NanoCAN User Manual V1.1
Contents
1. 8 Selecting the COMO eR 8 Network managements enisinia Rr repa recien eran raa cesteaweanadlnadeades ue cuna cevedesuandeeesaaeees 11 Reading out the hardware and software version sse 11 lt SDO Lists D E 12 User INTCMPACE serian aiia aa aaaeaii aaa aeai aiia naaid 12 Motor related basic settings issssssssssssessseseeee enne enne nennen nnns nnn 13 lt P DOS ta cp 15 INTHROGUCTIOMN EE 15 PDO 047 10 0 lal cere 16 Tabs for operation modes coe entre acadada eine tiun ete eoa da e ce magnae aacra ARE CRESCE 18 General TUNCtIONS c 18 dntzeerrop EEUU 19 SPP sre arm 20 Velocity Mode tab ssessssssssssssssseeeee seen entren en nennen sn nnns en aaae s nnns 21 Interpolated Position Modes tab sssri peaa EAS Kaa NEE 22 Firmware Update gt tab ccssccssseeceseeeeeeeseseeeeneeeeeeseseeseeeenseeeseesesaesaseeeenseeeseesaseaneneeeaes 24 ib Nanatec PLUG amp DRIVE 1 Installation System requirements The NanoCAN software only operates with adapters from IXXAT The corresponding VCI drivers version 3 must be installed The driver is available for download at www ixxat de under the Support section Procedure T2. Functions For the PDO mapping the following functions are available in the lt PDO gt tab Button field Function RX TX Select the PDO type lt RxPDO gt lt TxPDO gt e RxPDO receive PDO e TxPDO transmit PDO Transmission Type Set the PDO type e asynchronous the data are sent immediately e synchronous the data are sent after a sync object Rx PDOs 255 asynchronous 0 240 synchronous Tx PDOs 255 asynchronous 0 synchronous after change 1 240 synchronous for each 1 240 sync object PDO Number Select the PDO A total of four PDOs can be mapped Each PDO must be individually read by the control or written to the control via the Read and Write buttons RTR Activate and deactivate the Remote Transmission lt On gt Request RTR When the checkbox is activated a configured PDO is sent on request ib Nanatec PLUG amp DRIVE Procedure Button field Function COB ID Set the CAN object identifier COB ID as a decimal or lt Dec gt lt Hex gt hexadecimal number Notes e The COB ID is assigned for the actual mapping e Each COB ID may only be assigned once e The smaller the COB ID the higher the priority on the CAN bus Enable PDO Activate and deactivate the PDO mapping of the lt Enable gt selected PDO Number of Objects Select the number of mapped objects of the selected PDO number of objects to be mapped in
3. e Setthe motor stop with the ramp setting in each case e Reset the motor stop if the motor has not yet come to a halt All speeds are specified in user units standard one tenth step mode Mode dependent calculation via the objects 608F 6092 or 604C ib Nanatec PLUG amp DRIVE 6 2 Ref Mode tab Introduction The various reference runs can be performed via the Ref Mode tab More detailed information on reference runs can be found in the Nanotec CANopen reference View lolx Configuration amp NMT SDO List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware Update Power on r Reference Run Closed Loop 33 34 This has to be done only once for Power off a drive As preperation you have to do da refence run 33 or 34 Loop Made Selection 19 21 ES m z The drive will run with increasing speeds to determine the correct Closed Loop 20 22 load angle Open Loop Stop cl motor setup Statusword HomeSpeed for Zeropulse HomeAccelleration Bid3 Bitl2 Birl 2500 10000 ETT HomeSpeed for Switch Home Offset Halt 10000 o Functions The following functions are available in the Ref Mode tab Button field Function Buttons in the Reference Select the reference run and start it at the same Run area time Note The motor must be switched on first cl motor setup Perform a clo
4. Network management zz Motor number NMT start Node f Baudiate NMT stop Node Initialize CAN NMT reset Node Select Can Adapter NMT pre Operational Read Version Ha Sw Q enableCanLog poll Position Clear Log Save Log ib Nanatec PLUG amp DRIVE Tabs Log window The user interface consists of the following tabs Tab Function See section Configuration amp NMT gt CANopen settings and commands 3 Configuration amp NMT gt tab SDO List Read write etc service 4 SDO List tab data objects SDO lt PDO gt PDO mapping 5 lt PDO gt tab lt Ref Mode gt Reference run settings 6 2 Ref Mode tab PP Mode Positioning mode settings 6 3 lt PP Mode tab Velocity Mode Velocity mode settings 6 4 Velocity Mode tab Interpolated Position Mode Interpolated position mode settings 6 5 Interpolated Position Mode tab Firmware Update Note Update of the motor control firmware 7 Firmware Update tab When one of the following tabs Ref Mode PP Mode Velocity Mode or Interpolated Position Mode is activated the corresponding SDO is immediately written to the control to activate the selected mode In the log window the data sent and received via the CAN bus can be displayed Message output In the message output va
5. Manufacturer AT Automon SSS Driver Version fio Hardware Version oon Device Class 23E89775 1F7A 4CCE S0BS E7182952DB35 Hardware ID 30383231 3132 0000 0000 000000000000 VCI Object ID o000000000000002 TE cen BUS Line D a o Select the desired control in the VCI Devices area Select the desired channel in the Bus Line selection field and click on the lt OK gt button to close the window o 7 Click on the Initialize CAN button ib Nanatec PLUG amp DRIVE 3 3 Network management The Network management area contains the following buttons Button Function Effect NMT start Node Start the control Operational status PDOs can be written and read lt NMT stop Node Stop the control Stopped status PDOs cannot be written and read lt NMT reset Node Restart the control reset All changes that were not stored in the EEPROM are reset lt NMT pre Operational Return the system to the state after application of the operating voltage or a reset Pre operational status PDOs cannot be written and read 3 4 Reading out the hardware and software version Introduction Procedure The Read Version button in the Configuration amp NMT gt tab can be used to read out the hardware and software version of the control This button is also used to check that communication of
6. must be entered here Note For the setting to be adopted the control must be restarted afterwards via the lt NMT reset Node gt button in the lt Configuration amp NMT gt tab SDO 0x2006 Subindex 0 Number of pole pairs The number of pole pairs of the stepper motor determines its step angle The formula for the conversion is Number of pole pairs 360 4 step angle Example A motor with a step angle of 1 8 has 50 pole pairs default setting of the SMCI47 S and a motor with a step angle of 0 9 has 100 pole pairs SDO 0x2009 Subindex 0 CANopen node ID Precondition the rotary switches are set accordingly see 3 2 Selecting the control If a CANopen node ID is set with the rotary switches this object can be written to and stored in the EEPROM but after a restart it will return to the value of the rotary switches SDO 0x608F Subindex 1 Encoder resolution The default value is 2000 If an encoder is used its resolution must be known to the control The resolution is specified in increments per rotation Because of the quadrature principle an encoder with 500 marks per rotation for example has four time the number of increments per rotation or 2000 ib Nanatec PLUG amp DRIVE 5b PDO tab 5 1 Introduction Purpose of the PDOs Process data objects PDOs are used to transfer objects that frequently need to be updated while the control is running For example this is useful for the Positio
7. positioning type absolute or relative to the current position target Enter the destination of the movement Start Start the movement Quick Stop Stop the movement immediately the motor is subsequently switched off Change on If the checkbox is activated a activated run command is setpoint gt executed immediately even if the current run command is not yet finished lt Change Set If the checkbox is activated and if the lt Change on setpoint gt Immed gt checkbox is not activated at the same time new move command is executed after the end of the current move command the speed is not changed until the first target position is reached Before the first destination is reached braking is not performed since the motor should not stop at this position min Speed Enter the start speed of the move command max Speed Enter the maximum speed of the move command ramp type Select the ramp type of the acceleration and deceleration linear or sinusoidal acceleration Enter the slope of the acceleration ramp deceleration Enter the slope of the deceleration ramp quick stop decel Enter the slope of the deceleration ramp during an emergency stop ib Nanatec PLUG amp DRIVE 6 4 Introduction View WMNanotec Canopen demo 1 3 1 i direction C left right Target Velocity 1000 min Drehzahlgrenze 60 max Drehzahlgrenze 2500
8. the PC with the control unit is functioning properly Proceed as follows Step Action 1 Click on the lt Read Version gt button 2 To check the messages of the user interface e When communication is functioning properly the hardware HW and software SW versions are displayed next to the button e When communication is faulty the following error messages appear rec_SDO 1018 failed bus dead User Manual NanoCAN SDO List gt tab ib Nanatec PLUG amp DRIVE 4 4 1 Introduction SDO List tab User interface The buttons in the SDO List tab can be used to read and write the service data objects SDOs of the control More information on the service data objects can be found in the Nanotec CANopen reference View Wy NanoCan 1 3 3 Configuration amp NMT SDO List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware Update su fine Alene s8 RW s16 32 ua RW RW RW RW RW RW RW RW RW RW u32 u32 ua u32 u8 List window The list window Igi x Refresh Set Default Config Write to Drive enable Polling Dummy Type s8 Dummy Type s16 Dummy Type s32 Dummy Type u8 Dummy Type u16 Dummy Type u32 Save to EEPROM Reset EEPROM save to File read from File device type error register COB ID Sync Object Guard Time Life Time Factor contains one row for each existing se
9. 0 Configuration amp NMT Ref Mode PP Mode Velocity Mode SDO List Firmware Update PDO Power on 1000 em accelleration Power off E sec Loop Mode Selection gt 1000 deceleration Cus fi sec Open Loop quick stop fi D000 steps SS SE Statusword E vun Bil3 Bit2 Bitl D 0 D Start Stop QuickStop Functions lt Velocity Mode gt tab The motor can be operated in the velocity mode via the lt Velocity Mode gt tab lni x The following functions are available in the lt Velocity Mode gt tab Button field Function direction Select the direction of rotation counterclockwise or lt left gt lt right gt clockwise Target Velocity Enter the target rom min Drehzahlgrenze Enter the minimum rpm Note If a lower rpm is entered as the target rpm the motor stops max Drehzahlgrenze Enter the maximum rpm Note If a higher rpm is entered as the target rpm the target rpm is set to the maximum rpm acceleration Enter the acceleration ramp in X user units steps per Y seconds sec deceleration Enter the deceleration ramp in X user units steps per Y seconds sec quick stop Enter the acceleration ramp for an emergency stop in X user units steps per Y seconds sec Start Start the motor Stop Stop the motor lt QuickStop gt Initiate an emergency stop ib Nanotec PLUG amp
10. DRIVE 6 5 Interpolated Position Mode gt tab Introduction The lt Interpolated Position Mode gt tab is used to test the interpolated position mode the control moves to predefined PDO positions within the synchronization period Provisions To be able to use the tab an Rx PDO must be mapped onto object 0x60C1 sub 0x01 s32 Interpolation Data Record 1 This COB ID must be entered in the COB ID Position Object field View iix Configuration amp NMT SDO List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware Update Power on COB ID Sync Objekt 0 80 Sync Zeit ms 1000 Enable Sync Loop Mode Selection Position 0 C Closed Loop Start Increment 0 fo Open Loop Stop COB D Position Object 0x401 CO EY Bil3 Bitl2 Bitl 0 0 0 Halt Functions The following functions are available in the lt Interpolated Position Mode gt tab Button field Function COB ID Sync Objekt ID of the sync object By default this object is set to COB ID 0x80 and should not be changed Sync Zeit ms Time in ms with which the sync object is transmitted This time should lie between 100 and 1000 ms Position Current target position to which the control is to move Increment Left field Position change per sync speed Right field and lt buttons Change increment rotational rpm change e lt adds the value from the right f
11. d the left hand rotary switch is set to 1 0x21 this results in a number equivalent to the decimal number 33 2 16 1 1 In this case the node ID is set to 33 on the hardware The baud rate is set to 1 MBaud Example 2 If the right hand rotary switch is set to 8 and the left hand rotary switch is set to 0 0x80 this results in a number that is equivalent to the decimal number 128 8 16 0 1 In this case the node ID and baud rate are read out of the EEPROM ib Nanatec PLUG amp DRIVE Procedure Example 3 If the right hand rotary switch is set to 9 and the left hand rotary switch is set to 4 0xA1 this results in a number that is equivalent to the decimal number 161 2 10 16 1 1 In this case the node ID as shown in example 1 is set to 33 161 128 on the hardware but the baud rate is read out from the EEPROM Proceed as follows to select a control Step Action 1 Enter the desired node ID 1 to 127 in the Motor number field 2 Select the baud rate set for the control in the Baudrate selection field 3 If exactly one CANopen control is connected with only one channel continue with step 8 In all other cases continue with step 5 4 Activate the Select Can Adapter checkbox The Select BUS Controller window appears W Select BUS Controller E x m VCI Devices r Device Info Description limcaN1t80 s i i sSOOSCsS
12. ene Dateien Nus Arbeitsplatz Netzwerkumg Dateityp Firmware Files Abbrechen A 2 Select the firmware file and click on the lt Open gt button 3 Click on the lt write Firmware gt button The selected firmware is written to the control The Result area shows whether the firmware update was successful or not 24 Issue V 1 1 14 12 2009
13. executed 5 On the SDO List tab click on the Save to EEPROM button The PDO is retained even after a reset ib Nanotec PLUG amp DRIVE 6 1 Introduction 6 Tabs for operation modes General functions The connected motor can be operated in various operation modes e Ref Mode reference run e PP Modes positioning mode e Velocity Mode gt velocity mode e Interpolated Position Mode interpolated position mode Activating the operation mode When one of the following tabs Ref Mode PP Mode Velocity Mode or Interpolated Position Mode is activated the corresponding SDO is immediately written to the control to activate the selected mode Functions for all operation modes Units The following functions are Power on Power off Loop Mode Selection C Closed Loop Open Loop Statusword Bin3 Bird2 Bit 0 0 HALT set Buttons option field display lt Power on gt lt Power off gt available in all operation modes Function Switch motor on off lt Closed Loop gt lt Open Loop gt Activate closed loop mode or open loop mode Status word Bit 10 Set to 1 when the motor is at a standstill status Target reached Bit 12 Set to 1 when the reference position is reached status Homing attained Bit 13 Set to 1 when an error occurs status Error HALT set
14. he CANopen node ID and the baud rate Provisions There are two basic ways of setting the CANopen node ID and the baud rate e Hardware setting via rotary switches on the control e Software setting with NanoCAN see Section 4 2 Motor related basic settings To be able to make a software setting with NanoCAN a certain value must be set on the rotary switches of the control see the following tables ib Nanatec PLUG amp DRIVE Control with two rotary switches e g PD6 N Rotary switch value Node ID Baud rate dec hex 00 From EEPROM 1 MBaud T rotary switch value 0x01 Ox7F mast i650 From EEPROM From EEPROM 129 255 rotary switch value 0x81 OxFF minus 128 Control with a rotary switch e g PD4 N Rotary switch value Node ID Baud rate dec hex oM From EEPROM 1 MBaud io i on rotary switch value 8 From EEPROM 10x08 From EEPROM 9 15 rotary switch value 0x09 OxOF minus 8 Setting the rotary switches controls with two rotary switches Note The rotary switches must be set to the desired value before the control is switched on since this value is only read in when the control is restarted The rotary switches can be used to set a two digit hexadecimal number 0x00 to OxFF e Right hand rotary switch 16 s place e g OxFO e Left hand rotary switch 1 s place e g OxOF Example 1 If the right hand rotary switch is set to 2 an
15. ick the lt R gt or lt W gt button in the row of the corresponding SDO e Toread or write all SDOs Click the lt Refresh gt or lt Write to Drive gt button 4 2 Motor related basic settings Introduction To be able to operate the motor the following motor related settings must be written to the control via SDOs SDO 0x2004 Subindex 1 Phase current of the motor as a percentage of the maximum current The default setting is 2096 For the SMCIA7 S 7 5 A rms value correspond to 100 SDO 0x2004 Subindex 2 Quiescent current of the motor as a percentage of the maximum current This current is applied to the motor winding when the motor is at a standstill The default setting is 2096 SDO 0x2005 Subindex 0 Activate the CAN interface of the motor control and set the baud rate The possible baud rates and the corresponding value of the SDO are listed in the following table The default setting is 125 kBaud The highest value bit of this byte is used to switch on and off the CANopen mode ib Nanotec PLUG amp DRIVE Baud rate Value SDO 0x2005 Value SDO 0x2005 Sub 0x0 Sub 0x0 CAN is deactivated CAN is activated 10 kBaud 1 129 20 kBaud 2 130 50 kBaud 3 131 125 kBaud default 4 132 250 kBaud 5 133 500 kBaud 6 134 1000 kBaud 7 135 If the baud rate is permanently set to 1 MBaud due to the setting of the rotary switches see Section 3 2 Selecting the control a value of 135
16. ield to the left field e increases decreases the increment by the value shown in the right field COB ID Position COB ID of the mapped Rx PDO see above Object Enable Sync Activate deactivate the transmission of sync messages lt Start gt lt Stop gt Start stop the motor ib Nanatec PLUG amp DRIVE Procedure Proceed as follows Step Action Enter the desired value in the Sync Zeit ms field 2 Activate the lt Enable Sync gt checkbox Sync messages are transmitted 3 Enter the current value in the Position field Otherwise the motor will attempt to move from its current position to the set position in one step 4 Enter the desired value in the Increment field 5 Click on the lt Start gt button The motor travels at a constant speed User Manual i Nanotec NanoCAN PLUG amp DRIVE lt Firmware Update gt tab 7 Firmware Update tab Introduction The NanoCAN firmware can be updated via the Firmware Update tab View MNanotec Canopen demo 1 3 1 Configuration amp NMT Ref Mode PP Mode Velocity Mode SDO List Firmware Update PDO OTT write Firmware Result Procedure Proceed as follows Step Action 1 Click on the button A window opens in which the firmware file can be selected Suchen in E Desktop amp EJ Eigene Dateien a Arbeitsplatz Verlauf Netzwerkumgebung Desktop Ew Eig
17. n Actual Value object Advantages of PDOs PDOs have the following advantages compared to SDOs e Higher and adjustable priority e Low overhead e Additional functions such as Automatic sending upon change or Cyclical sending The higher priority and the low overhead of the PDOs result because the corresponding objects from the object directory are allocated to a CAN object with a certain COB ID without use of the SDO protocol These allocations are set during the PDO mapping Receive and transmit PDOs PDOs can be differentiated into receive PDOs RPDO and transmit PDOs TPDO e RPDOs are received by the control and the received data are used in the set objects e TPDOs are transmitted by the control in certain adjustable situations ib Nanatec PLUG amp DRIVE 5 2 PDO mapping Introduction Process data objects can be mapped via the lt PDO gt tab More detailed information on this can be found in the Nanotec CANopen reference View iBixi Configuration amp NMT Ref Mode PP Mode Velocity Mode SDO List Firmware Update PDO RX TX Transmission Type Objects R PDO C TePpo 255 E 1b none PDO Number RTR 2 none M fi On 3 none COB ID 4 none 5 Dec p z 5 none m Hex 0x0 Elllnone Enable PDO Number of Objects 7 none Y Enable p sz E 8 none r Inhibit Time 0 1ms Event Time ms fi oo 0 Read Write
18. nce in stepper motor technology Important information This user manual must be carefully read before installation of the software Nanotec reserves the right to make technical alterations and further develop hardware and software in the interests of its customers to improve the function of this product without prior notice For criticisms proposals and suggestions for improvement please contact the above address or send an email to info nanotec com Additional manuals Please also note the following manuals from Nanotec Nanotec CANopen Detailed documentation of the E reference CANopen functions iios AN Technical manuals Connection and commissioning of stepper motor controls or Plug amp Drive motors The manuals are available for download on www nanotec com ib Nanatec PLUG amp DRIVE Contents 1 2 2 1 2 2 3 3 1 3 2 3 3 3 4 4 4 1 4 2 5 5 1 5 2 6 6 1 6 2 6 3 6 4 6 5 7 Mr Sta AW ON e 5 Overview of the user interface eeeeeeesseeeseeeseeseeeeeee seen nnnm nnn nn nnn nn satin nn nnn anna 6 General information esssssssssssssessseeeeseee enne nnna entente nnns snnt rentes tennis nnns nitens 6 Arrangement of the user interface ssssssssssssssseseeeene enne nnne nnn nennen 6 Configuration amp NMT gt tab eeeeeeeeseeese esses eeenen eene nn enn nnnm n nennt nsn na sain nnne nn nain 8 BE durum
19. o install NanoCAN on your PC you must download the software from the Nanotec website Proceed as follows Step Action 1 Open the Nanotec website in your browser http www nanotec com 2 Navigate to the Technology gt CANopen section 3 Download the NanoCAN_1 31 software zip file on the right side in the download area onto your PC 4 Unpack the zip file on your PC in the required directory 5 Open the CanopenDemo 1 31 directory and start the program by double clicking on the NanoCAN exe file ib Nanotec PLUG amp DRIVE 2 Overview of the user interface 2 1 General information The NanoCAN software can be used to easily configure the CAN communication of the stepper motor controls and the Plug amp Drive motors on a PC with a CAN interface Transparent interfaces and simple test functions enable rapid entry into operation and facilitate commissioning Familiarize yourself with the user interface of the NanoCAN software before starting to configure the stepper motor controls or Plug amp Drive motors 2 2 Arrangement of the user interface Areas The user interface consists of the following areas e Tabs 1 e Log window 2 e Message output 3 e Log function bar 4 View I NanoCAN 1 3 3 Configuration amp NMT spo List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware r Canopen configuration
20. oU Nanotec PLUG amp DRIVE User Manual Ml Nanocan 1 3 3 lal x Configuration amp NMT SDO List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware Update Canopen configuration m Network management i Motor number NMT start Node 1000 v Baudrate NMT stop Node Initialize CAN NMT reset Node Select Can Adapter NMT pre Operational enable CanLog poll Position Clear Log Save Log NanoCAN Demo application for stepper motor controls and Plug amp Drive motors NANOTEC ELECTRONIC GmbH amp Co KG Tel 49 0 89 900 686 0 GewerbestraBe 11 Fax 49 0 89 900 686 50 D 85652 Landsham near Munich Germany info nanotec de ib Nanatec PLUG amp DRIVE Editorial 2009 Nanotec Electronic GmbH amp Co KG GewerbestraDe 11 D 85652 Landsham Pliening Germany Tel 49 0 89 900 686 0 Fax 49 0 89 900 686 50 Internet www nanotec de All rights reserved MS Windows 2000 XP Vista are registered trademarks of Microsoft Corporation Version Change overview Version Date Changes 1 0 2009 06 20 New issue enders 1 1 2009 12 14 Revision C P ib Nanatec PLUG amp DRIVE About this manual Target group This user manual is aimed at designers and developers who need to configure a CANopen capable motor control from Nanotec with the aid of the NanoCAN software without much experie
21. rious messages including error messages are displayed that occur during the writing of the SDOs to the control or reading of the SDOs from the control Log function bar The log function bar contains the following buttons and checkboxes Button checkbox Function enable Can Log in the log window Activate and deactivate the display of the CAN logs Clear Log Save Log Delete the CAN logs displayed in the log window Save the CAN logs in a log file poll Position window Activate and deactivate reading out and displaying of the current position every 100 ms in the log inpia a Nanoatec PLUG amp DRIVE 3 Configuration amp NMT gt tab 3 4 User interface Overview The lt Configuration amp NMT gt tab contains the following areas e Canopen configuration e Network management View A 123 rer Configuration amp NMT SDO List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware Update r Canopen configuration Network management INNEN Motor number NMT start Node 1000 v Baudrate NMT stop Node Initialize CAN NMT reset Node Select Can Adapter NMT pre Operational Hw Read Versi ead Version ew 3 2 Selecting the control Introduction In the Canopen configuration area the control with which communication is to take place is selected by entering t
22. rvice data object and if there are multiple subindices one row per subindex The list window consists of the following columns Column Contents ID Address of the service data object Sub Subindex Type Data type R Button for reading the SDOs W Button for reading the SDOs Value Value of the SDO that was read or is to be written Description Brief description of the SDO Message Messages N Iss ue V 1 1 14 12 2009 ib Nanatec PLUG amp DRIVE Buttons The following buttons and checkboxes are located to the right of the list window Button Function checkbox Refresh Read all SDOs Set Default Config Write default values to some SDOs Write to Drive Write all SDOs enable Polling Read out the SDOs continuously to track values that change during operation Save to EEPROM Save the current values of the SDOs in the EEPROM changes that are not saved are lost after a restart of the control Reset EEPROM Set the default values and save them in the EEPROM save to File Save the current configuration to a file read from File Load the configuration from a file Reading and writing SDOs Note The values are only permanently saved in the control if they are saved in the EEPROM Save to EEPROM button in this case they will still be present after the control is switched on again e To read or write individual SDOs Cl
23. sed loop test run Stop Interrupt the reference run HomeSpeed for Enter the speed for the search for the reference Zeropulse position HomeSpeed for Switch Enter the speed for the search for the switch Note The value must be greater than the speed for the reference position HomeAcceleration Enter the acceleration ramp for the reference run Home Offset Enter the offset of the reference position Note The ramp is only used when setting off When the switch is reached the unit is automatically switched to the lower speed and is stopped as soon as it reaches the limit position ib Nanotec PLUG amp DRIVE 6 3 PP Mode tab Introduction The motor can be operated in the positioning mode via the PP Mode tab View Nano an 1 3 3 E Configuration amp NMT SDO List PDO Ref Mode PP Mode Velocity Mode Interpolated Position Mode Firmware Update min Speed 500 Power off max Speed 1000 ramp type Linear E Movement Mode absolut accelleration FEE target decceleration 500 ERES 0 Statusword quick stop decel 80000 me e Fi Start QuickStop Change on setpoint I Change Set Immediatelly Functions 500 15 x Power on Loop Mode Selection Closed Loop 0 0 0 Halt The following functions are available in the lt PP Mode gt tab Button field Function Movement Mode Select the
24. the Objects field Inhibit Time Enter the Inhibit Time in ms 0 1 When transmission type 255 is used this value indicates the minimum time between the transmission of two consecutive objects in 100s steps In this way it can be prevented for example that the current position which changes continuously during travel blocks the CAN bus Event Time Enter the Event Time in ms When transmission type 255 is used this value indicates the maximum time between two transmitted objects of the same type in ms steps This setting can be used to cyclically send objects that rarely change A value of 0 deactivates this behavior default Objects Read Select the objects to be mapped A maximum of 64 bits can be transmitted e g 2x 32bit e g pos demand pos actual value or 4x 16bit etc Read the settings from the control Write Step Action Write the settings to the control Proceed as follows to map the RPDOs and TPDOs 1 Put the control into the Pre operational status see Section 3 3 Network management On the PDO tab click on the Read button The PDOs currently mapped in the connected control are read and displayed Change the PDOs or remap them Click on the Write button The settings are written to the control The PDO is mapped automatically all necessary transitions of the state machine according to the CANopen reference are
Download Pdf Manuals
Related Search