURATION I ses At rb e base eie ona dei Naa 64 9 3 PROFILE POSITION MODE i352 0 ssssorscssssnvesssssaneeedostoascatsepeavaeshntbencsogestaesuessnataevecsstseuatassdornecdavebeseassayesbsbsneds o obo W atrasando 65 9 4 INTERPLATE POSITION MODE griser re 66 9 5 CI CA 67 APPENDIX OBJECT DICTIONARY ooooooooooooooooooooooooooooooooooooooooooooo 69 1 General introduction 1 1 CAN main related files Document Name CiA DS 301 V 4 01 Source CiA CANopen Communication Profile for Industrial Systems based on CAL CiA DSP 402 V 2 0 CANopen Device Profile CiA 1 2 Terms and Abbreviations Used in this Guide CAN CiA COB EDS LMT NMT OD Controller Area Network CAN in Automation International Users and Manufacturers Group Communication Object a unit of transportation on a CAN network Data is sent across a network inside a COB The COB itself is par
36. ervo motor according to the control mode Quick Stop Active Servo drive will stop according to the set method Fault Reaction Active Alarm detects and servo motor is out excitation Fault 37 6 2 Parameters for device control Index 6040 h 6041 h 605A h 605B h 605C n 605D h 605E h Object VAR VAR VAR VAR VAR VAR VAR Name controlword statusword quick_stop_option_code shutdown_option_code disabled operation option code halt option code fault reaction option code 38 Type UINT16 UINT16 INT16 INT16 INT16 INT16 INT16 Attr RW RO RW RW RW RW RW 6 2 1 Control word Index 6040 h Name controlword Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units Value Range Default Value 0 Controlword bit explanation is as below 15 11 10 9 8 7 6 4 3 2 1 0 manufacturer iunaved hal Fault Operation Enable Quick Enable Switch specific reset mode specific operation stop voltage on Bit0 3 HI Bit7 The transmission of state machine is activated by the 5 bit correspondent control command Bit of the controlword comet EZ Se See ae ee mama operation voltage som 6 x 6 po po ze summ o Lo r 1 1 5 sa A CS REOR ACI Dsabievorage o X x 0 x rama ais 0 x o 0 x mon E O MA O O Device control command Note X means the bit could be ignored Bit4 5 6 8 ese 4 bit has differen
37. ess is the CAN communication address Note When consist of CAN communication network it is a must to connect a 120 Ohm resistor 1 1 4W as follows aaa CAN SHIELD A GND A eee A CAN SHIELD CAN SHIELD Ay 4 See GND KEK gt lt DC EKA CAN GND MA NOT ae TE 1200 CAN OH ANATOM CAN 1200 Me a a a a a a a a e l 1 eee SSS PEER For cabling shielded cable with exactly two twisted pairs have to be used One twisted pair is used for CAN H and CAN L One twisted pair is used commonly for CAN GND 3 CANopen communication CAL supplies all the network management service and message transport protocol However it didn t define the content of the object or the type of object that is communicating It defines how instead of what This is where CANopen could play an important role CANopen is based on CAL Through CAL s communication and service protocol set It supplies a solution to distributive control system CANopen could ensure the interaction between network nodes and random extension of nodes functions It could be easy or complicated CANopen s core value is Object Dictionary It is applied also in other field bus systems like Profibus and Interbus S CanOpen could access to all the parameters of the drive through object dictionary Please notice that object dictionary is not one part of CAL instead of which it is realized in CANopen
38. fault Value 0 value instruction 0 Excitation of servo motor is shut down and the servo motor will rotate freely till stop 6 2 5 quick_stop_option_code When Operation Enable state transits to Quick Reaction Active state quick_stop_option_code will determine how to stop Index 605A h Name quick_stop_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 6 Default Value 0 value instruction 6 When the servo motor decelerates urgently to still QuickStop state is still kept 42 6 2 6 halt_option_code When the bit8 halt of the controlword is1 Hf halt option code will determine how to stop Index 605D h Name halt_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 2 Default Value 0 value instruction 2 Servo motor will decelerate urgently to still 6 2 7 fault_reaction_option_code When alarms are detected fault_reaction_option_code will determine how to stop Index 605E h Name fault_reaction_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 Default Value 0 value instruction 0 Excitation of servo motor is shut down and the servo motor will rotate freely till stop 43 7 Control mode EDC servo drive currently supports 3 control modes in CANopen DSP402
39. gth of the objects to be mapped would exceed PDO length General internal incompatibility in the device Data type does not match length of service parameter does not match Data type does not match length of service parameter too high Data type does not match length of service parameter too low Sub index does not exist General parameter incompatibility Access failed due to an hardware error Value range of parameter exceeded Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value Data cannot be transferred or stored to the application iu Data cannot be transferred or stored to the application because of local control Data cannot be transferred or stored to the application because of the present device state No Object Dictionary is present 11 3 3 PDO PDO is used to transmit real time data which is from a data creator to multiple data consumers Transmitting data is limited from 1 byte to 8 bytes PDO communication is not limited by any protocols which means the content of data has already been pre defined As a result consumers could finish processing received data in a very short period PDO data is only defined by its CAN ID assuming both data creators and data consumers know the content of PDO Every PDO is described by 2 objects in object dictionary PDO communication parameter It contains COB ID transmitting type frozen time period of timer which are a
40. he list below 17 RPDO EDC software version gt 3 10 15 R PDO1 Index 1400 h 00h 1400 h 01h 1400 h 02h 1600 h 00h 1600 h 01h 1600 h 02h 1600 h 03h 1600 h 04h R PDO2 Index 1401 h 00h 1401 h 01h 1401 h 02h 1601 h 00h 1601h 01h 1601 h 02h 1601 h 03h 1601 04h R PDO3 Index 1402 h 00h 1402 h 01h 1402 h 02h 1602 h 00h 1602 h 01h 1602 h 02h 1602 h 03h 1602 h 04h R PDO4 Index 1403 h 00h 1403 h 01h 1403 h 02h 1603 h 00h 1603 h 01h 1603 nh 02h 1603 h 03h 1603 h 04h Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Comment number of entries COB ID used by PDO transmission type number of mapped objects first mapped object second mapped object third mapped object fourth mapped object Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 UINT32 UINT32 UINT32 Type UINT8 UINT32 UINT8 UINT8 UINT32 U
41. ill bet set as much as 1 Once the servo drive leaves this window bit10 target_reached of the status will be cleared to O Position x 1 Position reached example 33 5 1 Parameters about position control Index Object Name 6062 h VAR position demand value 6063 h VAR position actual value 6064 h VAR position actual value 6065 h VAR following error window 6066 h VAR following error time out 6067 h VAR position window 6068 h VAR position time Index 6062 h Name position demand value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units position units Value Range Default Value Index 6064 h Name position_ actual _value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units position units Value Range Default Value Index 6065 h Name following_error_window Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units position units Value Range 0 TFFFFFFF n Default Value 30000 34 Type INT32 INT32 INT32 UINT32 UINT16 UINT32 UINT16 Attr RO RO RO RW RW RW RW Index 6066 h Name following_error_time_out Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range 0 65535 Default Value 200 Index 6067 h Name position window
42. ill only update PDO data after receiving this signal Before SYNC is sent we need host to send position data Xi and control word to the servo drive Position data buffer is not given by servo drive to avoid delay When there is sync signal delay servo drive will use the last sync date to do interpolation When sync signal delay is reached 2 times of the sync period interpolation cycle overtime alarm will happen And then servo drive will stop Ur mou rm Recommended RPDO configuration When you use only one RPDO Control 32bit position reference word index 6040h subindex Oh index 60C1h subindex 01h When you use two RPDO Control word index 6040h subindex 0h 32bit position reference index 60C1h subindex 01h Configuration process 1 Configure PDO dynamically RPDO1 is configured as index 6040h subindex Oh RPDO2 is configured as index 60c1h subindex 1h 2 Set sync cycle time 1006h the unit is micro send us 3 Set PDO as Sync mode Set the object dictionary index 1400h subindex 02h as 1 Set object dictionary index 1401h subindex 02h as 1 If sending PDO needs to be in sync mode as well we need to set object dictionary index 1800h subindex 02h as 1 and index 6060h subindex Oh as 1 as well 4 Set control mode as position interpolation mode Set object dictionary index 6060h subindex Oh as 7 5 Reset the communication and then reactivate the communication
43. in following error time out the following deviation is bigger than following error windows the bit 13 of status word that is following_error will be set as 1 X X Ww Position x x X X TX I following error for example Above is the description about how to define window function as to following error xi xOand xi x0 following error window are located symmetrically at each side of position demand value For example 32 xt2 and xt3 are both out of following error window If the drive leaves the window and doesn t return back to the window in following_error_time_out bit 13 following_error of the statusword will be set as much as 1 2 Position reached This function defines the position window near target position If the servo drive s actual position is set stably in the position window bit 10 of status word target_reached will be set as 1 position_difference position demand value 6062 position actual value 6064 position window 6067 0 position_window 6067 position_window_time 6068 Position reached function description As below position_windows is located symmetrically at places near target_position that is between xi x0 and xi x0 For example xt0 and xt1 are in the position windows If the servo drive is in the windows one timer starts working If the timer reach position_window_time when the servo drive is in the windows bit10 of statusword target_reached w
44. io reduction ratio between load shaft and motor shaft when motor s revolution is n and load s revolution is m then gear_ratio m n feed_constant the distance of position units movement when load shaft rotates for one revolution numerator gear ratio time factor a acceleration factor division feed constant 31 5 Position control function This chapter mainly describes the parameters under position control mode Trajectory unit will output reference position position_demand_value will be the input of drive s position loop Besides the actual position position actual value is measured through the motor s encoder Position control will be influenced by parameter setting For Stabilizing the control system we have to limit the output of postion loop control_effect This output will become the fixed speed for speed loop In Factor group all the input and output will be transformed into the internal measuring unit of the servo drive Below is the introduction of sub function for position control 1 following error position_difference position demand value 6062 position actual value 6064 following error window 6065 0 following error window 6065 time following error time out t following error function description Following error is the deviation between actual position position_actual_value and reference position position demand value As above if with
45. ll used by PDO PDO mapping parameters It contains the object list in one object dictionary All this objects are mapped to PDO including their data length in bits Data creators and consumers must know this mapping to describe the content of PDO The content of PDO is pre defined or pre configured when the network is initialized Mapping the application objects to the PDO is described in object dictionary If device data creators and consumers supports dynamism SDO messages could be used to configure the PDO mapping parameters EDC could support PDO mapping 2 rules of PDO mapping have to be obeyed as below 1 One PDO could be used to map 4 objects at maximum 2 The length of each PDO has to be 64 bits or below PDO mapping procedures 1 Setting the correspondent mapping parameters of PDO 1600 h 1601 h 1602 h 1603h Ek 1A00 h 1A01h 1A02n 1A03 h_ The content of sub reference 0 is o 2 Revise the content of sub index 1 4 16004 1601 h 1602 1603p and 1A00 p 1A01 hy 1A02n 1A03p which are PDO s correspondent mapping parameters 3 Set the content of sub index 0 of PDO correspondent mapping parameters as legal figures number of PDO s mapping objects 4 PDO mapping completed PDO could be transmitted in multiple ways Synchronous transmitting Synchronization through accepting SYNC objects Period Transmitting will be triggered after 1 to 240 SYNC messages Asynchronous transmitting Special object incident defined i
46. mapping_tpdo2 RECORD N res mapped oject ipao2 uwm RW No third_mapped_object_tpdo2 UINT32 second_mapped_object_tpdo3 UINT32 N third_mapped_object_tpdo3 UINT32 1 2 3 A 1 2 3 RW RW RW RW RW W RW RW RW transmit_pdo_mapping_tpdo3 EN ro com smed objectis UINTSZ RW 4 fourth mapped object tpdo3 UINT32 Ee transmit pdo mapping tpdo4 second mapped object tpdo4 UINT32 third mapped object tpdo4 UINT32 fourth mapped object tpdo4 UINT32 ESTUN 73 v 1 0 ie suites once name te Appendix Object dictionary R ARE HR REDS ao var Gomoponiewio pro uwne ew no e o I 300 var Correspondent o Pno0i uno ww No e 3002 var Correspondent o Pn002 uwne mw No e ESTUN Correspondent to Pn003 Correspondent to Pn004 Correspondent to Pn015 Correspondent to Pn016 Correspondent to Pn020 UINT16 Correspondent to Pn021 Correspondent to Pn022 Correspondent to Pn023 Correspondent to Pn024 No e j NO ZIZIZ IZ IZI IZ ZI IZ ZI Z O O O O O O O O O o var Component Patas UINTIG R Appendix Object dictionary R ARE HR REPS Ala ao gt pro je aora VAR Correspondent oaoa umne RW No e som var Conespondentio nazi U u VAR Cortepondentto Pn0
47. means the servo drive is ready for new data and order If the value is 1 the order won t be executed even if there is data for the servo drive to receive 2 In absolute approach continuous position updating is required If you want to change the operating distance you need to send RPDO2 again RPDO2 301 BO 3C FF FF 2C 01 00 00 50000 300 That is 50000 pulses 30rpm 9 4 Interplate Position Mode At first configure PDO receive 2 PDO by default RPDO1 6040 RPDO2 60C1 sub01 Send 2 PDO by default TPDO1 6041 TPDO2 6064 606C pulse Velocity O 1rpm Configure 2 RPDO RPDO1 6040h RPDO2 60C1h sub01 RPDO MAPPing 601 2F 00 16 00 00 00 00 00 RPDO1 stop first RPDO 201 601 23 00 16 01 10 00 40 60 6040h 601 2F 00 16 00 01 00 00 00 RPDO1 enable 601 2F 01 16 00 00 00 00 00 RPDO2 stop Second RPDO 301 601 23 01 16 01 20 01 C1 60 60C1h sub01 601 2F 01 16 00 01 00 00 00 RPDO2 enable Configure 2 TPDO TPDO1 6041h TPDO2 6064h 606Ch RPDO MAPPing 601 2F 00 1A 00 00 00 00 00 TPDO1 stop first RPDO 181 601 23 00 1A 01 10 00 41 60 6041h 601 2F 00 1A 00 01 00 00 00 TPDO1 enable 601 2F 01 1A 00 00 00 00 00 RPDO2 stop Second RPDO 281 601 23 01 1A 01 20 00 64 60 6064h and 606Ch 601 23 01 1A 02 20 00 6C 60 601 2F 01 1A 00 02 00 00 00 TPDO2 enable 66 Set Sync time 601 23 06 10 00 E8 03 00 00 1006h gt 1000us Set interpolate time 601 2F C2 60 01 10 00 00 00 60C2h gt 1ms 601
48. n device sub protocol could trigger the transmitting PDO transmit defining list Transmit type YP Description PDO value 0 reserved SYNC method the number of SYNC objects between 1 240 TPDO RPDO 2 PDOs 240 253 reserved Asynchronous method If the content of PDO 254 NUR TPDO changes it will trigger PDO 255 Asynehronous method TPDO RPDO cyclical update and sending of PDO content 12 One PDO could settle a frozen time that is the minimum time between 2 continuous PDOs which could avoid the high preferential information with big data volume keeps occupying the bus and other information with low priority will be unable to compete for bus resource Frozen time is settled by 16 bit unsigned integrals whose unit is 100us One PDO could settle an incident timing period When passing the regulated time one PDO sending could be triggered without a trigger bit Incident timing period could be defined by 16 bit unsigned integral whose unit is 1ms 13 PDO mapping Map the three objects as below to PDO1 sending PDO1 sending is asynchronous cyclical type The cycle time is 10ms and the frozen time is 2ms reference objects instruction sub reference statusword 6041p 00h Status word modes_of operation_displa 6061 00 Aan AN Of op display h h mode Position Acture Value 6064 00 n Actual position 1 clear number of mapped objects number of mapped
49. ncremental encoder error 8081 negative direction movement limited 8082 Positive direction movement limited 8100 CAN communication error 8110 CAN communication error 8120 CAN communication error 8181 CAN communication error 8182 CAN communication error 8130 Heartbeat error 8200 Length of CAN receiving message error 8210 Length of receiving PDO error 8311 Overload alarm 8480 Over speed alarm 21 Details of parameters Index 1003 h Name pre_defined_error_field Object Code ARRAY No of Elements 4 Data Type UINT32 Sub Index 01h Description standard_error_field_0 Access RO PDO Mapping NO Units Value Range Default Value ma Sub Index 02 h Description standard_error_field_1 Access RO PDO Mapping NO Units Value Range Default Value Sub Index 03 h Description standard_error_field_2 Access RO PDO Mapping NO Units Value Range Default Value ma Sub Index 04 n Description standard error field 3 Access RO PDO Mapping NO Units Value Range Default Value 22 3 6 Heartbeat message Message structure Identifier 700h NMT state a node number ron 1 NJ FJ ET TT Message length Details Index 1017 h Name producer heartbeat time Object Code VAR Data Type UINT16 Access RW PDO Mapping
50. objects 10A0 p 00 h o 2 setting mapping object parameter Index 6041 Subin 00h Length 10h 1st mapped object 10A0 p 01 n 60410010 h Index 6061 h Subin 00h Length 08h 2st_mapped_object 10A0 n 02 n 60610008 h Index 60FDh Subin 00h Length 20 3st mapped object 10A0h 03 h 60FD0020 n 3 setting number_of mapped_objects number of mapped objects 10A0 p 00 h 3 4 setting PDO communication parameter PDO1 sending is asynchronous type transmission type 1800 h 02 h FF h Frozen time 2ms 20x100us inhibit_time 10A0 p 03 p 14h Cycle time10ms 10x1ms event time 1800 h 05 h OA n 5 PDO mapping is completed 14 3 3 1 PDO parameter EDC servo drive contains 4 sending PDOs and 4 receiving PDOs The specification of communication parameters and mapping parameters for the first sending receiving PDO is as below The other 3 sending receving PDO specifications are the same as the first one Index 1800 h Name transmit pdo parameter tpdo1 Object Code RECORD No of Elements 4 Sub Index 01h Description cob id used by pdo tpdo1 Data Type UINT32 Access RW PDO Mapping NO Units Value Range 181 h 1FF h Bit 31 may be set Default Value 181 n Sub Index 02 h Description transmission type tpdo1 Data Type UINT8 Access RW PDO Mapping NO Units Value Range 1 240 25
51. ontrol word as 1 set bit5 change set immediately as 0 Set bit6 absolute relative according to the type of target position absolute relative After reaching the first target the servo drive will keep moving forward to the second target position After reaching the second target position the servo drive will respond through bit 10 target_reached of status word And it will follow the program to keep moving or accept new targeted position t t t Time 59 7 5 interpolation position mode 7 5 1 Control word of interpolation position mode 15 9 8 7 6 5 4 3 0 ki Halt ky ii i Enable ip mode Please refer to the chapters ahead Name Veiuefoeserpton Enable ip EN Interpolated position mode inactive mode 2 a Interpolated position mode active Halt in Execute the instruction of bit 4 Stop axle 7 5 2 Status word of interpolation position mode 15 14 13 12 11 10 9 0 m ip mode active Target reached 5E Please refer to the chapters ahead Name Vawe beserpion Target Halt 0 Position not yet reached reached Halt 1 Axle decelerates 1 Halt 0 Position reached Halt 1 Axle has velocity 0 ip mode Ky Interpolated position mode inactive active Interpolated position mode active 7 5 3 Parameters of position interpolation control Index Object Name Type Attr 60C0 h VAR Interpolation sub mode select INT16 RW 60C1 h
52. shed through these bits Procedure of single step setting At first setting NMT as operational and set control mode parameter 6060 n as 1 1 Set target position target position 607Ah and other parameters according to the requirements of actual application 2 set bit4 of control word new set point as 1 Set bit 5 change set immediately as o set bit 6 aboslue relative according to the type of targeted position 3 Set bit12 set point acknowledge of the status word about device response and then execute the position control 4 After reaching the targeted position the servo drive will respond through bit 10 of target_reached And then it will follow the program to keep moving or accept new target position t t t t Time The procedure of continuous setting At first set NMT as Operational and set control mode parameter 6060 h as 1 1 Set the first target position target position 607A pn target speed acceleration deceleration and relative parameters 2 Setbit4 new set point of the control word as 1 Set bit 5 change set immediately as 0 Set bit6 absolute relative according to the type of target position absolute relative 58 Set bit12 of status word set_point_acknowledge for servo drive response and then execute position control Set the second target position target position 607A p objective speed acceleration deceleration speed and relative parameters Set bit4 new set point of the c
53. susa E wi 44 7 T PARAMETERS ABOUT CONTROL MODE BNNK BBB NB 44 7 1 1 modes of OPErAtIiON ooooooocooo nana 44 Z 1 2 modes of operation display aac eet eee e Ve d e Ee ere ERES 45 72 HOMING MODE ew as seis senang isc ee nasa aan naa Banana 46 7 2 1 Control word of homing mode sss ener entente nennen enne 46 7 2 2 Status word of homing mode sees eene eene 46 7 2 8 Parameters of the homing mode sess tenete nennen enne nnns 47 72 4 homing method eet RE A isu na 49 7 3 PROFILE VELOCITY MODE rao nenas aan ana aga 51 7 8 1 control word of velocity mode sse entente nnns 51 7 3 2 Status word of control mode mna 51 7 3 3 Parameters of speed control mode sess enne nenne 51 TAPROFILE POSITION MODE triente o E eo nere er na eene a ene nae khe eee das ea bre a REE 55 7 4 1 control word for position mode sse eene nnne enne teen enne 55 7 4 2 Status word of position control mode 55 7 4 8 Parameters about position control essent 56 7 4 4 Function descreption eese eese ener tnter tenete Ko AA teen enne 58 7 3 INTERPOLATION POSITION MODE an nan ED has ow REOR aa rU pO ERR an RE DR t 60 7 5 1 Control word of interpolation position mode ooocoooo mna 60 7 5 2 Status word of interpolation position mode sse
54. t definition under different control mode Bit Control mode profile position mode profile velocity mode homing mode 4 new_set point reserved start_homeing_operation 5 change set immediatly reserved reserved 6 abs rel reserved reserved 8 Halt Halt Halt Other bit all are reserved bits 39 6 2 2 statusword Index 6041 n Name statusword Object Code VAR Data Type UINT16 Access RO PDO Mapping YES Units Value Range Default Value The bit instruction of statusword is as below bit instruction Ready to switch on Switched on 0 1 2 Operation enabled 3 Fault 4 5 6 Voltage enabled Quick stop Switch on disabled 7 Warning 9 8 reserved 10 Target reached 11 Internal limit active 13 12 Operation mode specific 15 14 reserved Bit0 3 Bit5 41 Bit6 The combination of these bits indicates the state of the servo drive Vane bina sme 40 Bit4 Voltage enabled 1 means the main circuit is powered on Bit5 _ Quick stop 0 means the servo drive will stop according to the settings 605A n quick stop option code Bit7 _ Warning 1 means the servo drive could detect alarms Bit10 Target reached In different control mode the definition is different In profile position mode when set position is reached the bit will be set After Halt is initiated and speed is re
55. t of the CAN message frame Electronic Data Sheet a node specific ASCII format file required when configuring the CAN network The EDS file contains general information on the node and its dictionary objects parameters EDS files for Estun drives are available through your local Estun sales agent Layer Management one of the service elements of the CAN Application Layer in the CAN Reference Model It serves to configure parameters for each layer in the CAN Reference Model Network Management one of the service elements of the CAN Application Layer in the CAN Reference Model It performs initialization configuration and error handling on a CAN network Object Dictionary to local storage all communication objects identified by a certain equipment Parameter An operational instruction of driver can be read and modified through CAN or driver digital operation panel PDO Process Data Object a type of COB Used for transmitting time critical data such as control commands references and actual values RO Denotes read only access RW Denotes read write access SDO Service Data Object a type of COB Used for transmitting non time critical data such as parameters 1 3 CANopen general introduction CANopen is a higher layer protocol based on the CAN Control Area Network serial bus system and the CAL CAN Application Layer CANopen assumes that the hardware of the connected device has a CAN transceiver and a CAN controller as
56. tiopnios oms mw no el we var Corep et pls unne A E E a RE 306A VAR Correspondent to Pn106 to Pn106 UINTI6 306B Correspondent to Pn107 UD No aek ee e E REEE IN 306D o VAR Correspondent to Pn109 to Pn109 U JE see ojojo Z p E ZIZ OIO Z Z O Z jin L3 VAR coreano vris w w e 1 Lower TT ume o 6 8 3070 Var ComespondenttoPnti UINTIG Dm Jar xm Krakk de gt TM aa Var Corespondent to Paris pas Var ComespondemtioPall7 3076 Var ComespondenttoPmtis om Var Correspondent to Pati 3078 Var ComespondentioPni20 ESTUN 78 v 1 0 Appendix Object dictionary fir RIEBE HR REDS Index Subindex Object Name Type Attr PDO oe kes aa PARE ee ee osa var akksopspim cue mne mw wo e S exp var siutdown_opton code mne mw wo e exc VAR diubie operation opion ode mne RW wo e sb var stop option code mne aw so e gt os var ut reucion piore unne RW wo e SS eo var modes otopeion ms aw ves e ea var modes ot operon aspiy ms Ro ves e 1 6a VAR positon demand vale mm Ro vs e es Var postionacua vaner mmo Ro vs
57. to activate the PDO 9 3 Profile Position Mode At first please configure PDO according to the example above and activate the communication And then please set the control mode 601 2F 60 60 00 01 00 00 00 set 6060h as 1 position contrl is PP And then set status machine 601 2B 40 60 00 06 00 00 00 set 6040h as 6 601 2B 40 60 00 07 00 00 00 set 6040h as 7 601 2B 40 60 00 OF 00 00 00 set 6040h as F servo on And then send data by PDO Let servo motor rotate for 5 revolutions Set PDO1 as 6040 status word PDO2 as 607A position pulse number and 6081 velocity unit as much as 0 1rpm Send RPDO2 The data is as below 301 50 C3 00 00 2C 01 00 00 50000 300 50 C3 00 00 is position data that is 50000 pulses 2C 01 00 00 is speed that is 30rpm Send RPDO1 as below 1 2010F 00 Clear the bit4 of 6040 as 0 2 201 1F 00 Clear the bit4 of 6040 as 1 and servo motor is operating under absolute position Motor runs 3 201 OF 00 Clear the bit4 of 6040 4 201 5F 00 Clear the bit4 of 6040 as 1 The servo motor runs under incremental position 65 5 201 OF 00 Clear bit4 of 6040 as 0 Attention 1 The servo drive is using Nof 6040 s bit 4 to accept new position order So after every single operation the bit needs to be cleared Host needs to check bit12 of status word 6040 in the servo drive to decide whether or not to give new data to servo systems When status word 6041 in the servo drives O it
58. tual speed error window If the actual speed error window is smaller than velocity window 606D p during the time set by velocity window time 606E p bit 10 of statusword target reached will be set to indicate the speed has been reached Index 606D h Name velocity window Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 20 R 10min velocity_window_time velocity_window_time and velocity_window together form a speed window comparison tool Index 606E h Name velocity_window_time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 velocity_threshold velocity_threshold indicates the range closed to the still to judge if the servo motor should stop Index 606F n Name velocity threshold Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 10 R 10min 53 velocity_threshold_time velocity_threshold_time sets the minimum time during which the speed is below threshold velocity The unit is ms When the time during which the speed is below the threshold has surpassed the velocity_threshold_time bit12 of the status word will be set as much as 1 Index 6070 n Name velocity_threshold_time Object Code VAR Data Type UINT16 Access RW
59. u home_start operation Please refer to the previous chapters Name Value Description Homing KA Homing mode inactive operation port Start homing mode Homing mode active Interrupt homing mode Halt o Execute the instruction of bit 4 Stop axle with homing acceleration 7 2 2 Status word of homing mode 15 14 13 12 11 10 9 0 ii homing error homing attained target reached Please refer to the previous chapters Name Value Description Target Halt 0 Home position not reached ponen Halt 1 Axle decelerates 1 Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing EM Homing mode not yet completed attained Homing mode carried out successfully Homing EE No homing error error 1 Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code 7 2 3 Parameters of the homing mode Index Object Name Type 607C h VAR home offset INT32 6098 h VAR homing method INT8 6099 h ARRAY homing speeds UINT32 609A n VAR homing acceleration INT32 home offset home offset could set the distance between reference point and homing point Home Zero Position Position home offset Index 607C h Name home_offset Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Default Value 0 homing_method
60. uit power supply capacitor remains charged Power ON indicator When the control power supply is ON The green light the servo is in free run state The red light the servo is in fault state Rotary switch ID Communication connector CAN Communication connector RS232 Used to communicate with a personal computer or to connect a digital operator Connector ICN for host connection Used for reference input signals and sequence I O signals Connector 2CN for encoder connection Connects to the encoder in the servomotor Servomotor terminals Connects to the servomotor power line Main power and Control power input terminals single phase e CAN communication plug interface and signal definistion AA AN UuUUUU 1234 Pin definition GND internal grounding within servo drive CANH CANL FG shield grounding 5 Rotary switch of the driver is used to set the communication address when communication through CAN or with PC When the rotary switch is 0 the RS232 port of driver could communicate with palm operator amp through CAN Although it is 0 there is no such address in CAN Therefore CAN communication address is 1 under such kind of circumstance When the rotary switch is not 0 the RS232 port of driver could communicate with PC Like using Esview software Meanwhile CAN communication is also available The rotary switch addr
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