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YukonDrive User Manual

1. 15 11 10 9 8 7 6 4 3 2 1 0 Operation Manufacturer Fault Enable Quick Enable Switch reserved Stop mode specific Reset p operation stop voltage on specific 10 0 10 M o M M M M MSB LSB O Optional M Mandatory Bits 0 3 and 7 DEVICE CONTROL COMMANDS are triggered by the following schema in the control word Table 40 Device control commands Bit of the control word Command Fault Enable Quick Enable Switch Transitions reset operation stop voltage on Shutdown 0 X 1 0 2 6 8 Switch on 0 0 1 1 1 a Switch on 0 1 1 1 F hioi Disable 0 Xx x 0 x 7 9 10 12 voltage Quick stop 0 X 0 X 7 10 11 Disable operation 0 0 1 1 5 Enable 0 1 1 1 4 16 operation Fault reset X X X X 15 Bits marked X are irrelevant In SWITCHED ON status the drive executes the functionality of this state There is no functionality in SWITCHED ON status The drive does not do anything in this state Bits 4 6 and 8 Bits 4 6 and 8 are interpreted differently according to the active operation mode modes of operation display object 52 Harmonic Drive AG YukonDrive 1003376 09 2011 Table 41 Mode specific bits in the control word Operation mode Cyclic Cyclic Cyclic synchronous synchronous synchronous Si Profile Interpolated y as y y Profile position A si position velocity torque Bit velocity Homing mode position mode mode mode mode mode mode Ether Ether Ether CAT CAT CAT
2. signal Completing commissioning When you have successfully completed commissioning save your settings using DriveMan AGER and store the data set in the device 4 1 4 Operation mode selection modes of operation There are different control modes for operation of the devices via CANopen The active operation mode is always selected via CiA 402 object 6060h Modes of Operation YukonDrive supports the operation modes as per the CiA 402 Profile Position mode Profile Velocity mode Homing mode Interpolated Position mode Cyclic Synchronous Position mode EtherCAT only Cyclic Synchronous Velocity mode EtherCAT only Cyclic Synchronous Torque mode EtherCAT only In the course of first commissioning the user implements the drive settings using motor data control settings 1 0 configuration etc A relevant control mode is also directly connected with the respective operation mode By switching modes of operation via CANopen EtherCAT it is possible to switch directly between position control speed control and torque control The drive is thus in speed control for Profile Velocity mode and in position control for Profile Position mode 20 Harmonic Drive AG YukonDrive 1003376 09 2011 4 1 5 Functionality of operation modes modes_of_operation 6060h Profile Position Mode Operation Profile Velocity Mode Mode Function Homing Mode modes_of_operation_display 6061h Picture
3. First select the relevant YukonDrive in the DriveManacer tree structure The right mouse button opens a context menu from which you can select the Reset Device Setting entry NOTE In both cases it takes approx 10 seconds for the device to signal that it is ready for operation again During this time the device performs a self test and changes all its settings to the factory setting However this setting is only retained if the data is backed up in the device Data backup is initiated via the DriveManacer user interface or by writing to object 200BH PARA_SetCmd Subindex 1 1 via the bus system The save operation can also be executed using object 1010 hex ATTENTION Data backup takes a few hundred ms During that time the device must not be switched off otherwise the settings will be lost Object 200BH PARA_SetCmd Subindex 1 is automatically set to O by the device after the save operation This process can be used for timeout monitoring of the function 4 2 5 Control functions Control functions can be optimally adapted to the relevant application Consequently several control formats are offered The appropriate formats can be selected by the master during the setup phase via the bus or by adjust ing the relevant device parameters The drive devices state machine has a cycle time of 1 ms All control commands and setpoints are processed within that cycle time by the drive device NOTE Control PDOs are processed in a minimum
4. In order to be able to set or reset digital outputs OSDOO OSD02 via the bus the MPRO_Output_FS_OSDxx output selectors parameter 122 124 must be configured for access via field bus The two setting options pro vided for this are valid for all three digital outputs OSDOO OSDO1 OSDO2 and are shown in the following table Table 37 Setting MPRO_Output_FS_OSDxx parameters 122 124 Setting Description 39 Output set via communication option in 1 ms cycle Output set via communication option updated in 1 ms cycle Output set via communication option updated in control cycle 40 Output set via communication option in NC cycle 62 5 us 50 Harmonic Drive AG YukonDrive 1003376 09 2011 7 5 5 Object 60FE digital outputs When the manufacturer specific parameter Function selector for digital output is set to CAN 13 the associated output can be influenced by way of this object Bit assignment of the object Bit 60FE assignment OsDOO 16 OsDO1 17 OSD02 18 OsD03 25 OSD04 26 osD05 27 8 Operation modes CiA 402 8 1 CiA 402 compatible operation modes Devices from the YukonDrive families support CiA 402 operation modes E Profile position mode Profile velocity mode Homing mode E 7 E Interpolated position mode m Cyclic Synchronous Position mode EtherCAT only a Cyclic Synchronous Velocity mode EtherCAT only Cyclic Synchronous Torque mode EtherCAT only The operation mode is switched via CANop
5. position gt positio_range_limit 607Bh 4 software_position_limit position_factor 607Dh 6093h home_offset 607Ch polarity 607Eh profile_velocity 6081h _ speed units gt Limit Function end_velocity speed units gt 6082h max_profile_velocity 607Fh speed units i oe z 4 Minimum velocity max_motor_speed Comparator limit 6080h Multiplier velocity_factor_1 6095h profile_acceleration 7 6083h acceleration units H _____ profile_deceleration acceleration units Limi 6084h l ion units Limit Function acceleration _quick_stop_deceleration acceleration units H ___ gt 6084h max_acceleration 60C5h max_deceleration 60C8h Picture 18 Structure of profile position mode 60 Harmonic Drive AG YukonDrive 1003376 09 2011 Mode specific bits in the control word Bit 4 New setpoint Bit 5 Change set immediately Bit 6 abs rel Bit 8 Stop Table 51 Profile position mode bits in the control word Bit Name Value Description 0 Does not assume target position 4 New setpoint 1 Assume target position Finish the current positioning and then start the Change set next positioning 5 3 immediately i Interrupt the actual positioning and start the next positioning 0 Target position is an absolute value 6 abs rel 1 Target position is a relative value 0 Execute positioning 8 Stop i St
6. 10 1 1 Description of manufacturer specific implementation 10 1 2 Control led homing 10 2 Indexing table function 11 EDS file object directory parameter list sccccssssssisszssesazcstssclsetctsessnsiessetssasatisenectatsasiescecheksaezeiadenedsscensaststitertsiesasisstecdeniedestiteans 73 1I EDS file Object directory icici cctanaisctieioadsnaiailduidaniadecnidcniiikwehqdataathaihiniawndimndanalaua S 13 Appendix GLOSS Aa Y ionnann a a a N a aa 74 09 2011 1003376 YukonDrive Harmonic Drive AG 3 1 1 1 General Introduction Measures for your safety The YukonDrive drive controllers are quick and safe to handle For your own safety and for the safe functioning of your device please be sure to observe the following points 4 E Follow the safety instructions Electric drives are dangerous E Electrical voltages gt 230 V 460 V Dangerously high voltages may still be present 10 minutes after the power is cut so always make sure the system is no longer live E Rotating parts E Hot surfaces Your qualification In order to prevent personal injury and damage to property only qualified electrical engineers may work on the device Knowledge of national accident prevention regulations e g VBG4 in Ger many E Knowledge of layout and interconnection with the CAN bus field bus During installation observe the following instructions Always comply with the connection conditions and technical specifications
7. Bit 12 HOMING ATTAINED Bit 13 HOMING ERROR Bit 14 ROT_O Table 49 Homing mode bits in the status word Bit Name Value Description o Stop 0 Home position not reached Stop 1 Axle decelerates 0 Target reached Stop 0 Home position reached Stop 1 Axle has velocity 0 Homing 0 Homing mode not yet completed 2 A attained Homing mode carried out successfully 0 No homing error Homing Homing error occurred 3 error Homing mode not carried out successfully The error cause is found by reading the error code Axle at standstill 14 ROT_O Speed is much lower than parameter 745 MON_REFWINDOW 09 2011 1003376 YukonDrive Harmonic DriveAG 59 8 2 3 Profile position mode In this operation mode mode of operation 1 the axle executes relative or absolute single positioning move ments Table 50 Profile position mode Object Object Object Type Attr no name code 0x607A arget_Position VAR Integer32 rw 0x607d Software position limit ARRAY Integer32 rw 0x6081 Profile_Velocity VAR Unsigned32 rw 0x6083 Profile_Acceleration VAR Unsigned32 rw 0x6084 Profile_Deceleration VAR Unsigned32 rw 0x6085 Quick stop deceleration VAR Unsigned32 rw 0x6064 Position actual value VAR Integer32 r 0x607E Polarity VAR Unsigned8 rw Units of the parameters are set by way of the Scaling Wizard or the objects from the factor group Structure of operation mode _ target_position position Limit 607Ah units Function
8. Harmonic Drive AG YukonDrive User Manual CANopen EtherCAT CAT Group ji 4 Harmonic Drive AG ARNING a 1003376 09 2011 Table of contents 1 General Introduction 1 1 Measures for your safety 1 2 Introduction to CANopen 1 3 Introduction to EtherCAT 1 4 System requirements 15 Further COGU era Gent OMe saiaisssscascassscocecctonectanacsutsodtaatsssstededenceojbetanaatusiasassbicceced4tene N E AA nn 6 2 Mounting and Connection of CANopen 2 1 Setting the address 2 2 Meanings of LEDs 2 3 Installation 2 4 Transmission speeds 2 5 Display of operating states via 7 segment display A 2 6Hardwareenablemeniinaaenicaninea AENEA 3 3 Mounting and Connection of EtherCAT 3 1 Installation and cabling 3 2 Pin assignment of the RJ 45 socket 3 3 Meanings of LEDs 3 4 Display of operating statuses via 7 segment display 3 5 Hardware erable on eesessesssssssssstesssstensssenmnsceemnssente 4 Commissioning and Configuration Of CANOPEN sssesssssssessssesessssssesssussssseeesiesssssessiiesenssessiinssseeessineesseeeetieessseeeetsenseteees 19 4 1 General commissioning of CANopen EtherCAT 4 1 1 Commissioning 4 1 2 Commissioning sequence 4 1 3 Commissioning via DriveMAnacer 4 1 4 Operation mode selection modes of operation 4 1 5 Functionality of operation modes 4 1 6 Setting the timing parameters 4 2 CAN specific configuration 4 2 1 Setting the
9. Homi oming Enable IP 4 New setpoint reserved operation A reserved reserved reserved mode start Change set im 5 s reserved reserved reserved reserved reserved reserved mediately 6 abs rel reserved reserved reserved reserved reserved reserved 8 Stop Stop Stop Stop reserved reserved reserved Use of the specific bits is explained in more detail in the sections on the operation modes Bits 7 and 11 15 Bit Name Value Description Fault 7 0 1 Fault reset Reset 11 No function No function 15 No function 09 2011 1003376 YukonDrive Harmonic Drive AG 53 8 1 3 Status word CiA 402 Object 6041h status word The content of the object is also mapped in parameter P 2209 MP_Statusword The status word indicates the current status of the drive It contains the following bits for E current state of the device E status of the operation mode and m manufacturer specific options Status word bits Table 42 Bits in the status word 0 Ready to switch on M 2 Operation enabled M 4 Voltage enabled M 6 Switch on disabled M 8 Manufacturer specific o 10 Target reached M 12 13 Operation mode specific 0 Bits 0 3 5 and 6 These bits indicate the STATUS of the controller Table 43 Device state bits in the status word XXXX XXXX XOXx 0000 Not ready to switch on Xxxx xxxx x01x 0001 Ready to switch on XXXX XXXX X01x 0111 Operation enabled XXXX XXXX XOXX 1111 Fault reaction active ial 4
10. Parameter P 2061 COM_CAN_Timeout_Type can be used to select whether the incoming SYNC signals or the RxPDOs are to be monitored Parameter P 2062 COM_CAN_Timeout_Value specifies the minimum time in milliseconds that must lapse after the last configured signal before a telegram failure is identified Telegram failure monitoring is only active in the NMT status Operational 6 Setting the Device Parameters for EtherCAT 6 1 Supported EtherCAT functionality Below you will find an overview of the EtherCAT functionality implemented in YukonDrive The diagram below shows the basis for the description that follows It shows the structure of EtherCAT based on the OSI 7 layer model HTTP FIP Application device profile CiA 402 TCP UDP Object Dictionary AL hed Ethernet j SDO PDO Mapping Mailbox Se DL EtherCAT Data Link Layer Physical Layer Ethernet j Picture 11 EtherCAT structure 36 Harmonic Drive AG YukonDrive 1003376 09 2011 The physical layer of EtherCAT based on IEEE802 3 100 BaseTX Ethernet physics The EtherCAT Data Link Layer DL is then based on this and is split into mailbox and process data The following layer is called the Application Layer AL and includes the services CoE CAN over EtherCAT and EoE Ethernet over EtherCAT All services that are not time sensitive i e intervention of their execution contents in process data is not ime sensitive
11. and 1 0 for inputs outputs e g variable for torque in Nm General points on the various protocol definitions DeviceNet Mainly in the USA corresponds to CAL definition 74 Harmonic Drive AG YukonDrive 1003376 09 2011 09 2011 1003376 YukonDrive Harmonic Drive AG 75
12. are grouped together in the mailbox The mailbox is used as a service data channel and thus also enables access to drive parameters This is done via the SDO Service Data Objects channel The mailbox service also provides the basis for EoE Ethernet over EtherCAT services and error handling emergency telegrams The process data is structured on the basis of CANopen CiA 301 This means objects are mapped in PDOs Pro cess Data Objects that are transferred cyclically This process data includes for example cyclic position speed or orque reference values and actual values o The basis for both SDO and PDO accesses to the drive is always the object directory which is also based on CANopen For the user this means that these objects can be accessed both via CANopen and via EtherCAT n the case of YukonDrive the CiA 402 device profile is again set up on the application layer For information on his layer please refer to the sections Implemented CiA 402 functionality and CiA 402 operation modes An overview of the EtherCAT functionality of YukonDrive is provided below Process data E 4 RxPDOs E 4 TxPDOs E Transfer length max 8 bytes per PDO E Variable mapping as per CiA 301 cf CANopen A ATTENTION The PDO must have an even number of bytes assigned If an uneven number is required this must be completed with a dummy byte for example The dummy byte is entered as object 0x2807 Cycle times Transfer of cyclic position
13. 6 significance 2 32 DIP switch 7 bus termination ON OFF Picture 2 Device with CANopen Option Example of use of the DIP switches Setting address 3 using the DIP switches Set switch 1 and switch 2 to ON gt 2942 3 Resulting device address 3 If the software address 0 is set 8 Harmonic Drive AG YukonDrive 1003376 09 2011 A IMPORTANT Switch 7 bus termination Note Changes to the CAN address are applied on a Reset node command Restart device power up Note The active bus address can be found in the boot up message 2 2 Meanings of LEDs The CAN option of YukonDrive has two diagnostic LEDs H14 H15 Picture 3 Device with CANopen Option 09 2011 1003376 YukonDrive Harmonic Drive AG 9 The LEDs have the following function Table 2 Meanings of LEDs LED Function Meaning The LED displays the current network status e NMT STOPPED flashing with 800 ms cycle CANopen H14 yellow LED P e NMT PRE OPERATIONAL network status ashi ith 1600 flashing wi ms cycle e NMT OPERATIONAL permanently lit Voltage supply Permanently lit if the 24V supply is H15 green LED CAN option powering the CAN option via the CAN bus 2 3 Installation Table 3 Electrical installation Step Action Note Make sure the hardware enable is wired on 1 See Operation Manual YukonDrive X4 Wire the CAN connection using connector X32 e C
14. 8 Changing functionality of operation modes in the display Users can switch between the various operation modes as long as these are supported by the device The status word contains bits the meaning of which depends on the operation mode For monitoring it is necessary for the bits to change their meaning when switching operation modes see also Chapter 6 4 1 6 Setting the timing parameter To ensure correct communication with the controller three timing parameters have to be set on YukonDrive As a rule these should all be set to the same value It should be borne in mind that different units have to be used when setting the three parameters see table Tabelle 16 Setting the timing parameters Para ID Name Object Unit 306 Internal interpolator cycle time ms 2015 Communication cycle period 0x1006 us 2266 0x60C2 Index 0 Interpolation time base s Index 1 Interpolation time exponent For EtherCAT parameter P 2266 MPRO_402_lntTimePeriod object Ox60C2 must be set to the cycle time for the setpoints or the telegrams 4 2 CAN specific configuration 4 2 1 Setting the software address and baud rate The software address and baud rate can be set using the following device parameters via DriveMANAGER Tabelle 17 Parameters on the Bus Systems function screen Parameter Function Description 2005 COM_CAN_Adr CANopen address Address assignment via parameter For more informa tion on setting the address see section 2 1
15. CAN Low 6 1 CAN_GND CAN Ground OV NOTE Both connectors on terminal X32 are connected to each other in the device NOTE The external 24V supply for the option board is essential It is not powered by the device 2 4 Transmission speeds The CAN bus can be operated at the following baud rates Table 6 Transmission speeds Transmission speed Mximum line length over the entire network 1 1000 kBaud 500 KBaud 250 kBaud 125 kBaud 50 kBaud 20 kBaud 1 Rounded bus length estimation follows 1M 800 kbit s 210 ns 25m 100 m 250m 500 m 1000 m 2500 m e Factory setting worst case on basis 5 ns m propagation delay and a total effective device internal in out delay as 500 250 kbit s 300 ns includ les 2 40 ns for optocouplers 125 kbit s 450 ns includes 2 100 ns for optocouplers 50 10 kbit s Effective delay delay recessive to dominant plus dominant to recessive divided by two 2 Fora bus length greater than about 200 m the use of optocouplers is recommended If optocouplers are placed between the CAN Controller and the transceiver this affects the maximum bus length depending upon the propagation delay of the optocouplers i e 4m per 10 ns propagation delay of employed optocoupler type 3 Fora bus length greater than about 1 km bridge or repeater devices may be needed When selecting the transmission rate it should however be ensured that the line length does not
16. E Electrical installation standards e g for cable cross section shielding etc E Do not touch electronic components and contacts electrostatic discharge may destroy components Harmonic Drive AG YukonDrive 1003376 09 2011 1 2 Introduction to CANopen CANopen is an interconnection concept based on the CAN Controller Area Network serial bus system CAN has many specific advantages in particular multi master capability real time capability resistant response to electromagnetic interference a high level of availability and the low cost of controller chips These advantages have resulted in CAN being introduced into widespread use in automation too Simplified cross manufacturer communication The integration of any number of devices in a manufacturer specific network involves substantial expense CANopen was developed to solve this problem In CANopen the use of CAN identifiers message addresses the time response on the bus the network management e g system start and user monitoring and the coding of the data contents is specified in a uniform way CANopen makes it possible for devices from different manufacturers to communicate in a network at minimal cost CANopen uses a subset of the communication services offered by CAL to define an open interface The selected CAL services are summarised in a kind of user guide This guide is called the CANopen Communication Profile CANopen functionality of YukonDrive The CANopen C
17. Harmonic Drive AG YukonDrive 1003376 09 2011 Bit 4 Voltage enabled Power supply is connected Bit 5 Quick stop In the LOW state this bit indicates that the controller is executing a quick stop Bits 0 1 and 2 of the status word are set to 1 when the drive is ready for operation The other bits indicate additional states of the drive such as execution of a quick stop In the event of an error the FAULT bit is set Bit 7 Warning Warnings such as temperature limits are indicated in bit 7 The device state does not change when warnings are issued For more information on the warning given refer to the FAULT CODE Bit 8 Manufacturer specific Currently not used Bit 9 Remote Currently not used Bit 10 Target reached The bit is automatically set when a SETPOINT is reached The setpoint depends on the OPERATING MODE A change to the setpoint by the master changes this bit With quick stop OPTION CODE 5 6 7 or 8 this bit is set when the quick stop ends This bit is also set at a standstill in response to a STOP request Bit 11 Internal limit active This bit is set when internal limits are reached This bit is dependent on OPERATION MODE Bits 12 and 13 These bits are dependent on OPERATION MODE see following section The following table provides an overview Table 44 Mode specific bits in the control word Operation mode Cyclic Cyclic Cyclic 2 Profile Interpolated synchronous synch
18. IN and the lower port X16 is the output OUT of the slave The incoming cable from the direction of the master is connected using the IN port and the outgoing cable is connected to the next slave using the OUT port The OUT port remains blank for the last slave in the series An open output on a slave leads internally to a logical short circuit of the transmit Tx and receive Rx cables For this reason every EtherCAT network can be regarded as a logical ring in terms of its topology Picture 6 EtherCAT option Upper RJ 45 port input Lower RJ 45 port output 14 Harmonic Drive AG YukonDrive 1003376 09 2011 A IMPORTANT Errors in cabling incorrect connection of input and output can lead to faulty addressing by the master Connecting cables Ethernet patch cables or crossover cables are suitable connection cables as per the CAT5e specification Cables engths of 0 3 m to a max 100 m are permissible A MPORTANT Never use EtherCAT and standard Ethernet together in one physical network This can lead to impairments including communication outages To avoid confusion always use different colours for EtherCAT and Ethernet cables 3 2 Pin assignment of the RJ 45 socket The two LEDs on the RJ 45 socket mean the following Table 9 Meaning of LEDs without additional status error LED PIN Farbe Kabel Aderpaar Funktion white orange 2 TxData 2 orange 2 TxData 3 white green 3 RecvData 4 blue 1 Unused 5
19. Ox60B9 Bit 8 Picture 23 Time sequence of Touch probe function Signal recorded Latched position read 10 1 2 Controlled homing The Touch probe function enables control led homing of an axis All the input signals described in section 10 1 1 can be used for this 10 2 Indexing table function The indexing table function is set in DriveManager 5 using the Scaling Wizard in the Movement Profile A Scal ings Units subject area A detailed description of the function can be found in the YukonDrive application manual 11 EDS file object directory parameter list 11 1 EDS file object directory An EDS file is available for integrating the devices into the CAN master The file is shipped with the firmware It contains all the CAN objects of the drive controllers NOTE YukonDrive has parameters with default values in the device that may deviate from the default values in the EDS file These are power stage specific parameters with contents that are dependent on the size Examples of such parameters are Para P 0302 CON_SwitchFreq Para P 0307 CON_VoltageSupply Para P 0651 DV_CAL_VDC 09 2011 1003376 YukonDrive Harmonic DriveAG 73 Picture 24 Appendix Glossary CANopen Based on CAL definition Corresponds to CiA Draft Standard 301 Expands the CAL definition to include function and unit assignment of the predefined variables This definition is being drafted by CiA and various user groups MOTION for drive technology
20. This text is entered in YukonDrive parameter 3 DV_DeviceAliasName Table 23 TIME D Direction DLC Byte 0 Byte 1 Byte 2 18 992445 x 60 8 40 03 20 18 992972 Rx 58 8 41 03 20 35 514341 x 601 8 60 00 00 35 514594 Rx 58 8 00 58 2d 36 269620 x 601 8 70 00 00 36 270175 Rx 58 8 10 00 00 36 982385 x 601 8 60 00 00 36 982664 Rx 58 8 00 00 00 37 686447 x 601 8 70 00 00 37 686706 Rx 58 8 10 00 00 38 421344 xX 601 8 60 00 00 38 421604 Rx 58 8 00 00 00 39 053526 x 601 8 70 00 00 39 053787 Rx 58 8 10 00 00 39 749081 x 601 8 60 00 00 39 749347 Rx 58 8 00 00 00 40 428981 x 60 8 70 00 00 40 429249 Rx 58 8 10 00 00 41 085839 x 601 8 60 00 00 41 086198 Rx 58 8 00 00 00 41 740755 x 60 8 70 00 00 41 741148 Rx 58 8 10 00 00 42 514034 x 60 8 60 00 00 42 514294 Rx 58 8 00 00 00 43 172512 x 60 8 70 00 00 43 172787 Rx 58 8 10 00 00 43 908571 x 60 8 60 00 00 43 908831 Rx 58 8 00 00 00 44 668466 x 60 8 70 00 00 44 668740 Rx 58 8 10 00 00 53 884044 x 60 8 60 00 00 53 884414 Rx 58 8 Ob 00 00 30 Harmonic Drive AG YukonDrive 1003376 09 2011 Transmission of transferred values ASCII At 6 bytes the string X axis is so short that it can be fully transferred in the first segment The following segments of 100 bytes of the parameter therefore only include zeroes Transmitted bytes HEX 58 2d 4 78 69 73 Interpretation ASCII X a Xx i s Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments 00 00 00 0
21. address can be selected using software and 5 Software and hardware address are added hardware The mapping must also be completed and the active operation mode selected as per CiA 301 402 Test the drive on the higher order controller see section 3 4 Save device setting gt 7 Finally save the setting Non volatile in device NOTE For more information on the subject of Units and scalings please refer to section 7 4 09 2011 1003376 YukonDrive Harmonic Drive AG 19 4 1 3 Commissioning via DriveMANAGER Procedure for commissioning with the aid of the application manual Table 15 First commissioning based on operation manual A precondition for this is first commissioning with the aid of the operation manual The user manual only covers adjustment of the software functions Commissioning as per application manual Setting the drive controller parameters using the application manual This includes for example the configuration of technology functions Commissioning based on CANopen user manual Configuration of field bus specific settings e g baud rate using this document Checking the set application solution To preserve the safety of personnel and machinery the application solution should only be checked at low speed Make sure the direction of rotation is correct In case of emergency the controller power stage can be disabled and the drive stopped by removing the ENPO
22. bus technology with minimal training In YukonDrive we have combined all our past experience in the CANopen area with this new field bus technology and achieved maximum compatibility and functionality 1 4 System requirements It is assumed you have a standard CANopen setup program and a CANopen interface driver For the precise protocol definitions please refer to the CAL specification With the aid of these objects it is possible to configure the actual CANopen communication very flexibly and adapt it to the specific needs of the user 1 5 Further documentation Operation manual for commissioning of the drive unit Application manual for additional parameter setting to adapt to the application The application manual can be downloaded as a PDF file from our website at http www harmonicdrive de Follow the Download link E CiA 301 Rev 4 0 Application Layer and Communication Profile E CiA 402 Rev 2 0 Device Profile Drives and Motion Control EtherCAT Communication Specification Version 1 0 2004 E EtherCAT Indicator Specification Proposal V0 91 2005 m EC61158 2 12 to IEC61158 6 12 6 Harmonic Drive AG YukonDrive 1003376 09 2011 2 Mounting and Connection of CANopen AN ATTENTION Do NOT insert or remove the CANopen connector during operation 2 1 Setting the address Table 1 Address setting Schritt Aktion Anmerkung Find out which address is assigned to the device you fi Ask your project engineer are
23. control variables in DriveManager 5 You can check the transmitted external pre control variables in YukonDrive in 2 ways The objects for pre control can be found in the CANopen EtherCAT subject area as device parameters The variables nref_Ext external speed pre control and mref_Ext external torque pre control can be recorded with the internal oscilloscope 68 Harmonic Drive AG YukonDrive 1003376 09 2011 9 Emergency objects Table 66 Emergency telegram Byte 0 1 2 3 4 5 6 7 Bit 0 7 8 15 16 23 24 39 40 47 48 63 Profile Device profile CiA 402 Drive controller Error Emergency error p p register Error Error loca Operating hours meter Error code as per j object number tion in full hours CiA 402 1001 h The decisive factors for rapid localisation are the error code and error location Byte 3 of the emergency telegram contains the error code which provides an initial categorisation of the cause of the error The precise cause of the error is specified by the error location in byte 4 Bytes 5 6 and 7 contain the internal operating hours meter of he device CANopen errors i e incorrect configurations bus disturbances etc are indicated by error code OxFFOO ote When an error occurs the controller executes a response as per the parameterised error response These can be set separately for individual errors ote The status indicators of the 7 segment display are explained in the ap
24. exceed the permissible line length for the transmission rate in question 12 Harmonic Drive AG YukonDrive 1003376 09 2011 2 5 Display of operating states via 7 segment display Table 7 DI D2 Meaning Parameter System statuses 8 8 Device in reset status 0 Auto initialisation on device startup Start se ib 1 Not ready to switch on no DC link voltage NotReadyToSwitchOn 2 1 Starting lockout DC link is OK power stage not ready SwitchOnDisabled 2 Ready to switch on power stage is ready ReadyToSwitchOn 4 On power is connected to the device SwitchedOn Sy Drive ready current applied to drive and drive ready for input of setpoint OperationEnable 6 Quick stop QuickStopActive Z Fault response active 2 FaultReactionActive E R Fault see below Fault The following appear alternately in the event of error E R Display for errors or non acknowledgeable errors X BX Error number decimal Y Error localisation decimal 1 S flashes if the STO Safe Torque Off function is active the display is not lit if the function is not active This is not a safe display under the terms of EN 61800 5 2 2 The point flashes if the power stage is active Example of the flash sequence ER gt 02 gt 05 ER gt 02 gt 05 Table 8 Er Error ER Fault HA Error name 02 Error in the parameter list HA Description of error 05 Function for checking current
25. in the event of error E R Display for errors or non acknowledgeable errors x Y Error number decimal x Y Error localisation decimal 1 S flashes if the STO Safe Torque Off function is active the display is not lit if the function is not active This is not a safe display under the terms of EN 61800 5 2 2 The point flashes if the power stage is active Example of the flash sequence gt ER gt 02 gt 05 ER gt 02 gt 05 Table 13 Error ER Fault Error name 02 Error in the parameter list Description of error 5 Function for checking current parameter list 35 Hardware enable YukonDrive has a control input for ENPO hardware enable on the control terminal This input must be configured to operate the power stage at 24V The device also provides the function STO Safe Torque Off see Operation Manual or Application Manual Yu konDrive category 3 control terminal ISDSH For these devices the relevant function logic must be implemented by way of the higher order controller as per the Application Manual Note When the inputs ENPO and ISDSH are not configured the device stays in status 1 Not Ready to Switch On or 2 Switch On Disabled Only after correct configuration can the status be exited by a Shutdown command via bus 18 Harmonic Drive AG YukonDrive 1003376 09 2011 4 Commissioning and Configuration of CANopen 4 1 General commissioning of CANo
26. installing Select the mode of addressing e by bus address parameter e by DIP switch S4 e by bus address parameter and DIP switch S4 See below Address setting finished for further procedure see Installation Three possible methods of address allocation 1 Only using bus address parameter P 2005 COM_CAN_Adr You will find parameter P 2005 COM_CAN_ Adr factory setting 1 in the field bus subject area under CANopen 2 Only using DIP switch 4 3 Combination of bus address parameter and DIP switch S4 CAN address hardware address 4 parameter P 2005 COM_CAN_Adr This option is advantageous if for example you intend always to use the same parameter set with up to 15 drives but the lowest address is 30 Parameter P 2005 COM_ CAN_Adr is then set to 30 The device address is then defined using the coding switch which ranges from 0 15 Ne 4 a Picture 1 Position of CAN connection on YukonDrive 09 2011 1003376 YukonDrive Harmonic Drive AG 7 address setting using DIP switch An address between 0 and 63 can be selected decimally using DIP switch S4 on the position controller The DIP switch is assigned as follows Positions are reserved for the address setting position 1 6 7 for the activation deactivation of the 120 Ohm bus termination in the device Function assignment DIP switch 1 significance 2 1 DIP switch 2 significance 2 2 DIP switch 3 significance 2 4 DIP switch
27. parameter list 2 6 Hardware enable YukonDrive has a control input for ENPO hardware enable on the control terminal This input must be configured to operate the power stage at 24V The device also provides the function STO Safe Torque Off see Operation Manual or Application Manual YukonDrive category 3 control terminal ISDSH For these devices the relevant function logic must be implemented by way of the higher order controller as per the Application Manual NOTE When the inputs ENPO and ISDSH are not configured the device stays in status 1 Not Ready to Switch On or 2 Switch On Disabled Only after correct configuration can the status be exited by a Shutdown command via bus 09 2011 1003376 YukonDrive Harmonic Drive AG 13 3 Mounting and Connection of EtherCAT 3 1 Installation and cabling Setup of the EtherCAT network In an EtherCAT network there is always one EtherCAT master e g an industrial PC and a variable number of slaves e g servo controller bus terminals etc Each EtherCAT slave has two Ethernet ports Slave to slave cabling is thus possible All EtherCAT users are generally connected in a line with the master at the beginning of the circuit On the last slave in the line the second Ethernet port remains open Ethernet Port offen Picture 5 Anschluss EtherCAT IN and OUT socket RJ 45 input output Each EtherCAT slave has two RJ 45 sockets The upper port X15 is the input
28. processed acyclically Typical processing times lie between 1 and 5 ms E Initialisation values of the COB IDs based on Predefined Connection Set Access to device parameters 2000h 5FFFh expedited non expedited Rev 11 09 09 2011 1003376 YukonDrive Harmonic DriveAG 23 5 1 2 Object directory of CiA 301 For a full overview of the supported CAN objects of YukonDrive please refer to the EDS file Here you can refer both to the CANopen objects of CiA 301 and CiA 402 and to the manufacturer specific objects of the device The following list shows an extract of the object directories with important CiA 301 objects For these objects the transmission types or mapping for example are explained below Table 19 Object directory Objekt Objekt Objekt Name Typ Attr Nr Code 0x1000 Device_Type VAR Unsigned32 ro 0x1001 Error_Register VAR Unsigned8 ro 0x1003 Pre Defined_Error_Field One subentry ARRAY Unsigned32 ro 0x1005 COB ID_SYNC VAR Unsigned32 rw 0x1006 Communication_Cycle_Period VAR Unsigned32 rw 0x1007 Synchronous_Window_Length VAR Unsigned32 rw 0x1008 Manufacturer device name String 0x1009 Manufacturer hardware version String 0x100A Manufacturer software version String 0x100C Guard_Time VAR Unsigned16 0x100D Life_Time_Factor VAR Unsigned8 0x1010 Store parameters ARRAY Unsigned32 tw 0x1011 Restore default parameters ARRAY Unsigned32 rw 0x1014 COD ID_EMCY VAR Unsigned32 0x1017 Producer_Heartbeat_Time VAR Unsigne
29. setpoints at max 8 kHz 125 us Transfer of cyclic speed setpoints at max 8 kHz 125 ps Transfer of cyclic torque setpoints at max 8 kHz 125 ps Mailbox YukonDrive supports the CAN over EtherCAT CoE and Ethernet over EtherCAT EoE protocol The following functions services are implemented CoE E SDO Abort E Initiate SDO Download m Download SDO Segment E Initiate SDO Upload E Upload SDO Segment Abort SDO Transfer E All device parameters are accessible via object ID 2000H x 09 2011 1003376 YukonDrive Harmonic DriveAG 37 Example The object 1000h Device Type exists both in the CiA 301 profile and also as a device parameter with parameter number 2011 Simultaneous two way access would therefore be possible via CANopen or EtherCAT In order to uniquely configure the access the read write access for this object is only possible via profile specific object number 1000h as per CiA 301 Emergency The Emergency service is designed for the transfer of error messages In contrast to CANopen emergency messages in EtherCAT are not autonomously sent from the slave but are retrieved by the master Functionality in YukonDrive E Error codes as per the CiA 402 device profile are supported For the structure content of the emergency message please refer to the section E Emergency Objects SDO Information Service The SDO Information Service allows the master to read the object directory of the slave In this way the ma
30. software address and baud rate 4 2 2 Commissioning instructions 4 2 3 Testing the higher order controlle 4 2 4 Data handling 4 2 5 Control functions i 4 3 Commissioning and Configuration Of EtherCAT sesssscsssssssssssssesssseessesssseesssessssseeetissenssesesimsssseessunsessseeetuneseseeeetunesete te 5 Setting the Device Parameters for CANOpen ssscsssssssssesssssssseessseseessesssseseeneesssteseeiensseseessenseeeeeesesseeeeeennssneeesenienseseeetets 23 5 1 Implemented CiA 301 functionality 5 1 1 Communication objects 5 1 2 Object directory of CiA 301 5 2 Parameter channel Service Data Objects 5 2 1 Data types 5 2 2 Representation of data types in the control protocol 5 2 3 Access to device parameters scsscsssssssssssseeseeesseeeees 5 3 Examples of SDO handling 5 3 1 Parameter set download 5 4 PDO transmission types goss 5 5 Event controlled TxPDO transmission 5 6 PDO mapping 5 6 1 Mapping genera 5 6 2 Mapping notes 5 7 Heartbeat function 5 8 Monitoring of telegram failure 6 Setting the Device Parameters for EtherCAT ssssssssssssesscsseseessessesssesssesseenseesssteseeiesseeseessssseeeeetseessseseetsnsseeeeceesnnseeeeeeees 36 6 1 Supported EtherCAT functionality 6 2 Configuration for operation in a controller 2 Harmonic Drive AG YukonDrive 1003376 09 2011 7 Implemented CiA 402 functionality PV Devic econtro
31. the individual parameters of the data set are sequentially transferred to the drive Despite the deactivated logic check basic checking mechanisms are still active These monitor for example the maintenance of parameter limits and become active if these are infringed Therefore if a value range limit is infringed by the download of a parameter this SDO protocol is directly rejected Abort message 3 Completing download and activating plausibility check Once all parameter data has been transferred to the drive controller parameter 11 subindex 4 is reset to the value O Then a logic check of the device parameters is carried out In case of error the user receives an Emergency message NOTE The download of a complete parameter data set is only possible when the system is at a standstill Make sure the drive controller is not switched on for the duration of the download 32 Harmonic Drive AG YukonDrive 1003376 09 2011 5 4 PDO transmission types In connection with the PDO transfer various transmission types are defined in CANopen profile CiA 301 The transmission type and event control can be set separately for all supported RXPDOs and TxPDOs The drive controller supports the following transmission types Acyclic synchronous type no O h Meaning RxPDOs are evaluated once a device specific event has been triggered and the next SYNC object has been received the TxPDO is then transmitted from firmware version 2 15 00 Cyclic synchron
32. white blue 1 Unused 6 green 3 RecvData 7 white brown 4 Unused 8 brown 4 Unused Pair 3 A Bild 1 1 RJ 45 Buchse NOTE Ethernet cables are available in various lengths in the IT specialist trade Use CAT5e cable or better 09 2011 1003376 YukonDrive Harmonic Drive AG 15 3 3 Meanings of LEDs There are 2 LEDs on each RJ 45 socket Picture 7 Device with EtherCAT option The two LEDs on the RJ 45 socket mean the following Table 10 Meaning of LEDs without additional status error LED LED Function Meaning Off no link No connection with another user Upper On link Link Activity LED Connection with another user exists no data exchange Flashing activity Data exchange active Off initialisation Device is in initialisation state RUN Flashing pre operational Lower only active on Device is in pre operational state LED the lower port if another user is connected here Device is in safe operational state Single flash safe operational On operational Device ready to start Depending on the device s hardware status an additional status error LED may be present in addition to the two LEDs on the two RJ 45 sockets In this case the meaning of the LEDs is as shown in the table below Table 11 Meaning of LEDs with additional status error LED LED Function Meaning Off no link i in No connection with another user Upper LED L
33. 0 00 Read Objekt 2003h Parameter 3 00 64 00 00 00 Reply 64h gt 100 bytes are to be transferred 00 00 00 00 00 Requirement segment 1 41 78 69 73 00 Reply segment 1 contains X Axis 00 00 00 00 00 Requirement segment 2 00 00 00 00 00 reply segment 2 00 00 00 00 00 Requirement segment 3 00 00 00 00 00 Reply segment 3 00 00 00 00 00 Requirement segment 4 00 00 00 00 00 Reply segment 4 00 00 00 00 00 Requirement segment 5 00 00 00 00 00 Reply segment 5 00 00 00 00 00 Requirement segment 6 00 00 00 00 00 Reply segment 6 00 00 00 00 00 Requirement segment 7 00 00 00 00 00 Reply segment 7 00 00 00 00 00 Requirement segment 8 00 00 00 00 00 Reply segment 8 00 00 00 00 00 Requirement segment 9 00 00 00 00 00 Reply segment 9 00 00 00 00 00 Requirement segment 10 00 00 00 00 00 Reply segment 10 00 00 00 00 00 Requirement segment 11 00 00 00 00 00 Reply segment 11 00 00 00 00 00 Requirement segment 12 00 00 00 00 00 Reply segment 12 00 00 00 00 00 Requirement segment 13 00 00 00 00 00 Reply segment 13 00 00 00 00 00 Requirement segment 14 00 00 00 00 00 Reply segment 14 00 00 00 00 00 Requirement segment 15 00 00 00 00 00 Reply segment 15 No further segments 09 2011 1003376 YukonDrive Harmonic Drive AG 31 5 3 1 Parameter set download The following data can be transferred to YukonDrive via the CANopen interface E Parameter set E A parameter data set can be downloaded by SDO transf
34. 1 1003376 YukonDrive Harmonic Drive AG rw ro rw rw rw rw rw wo ro 45 7 4 Units and scalings factor group The DriveManacer user interface offers a Scaling Wizard as a user friendly means of configuring the scaling of mechanical and electrical units of variables necessary for control The Wizard translates the application variables into representation of the parameters from the CiA 402 factor group The parameters from the factor group are listed below and can also be set directly by the user Correlations must be calculated externally and the final results entered in the relevant factor group parameter It is generally easier to have the Scaling Wizard calculate the parameter settings NOTE The following objects are directly calculated in YukonDrive Position factor Velocity encoder factor Acceleration factor The calculation is based on the objects stored in the formulae e g feed constant gear ratio etc It is in fact possible to change these variables in DriveManacer or via the bus but they will be overwritten by the internal calculation as part of the control initialisation NOTE In this section you will find an overview of the objects from the factor group and the underlying formulae for the calculation You will find practical examples for the implementation of scaling in the Application Manual Factor group as per CiA 402 Table 32 Factor Group Object Object Ob
35. 1 External latch 1 valid positive rise via Touch probe module 00000001 00000000 gt ENE 1 xx02 External latch 1 valid negative rise via Touch probe module 00000010 00000000 2 xx04 External latch 2 valid 00000100 0000 3 020 o xx08 External latch 2 valid 00001000 00000000 A nrag a 4 xx10 Internal latch C valid positive rise via MC_Home module 00010000 5 7 reserved 00000001 di Acknowledge value external latch 1 positive rise via Touch probe 00000000 a module 00000010 ap Acknowledge value external latch 1 negative rise via Touch probe XX 00000000 module 00000011 eRe er 8 11 03xx Acknowledge value external latch 2 positive rise 00000000 00000100 04xx Acknowledge value external latch 2 negative rise 00000000 00000101 05 Acknowledge value internal latch C positive rise via MC_Home XX 00000000 module 00010000 1Xxx reserved 00000000 00100000 2Xxx reserved 00000000 12 15 01000000 AXXx reserved 00000000 10000000 8xxx reserved 00000000 The stored position is written to object Ox60BA after bits 8 11 have been set in the status word 72 Harmonic Drive AG YukonDrive 1003376 09 2011 Time flowchart The time sequence of a measurement is shown using the example of measuring button ISDO5 and the corre sponding bits The time sequence applies analogously to the other configurable signals Measurement activated Position read Control word Ox60B8 Bit 0 Ox60B8 Bit 8 Status word Ox60B9 Bit 0
36. 2006 COM_CAN_Baudrate Baudrate Permissible baud rates see section 2 3 09 2011 1003376 YukonDrive Harmonic Drive AG 21 NOTE YukonDrive has a default baud rate of 1 Mbit The actual address is calculated by adding the software and hardware address and is displayed using parameter P 2058 COM_CAN_Adr_Act Any change to the baud rate in parameter P 2006 COM_CAN_Baudrate only takes effect once YukonDrive has been restarted The current baud rate is displayed using parameter P 2059 COM_CAN_Baudrate_act 4 2 2 Commissioning instructions A drive device may not respond to a telegram for a variety of reasons E There is no reply if the scope of telegram baud rate data length on the master computer is not correct E There is no reply if a drive device is addressed with the wrong bus address E There is no reply if the serial connection between the master computer and the drive device is not cor rectly set up E There is no reply if the 24V supply to the CAN connection is missing or the cabling is faulty E There is no valid reply if several devices with the same device address are connected to the bus E There is no reply if the device has certain network statuses The current network status can be checked using parameter P 2060 COM_CAN_NMT_State Tabelle 18 Parameter 2060 Parameter 2060 Description 0 Bootup 1 Init 4 Stopped Safe OP 5 Operational 127 Pre Operational 4 2 3 Testing the higher order controller To
37. E 42 Harmonic Drive AG YukonDrive 1003376 09 2011 FAULT REACTION ACTIVE Drive parameters have been changed An error has occurred in the device The QUICK STOP function has been executed The drive function is enabled and power is connected to motor FAULT Drive parameters have been changed An error has occurred and the fault reaction has been executed Power disconnection and connection depends on the application The drive function is deactivated Bit combinations of the DRIVECOM state machine Device control commands The following bit combinations of control bits 0 3 and 7 form the device control commands for the status transi tions of the state machine Table 28 Bit combinations Control word Command Transitions 7 3 2 0 SHUTDOWN 0 x 1 0 2 6 8 POWER UP 0 x 1 1 3 DISABLE POWER 0 x X 0 1 7 9 10 12 QUICK STOP 0 x 0 x 1 DISABLE OPERATION 0 0 1 1 5 ENABLE OPERATION 0 1 1 1 4 0 RESET FAULT gt x X x x 15 Device status table i Table 29 Bit combinations of the DRIVECOM state machine Status bit Status 6 5 3 2 1 0 NOT READY 0 x 0 0 0 0 STARTING LOCKOUT 1 K 0 0 0 0 READY 0 1 0 0 0 1 ON 0 1 0 0 1 1 OPERATION ENABLED 0 1 0 1 1 1 FAULT 0 K 1 0 0 0 FAULT REACTION ACTIVE 0 x 1 1 1 1 QUICK STOP ACTIVE 0 0 0 1 1 1 09 2011 1003376 YukonDrive Harmonic DriveAG 43 7 2 Option codes The devices support option codes for four different options for shutting down the dri
38. Status requirement for safe standstill 19 ENPO 7 5 2 Object 2079h MPRO_INPUT_STATE This manufacturer specific object provides an input map of all the YukonDrive digital inputs The object is map pable and transferable by PDO The assignment is as follows Table 34 Object 2079h MPRO_INPUT_STATE Bit Assignment 0 Status of input ENPO 1 Status of input ISDOO 2 Status of input ISDO1 3 Status of input ISDO2 4 Status of input ISDO3 5 Status of input ISD04 6 Status of input ISD05 i Status of input ISDSH 8to 15 Don t use 16 Status of input ISDO6 7 Don t use 18 Status of input ISA00 19 Status of input ISAO1 30 to 31 Don t use 09 2011 1003376 YukonDrive Harmonic DriveAG 49 7 5 3 Object 208Fh MRPO_OUTPUT_STATE This manufacturer specific object provides an input map of all the YukonDrive digital outputs The object is mappable and transferable by PDO The assignment is as follows Table 35 Object 208Fh MPRO_OUTPUT_STATE Bit Assignment 0 Status of output OSDOO 1 Status of output OSDO1 2 Status of output OSDO2 3to5 Don t use 6 Status of output motor brake 7 Status of relay output Table 36 Object 208Fh MPRO_OUTPUT_STATE Bit Assignment 0 Status of output OSDOO 1 Status of output OSDO1 2 Status of output OSDO2 3to5 Don t use 6 Status of output motor brake 7 Status of relay output 8 to 14 Don t use 15 Status of relay output STO Safe Torque Off 7 5 4 Setting digital outputs via field bus
39. activate changed settings the device must be switched off and back on again When the power is connected after an initialisation period of a few seconds the device must transmit a one off boot up message ID 700h node ID 701h for device address 1 If this happens the communication is OK NOTE When transferring data to the device via SDO telegrams the number of data bytes transferred should be taken into account For this the correct length information must be transferred in the control byte Alternatively however an SDO transfer without specification of the data length is also possible The correct operation of the control byte in the SDO telegram should also be observed 4 2 4 Data handling Saving the settings All configuration data can be backed up by the DriveManacer NOTE Please note however that some objects are RAM variables which must be correctly operated and initialised by the controller This includes for example object 6060h Modes of Operation Restoring factory defaults There are two possible ways of restoring the devices default factory settings Via field bus E Write value 1 to subindex 3 of object 20OBH PARA_SetCmd The factory settings are then applied to the whole device NOTE Please note that this also affects the settings for the baud rate device address The changes take effect after a Reset node command or device restart 22 Harmonic Drive AG YukonDrive 1003376 09 2011 Via DRIVEMANAGER
40. after entry of the HEARTBEAT PRODUCER TIME If the device is powered up with a HEARTBEAT PRODUCER TIME setting not equal to 0 the HEARTBEAT PROTOCOL starts with he status transition INITIALISING gt PRE OPERATIONAL n this case the BOOTUP MESSAGE is classed as the first HEARTBEAT MESSAGE Write Heartbeat COB ID 700 Node ID Heartbeat Heartbeat Consumer Producer request indication indication indication 4 Heartbeat Producer Heartbeat Time Consumer Time request indication indication gt 1 indication gt 4 Heartbeat Consumer Time 1 Heartbeat Event Picture 10 Heartbeat protocol r reserved always 0 s the status of the Heartbeat producer 0 BOOTUP 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL NOTE The NODE GUARDING and HEARTBEAT functions cannot be used in a device simultaneously If the HEARTBEAT PRODUCER TIME is not equal to 0 the HEARTBEAT PROTOCOL is used 09 2011 1003376 YukonDrive Harmonic DriveAG 35 5 8 Monitoring of telegram failure YukonDrive can be used to monitor the incoming SYNC telegrams and RxPDOs and to trigger an error message after a configurable number of failed telegrams The two parameters shown in the following table are used to configure monitoring Table 25 Data Types Para ID Name Description Selection of signal to be monitored P 2061 COM_CAN_Timeout_Type 0 SYNC 1 RxPDO s Timeout time ms P 2062 COM_CAN_Timeout_Value TRA P 0 monitoring inactive
41. anagement The Network Management is essentially based on the network management of CANopen although Stopped CANopen status has been replaced by Safe Operational EtherCAT status Depending on the range of functions offered by the control software individual status transitions can be executed automatically or via the PLC 38 Harmonic Drive AG YukonDrive 1003376 09 2011 Pre Operational 01 Safe Operational Operational Picture 12 EtherCAT state machine Table 26 Status description Status Description Init Initialisation the device starts up The device is ready to be configured Pre Operational ear 3 Mailbox communication is possible PDO input data TxPDO device can be read Safe operational N PDO output data RxPDO device is ignored Cyclic 1 0 communication Operational etree pazi PDO output data RxPDO device is processed Table 27 Status transitions Transitions Operations IP Start Mailbox Communication PI Stop Mailbox Communication PS Start Input Update SP Stop Input Update 09 2011 1003376 YukonDrive Harmonic Drive AG 39 Table 27 Status transitions Transitions Operations So Start Output Update os Stop Output Update OP Stop Output Update Stop Input Update SI Stop Input Update Stop Mailbox Communication Ol Stop Output Update Stop Input Update Stop Mailbox Communication 6 2 Configuration for operation in a controller The services describe
42. cycle time of 1 ms If protocols arrive at the device faster the telegram that arrived most recently overwrites the previous one An error message is not generated if telegrams are overwritten as a result of insufficient cycle time 4 3 Commissioning and Configuration of EtherCAT Commissioning via EtherCAT is possible using the XML file supplied on your controller All further commission ing and configuration steps depend on the controller used For notes on this please refer to the documentation provided by your controller manufacturer 5 Setting the Device Parameters for CANopen 5 1 Implemented CiA 301 functionality 5 1 1 Communication objects E Boot up to CiA 301 V4 01 guarding boot up via identifier 700h Four variably mappable TxPDOs transmission type 1 to 240 254 and 255 dec possible E Four variably mappable RxPDOs transmission type 1 to 240 254 and 255 dec possible One SDO server pay attention to definition of time conditions typical processing time in device approx 5 ms depending on capacity utilisation One emergency object error code to CiA 402 plus manufacturer specific error location and number operating hours of the device One Sync object NMT state machine to CiA 301 Node guarding and heartbeat see below Processing cycle PDO protocols can be processed in a minimum cycle time of 1 ms If protocols arrive faster the previous protocols are overwritten SDO protocols and NMT services are
43. d in the previous section e g PDO mapping etc are all operated by the controller Ether CAT master The communication specific configuration of YukonDrive is performed on the basis of the supplied XML files by the master The configuration of control settings scaling etc can also be performed via the DriveManacer Alternatively all parameters can also be configured via the object directory 7 Implemented CiA 402 functionality The functions in this section relate to activation in the modes of operation of the CiA 402 profile 1 Profile Position mode 3 Profile Velocity mode 6 Homing mode 7 Interpolated Position mode 8 Cyclic Synchronous Position mode EtherCAT only 9 Cyclic Synchronous Velocity mode EtherCAT only 10 Cyclic Synchronous Torque mode EtherCAT only 7 1 Device control and state machine The drive is controlled via the DRIVECOM state machine defined in CiA 402 see CiA 402 10 1 1 state machine No remote signal is provided 7 1 1 General information The DEVICE CONTROL FUNCTION monitors all the functions of the controller This function is subdivided into device control of the state machine operation mode function 40 Harmonic Drive AG YukonDrive 1003376 09 2011 1 controlword 6040h Device Controlling lt Remote j lt Terminals i x Fault Operation Mode State Machine a modes of operation 6060h statusword 6041h Pic
44. d16 rw 0x1018 Identity_Object alle 4 Eintr ge Serien RECORD Identity 23h ro nummer unterst tzen 0x1400 Ist_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1401 2nd_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1402 3rd_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1403 Ath_Receive_PDO_Parameter RECORD PDO CommPar rw 24 Harmonic Drive AG YukonDrive 1003376 09 2011 Table 20 Object directory max 8 obj max 8 obj max 8 obj max 8 obj 0x1600 0x1602 max 8 objects 0x1801 0x1803 ects ects ects ects Ist_Receive_PDO_Mapping max 8 objects 3rd_Receive_PDO_Mapping max 8 objects 2nd_Transmit_PDO_Parameter Ath_Transmit_PDO_Parameter RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD PDO Mapping 21h PDO Mapping PDO Mapping PDO CommPar 20h PDO CommPar PDO Mapping PDO Mapping PDO Mapping PDO Mapping rw rw rw rw rw rw rw rw 09 2011 1003376 YukonDrive Harmonic Drive AG 25 5 2 Parameter channel Service Data Objects The Service Data Object SDO permits write and read access to the object directory This SDO is implemented according to the CAL specification by the Multiplexed Domain CMS object The protocol is designed for the transfer of data of any length An SDO server is integrated into the device for SDO transfer Communication is by way of two reserved identifie
45. e 4 606Bh velocity_factor_1 polarity 6095h 607Eh l Picture 16 Structure of profile velocity mode Mode dependent bits in the control word The structure presented below is based on this operation mode Table 46 Profile velocity mode bits in the status word Object Object Object Type no name code 0 Execute the motion 8 Stop 1 Stop axle 09 2011 1003376 YukonDrive Harmonic Drive AG 57 8 2 2 Homing mode This operation mode mode of operation 6 is used for homing a position controlled axle The drive executes a movement according to the programmed homing method Note The Touch probe function enables control led homing of the drive See section 10 1 The various homing methods differ in the integration of the hardware limit switch home switch and index signal into the encoder system It should be noted here that appropriate digital inputs should be configured for limit switch and home switch functionality Limit switch function LCW right hand hardware limit switch LCCW left hand hardware limit switch HOMSW home switch The following objects are supported by the device for this operation mode Table 47 Homing Mode Object Object Object Type Attr no name code 0x607C Home_Offset VAR Integer32 rw 0x6098 Homing_Method VAR Integer8 rw 0x6099 Homing_Speeds ARRAY Unsigned32 rw 0x609A Homing_Acceleration VAR Unsigned32 rw 0x6099 01 quick jog 0x6099 02 slow jog control_w
46. e Object code Type Ox60FF Target velocity VAR Integer32 Ox60B1 Velocity offset VAR Integer32 Ox60B2 Torque offset VAR Integerl6 66 Harmonic Drive AG YukonDrive 1003376 09 2011 8 3 4 Cyclic Synchronous Torque mode EtherCAT only In this operation mode mode of operation 10 the controller cyclically transmits torque setpoints to the drive which controls the current As an option an additional torque setpoint can be transmitted Table 62 Supported objects Object no Object name Object code Type 0x6071 Target torque VAR Integerl6 Ox60B2 Offset torque 60B2 E Target N a Torque i torque N control 6071 Torque offset VAR Integerl6 N Torque actual value 6077 Velocity actual value 606C _ Position actual value 6064 4 4 4 Picture 22 Overview of cyclic synchronous torque mode Mode specific bits in the status word Table 63 Mode Specific bits in the status word Bit Name Value Description 12 Target torque 0 Target torque ignored 1 Target torque shall be used as input 09 2011 1003376 YukonDrive Harmonic Drive AG 67 8 3 5 External pre control of speed torque When using the drive controller in the cyclic synchronous position mode CSP see section 9 3 2 or cyclic synchronous velocity mode CSV see section 9 3 3 it is possible to specify external pre control values for the speed and torque via the controller The internal pre control function in
47. en object 6060h modes of operation This switch is possible in Operation enable power to motor status The current operation mode is indicated in the CANopen object 6061h modes of operation display 8 1 1 Configuring YukonDrive for activation via CiA 402 For activation via CANopen or CoE EtherCAT as per CiA 402 profile the following parameters must be set in the device Table 38 Configuring YukonDrive No Name Function Setting 159 MPRO_CTRL_SEL Control location selector CiA 402 165 PRO_REF_SEL Setpoint selector CiA 402 These parameters can be found under Motion Profile gt Basic Settings If the drive is operated in an operation mode in which the internal profile generator is inactive and cyclic set points are transferred e g cyclic synchronous position mode the interpolation time must be configured Table 39 Configuring YukonDrive No Name Function 306 CON_IpRefTs Cycle time of setpoints in IP mode The interpolation time CON_IpRefTs represents the cycle time in which setpoints from a higher level controller are expected 09 2011 1003376 YukonDrive Harmonic Drive AG 51 8 1 2 Control word CiA 402 Object 6040h control word The object is also mapped in the parameter P 2208 MP_Controlword The control word contains bits for E status control E control of operating modes and m manufacturer specific options The bits in the control word are defined as follows Table 39 Control word CiA 402
48. er or via the DriveManacer user interface version 5 or higher All manufacturer specific device parameters are also accessible via objects 2000h 5FFFh If a unified valid data set i e not just individual parameters needs to be transferred from the CAN master to the device the following points must be considered On every transfer of an individual parameter the drive controller checks whether the parameter matches its exist ing data set The check of the new parameter value sometimes refers to existing parameter values This means it is possible that the drive controller may reject a parameter even though it originates from a valid parameter data set because the parameter set is not yet complete in the device Since a simple error reset may not eliminate the cause of the error it may be necessary to reset to the factory defaults Remedy The parameter data set is transferred to the drive controller without a logic check At the end of the download the logic check is reactivated and the drive controller checks the transferred parameters for plausibility During this check parameter settings that do not functionally match are reported as errors Download procedure for a completed parameter data set 1 Reporting a download without logic check To deactivate the logic check and to report the download of a data set the value 1 is written to param eter 11 subindex 4 2 Downloading the parameter data to the drive controller In this step
49. gured signal a new measure ment must be started by resetting and then reconfiguring the corresponding bit Table 68 Object Ox60B8 Touch probe function Bit Value bin Value hex Description 00000000 se ge 0 xx01 Enable external latch 1 positive rise via Touch probe module 00000001 00000000 sare f 1 xx02 Enable external latch 1 negative rise via Touch probe module 00000010 00000000 ETEA 2 xx04 Enable external latch 2 positive rise 00000100 00000000 ere 3 xx08 Enable external latch 2 negative rise 00001000 00000000 TaS 4 xx10 Enable internal latch C positive rise via MC_Home module 00010000 5 7 reserved 00000001 RE x 01xx Read external latch 1 positive rise via Touch probe module 00000000 00000010 AANS 02xx Read external latch 1 negative rise via Touch probe module 00000000 00000011 PNT 8 12 03xx Read external latch 2 positive rise 00000000 00000100 oar ae 04xx Read external latch 2 negative rise 00000000 00000101 P TRAE x 05xx Read internal latch C positive rise via MC_Home module 00000000 13 15 reserved Object Ox60B9 returns the status of the Touch probe function If a signal activated by object Ox60B8 has been registered this is indicated in the status word by setting the corresponding bit 0 4 09 2011 1003376 YukonDrive Harmonic Drive AG 71 Table 69 Object Ox60B9 Touch probe status Bit Value bin Value hex Description 00000000 i ae n 0 xx0
50. h Subindex 1 event mask TxPDO1 bytes 4 7 00000000h NOTE The cyclic transmission of the TxPDOs is activated by setting a cycle time in ms in the objects 0x1800 TxPDO1 0x1801 TxPDO2 0x1802 TxPDO3 and 0x1803 TxPDO4 subindex 5 event timer 5 6 PDO mapping 5 6 1 Mapping general Variable mapping of parameters is possible on the YukonDrive for all four RXxPDOs and TxPDOs Mapping works as defined in the CANopen communication profile CiA 301 Most device specific parameters form part of the manufacturer specific area 2001h 5FFFh and can also be mapped in one of the PDOs For these parameters objects refer to the EDS file of the drive controller 5 6 2 Mapping notes Unlike earlier devices YukonDrive no longer has predefined mapping or mapping selectors This means that the controller must write the mapping to the drive controller prior to a communication via PDO Transfer of the data set is also possible By default all mapping settings are set to O i e the PDOs do not contain any mapping The communication settings mapping transmission types etc can be saved in the device however and are subject to data set handling This means they do not have to be rewritten each time and can be transferred with the data set The following objects are relevant for mapping RxPDOs 1600h RxPDO1 mapping 1601h RxPDO2 mapping 1602h RxPDO3 mapping 1603h RxPDO4 mapping TxPDOs 1A00h TxPDO1 mapping 1A01h TxPDO2 mapping 1A02h T
51. he basis of certain input signals using the Touch probe function Possible input signals are E Digital input ISDO5 E Digital input ISDO6 E Index signal It is possible to switch between different implementations using parameter 2285 Touch probe function selector E CiA 402 implementation not yet implemented m Manufacturer specific implementation 10 1 1 Description of manufacturer specific implementation In order to be able to use this function parameter P 2285 Touch probe function selector must first be set to 2 BECK2 the setting BECK1 is currently not supported If signals are to be recorded via the two digital inputs ISDO5 and ISDO6 these will have to be configured using parameters P 106 P 107 MPRO_Input_FS_ISDOx as measuring buttons setting 15 These parameters can be found in the subject area Configuration of inputs outputs Digital inputs Finally the following objects also have to be mapped RxPDO Ox60B8 Touch probe function TxPDO Ox60B9 Touch probe status Ox60BA Touch probe pos pos value Object Ox60B8 Touch probe function is used to specify whether the touch probe function is to be triggered on the falling edge rising edge or on both edges of the respective signal Setting the corresponding bit 0 4 activates the respective function edge controlled 70 Harmonic Drive AG YukonDrive 1003376 09 2011 The reading of the stored position is controlled by bits 8 12 On receipt of the confi
52. ink Activity On link Connection with another user exists no data exchangeh On link Lower LED Link PHY Off no link 16 Harmonic Drive AG YukonDrive 1003376 09 2011 LED Function Meaning Red error Off No Error Blinking Invalid Configuration Single Flash Local Error Double Flash Watchdog timeout Green RUN Status LED RUN Status error Off initialisation error Device is in initialisation state Flashing pre operational Device is in pre operational state Single flash safe operational Device is in safe operational state On operational Device ready to start 3 4 Display of operating statuses via 7 segment display Table 12 DI D2 Meaning Parameter System statuses 8 8 Device in reset status 0 Auto initialisation on device startup Start Si i 1 Not ready to switch on no DC link voltage NotReadyToSwitchOn 5 4 2 1 Starting lockout DC link is OK power stage not ready SwitchOnDisabled 3 Ready to switch on power stage is ready ReadyToSwitchOn 09 2011 1003376 YukonDrive Harmonic Drive AG 17 D1 D2 Meaning Parameter 4 On power is connected to the device SwitchedOn F ey current applied to drive and drive ready for input of OperationEnable 6 Quick stop QuickStopActive 7 Fault response active FaultReactionActive E R Fault see below Fault The following appear alternately
53. it or any change to it in a TxPDO can be defined as an event By default all bits max 64bit 8byte are monitored for changes and are evaluated as events Individual bits can be displayed using screens however and therefore are no longer used for event generation Screens enabling the display of individual bits of TxPDOs are defined in field parameter 2007 Each TxPDO has subindexes and each subindex is responsible for 32 bits of the TxPDO Its structure is thus as follows Parameter 2007 COM_301_EvMask Event mask for asynchronous transmit PDOs Table 24 Field parameter 2007 Sub Name Value Description Type ID 0 EvMsk_TxPdolL FFFFFFF Event mask for TxPDO 1 byte 0 3 uint32 1 EvMsk_TxPdolH FFFFFFFFh Event mask for TxPDO 1 byte 4 8 uint32 2 EvMsk_TxPdo2L FFFFFFF Event mask for TxPDO 2 byte 0 3 uint32 3 EvMsk_TxPdo2H FFFFFFFFh Event mask for TxPDO 2 byte 4 8 uint32 4 EvMsk_TxPdo3L FFFFFFF Event mask for TxPDO 3 byte 0 3 uint32 5 EvMsk_TxPdo3H FFFFFFFFh Event mask for TxPDO 3 byte 4 8 uint32 6 EvMsk_TxPdo4L Event mask for TxPDO 4 byte 0 3 uint32 ii EvMsk_TxPdo4H FFFFFFFFh Event mask for TxPDO 4 byte 4 8 uint32 09 2011 1003376 YukonDrive Harmonic Drive AG 33 Example of application of the screens To only allow the lower 16 bits of the TxPDO1 as an event the subindexes of parameter 2007 are described as follows Subindex O event mask TxPDO1 bytes 0 3 OOOOFFFF
54. ity encoder factor acceleration factor acceleration unit e second Object 607Eh Polarity The position setpoint and position actual value are multiplied by 1 or 1 depending on the value of the polarity flag The same applies to the speed reference and actual speed value Please observe the operation of the object polarity as per CiA 402 V2 0 Bits O to 5 reserved don t use Bit 6 velocity polarity Bit 7 position polarity NOTE As in the case of the other objects in the factor group changes in polarity only take effect if the control is switched off 7 5 1 0 map The status of the drive controller s inputs and outputs can be determined using various objects The following objects and parameters are implemented 48 Harmonic Drive AG YukonDrive 1003376 09 2011 7 5 1 Object 60FDh digital inputs This object is implemented in compliance with device profile CiA 402 It allows digital input functions defined in the profile to be evaluated That is it does not offer an input map of existing physical inputs but rather a function related input map So the input to which for example a limit switch is connected is irrelevant The bit that defines the state of the limit switch is permanently defined within the object Table 33 Object 60FDh digital inputs Bit Assignment 0 Negative limit switch 1 Positive limit switch 2 Home switch 3to 15 Reserved 16 to 31 Manufacturer specific curr not implemented 18
55. ject Type Attr no name Code Ox607E Polarity VAR Unsigned8 rw 0x6089 Position_Notation_Index VAR Integer8 rw Position_Dimension_Index 0x608A 7 f VAR Unsigned8 rw Only display for scaling block 0x608B Velocity_Notation_Index VAR Integer8 rw Velocity_Dimension_Index i 0x608C 7 VAR Unsigned8 rw Only display for scaling block 0x608D Acceleration_Notation_ Index VAR Integer8 rw Acceleration_Dimension_Index Ox608E 5 VAR Unsigned8 rw Only display for scaling block Ox608F Position_Encoder_Resolution VAR Unsigned8 rw 0x6090 Velocity_Encoder_Resolution ARRAY Unsigned32 rw 0x6091 Gear_Ratio ARRAY Unsigned32 rw 0x6092 Feed_Constant ARRAY Unsigned32 rw 0x6093 Position_Factor ARRAY Unsigned32 rw 0x6094 Velocity_Encoder_Factor ARRAY Unsigned32 rw 0x6097 Acceleration_Factor ARRAY Unsigned32 rw The factor group objects can be calculated and entered directly by the user independently of the DriveMANAGER Scaling Wizard The corresponding encoder settings must be made however 46 Harmonic Drive AG YukonDrive 1003376 09 2011 Calculation correlations for factor group parameters Object 608Fh Position encoder resolution The position encoder resolution defines the relationship between the encoder and motor revolutions encoder increments position encoder resolution motor revolutions Object 6090h Velocity encoder resolution The velocity encoder resolution defines the relationship between the encoder increments per seco
56. land state ta CU sicccccsssvocseatamanesancancteccesici enna A AREE NEREA 40 7 1 1 General information 7 1 2 State machine 7 1 3 Device states 7 2 Option codes 7 3 Device control objects 7 4 Units and scalings factor group 7 5 1 0 map 7 5 1 Object 60FDh digital inputs 7 5 2 Object 2079h MPRO_INPUT_STATE 7 5 3 Object 208Fh MRPO_OUTPUT_STATE 7 5 4 Setting digital outputs via field bu 7 5 5 Object 60FE digital outputs 8 OPeratiOm modes CiA AOD aa aseiacscicaecteazansasceseckapaadesctovsssestecocasaascndscengiah cher sheccraaiana seep nni ian 8 1 CiA 402 compatible operation modes 8 1 1 Configuring YukonDrive for activation via CiA 402 8 1 2 Control word CiA 402 8 1 3 Status word CiA 402 8 2 Operation modes with profile generation in drive 8 2 1 Profile velocity mode 8 2 2 Homing mode 8 2 3 Profile position mode 8 2 4 Velocity mode V F mode 8 3 Cyclical operation modes profile generation in the controller 8 3 1 Interpolated position mode na 8 3 2 Cyclic Synchronous Position mode EtherCAT only 8 3 3 Cyclic Synchronous Velocity mode EtherCAT only 8 3 4 Cyclic Synchronous Torque mode EtherCAT only 8 3 5 External pre control of speed torque ssessssseeen 9 Emergency Ob CUS styrta a S 69 9 1 Error acknowledgement general 9 2 Error acknowledgement via bus system HO Technology FUNCIONS sneren Ra AEE EEE ii 10 1 Touch probe
57. machine The following device states are possible OT READY TO SWITCH ON Only low voltage is connected to the drive E The drive is initialised or is performing a self test E f installed the brake engages in this state E The drive function is deactivated SWITCH ON DISABLED Starting lockout E Drive initialisation is complete E Drive parameters have been set E Drive parameters have been changed E o power to device for safety reasons E The drive function is deactivated E STO Safe Torque Off standstill and or ENPO not active READY TO SWITCH ON E Power is connected to the device E Drive parameters have been changed E Drive function is deactivated SWITCHED ON E Power is connected to the device E POWER AMPLIFIER is ready for operation E Drive parameters have been changed E The drive function is deactivated OPERATION ENABLE Technology ready E o errors were detected E Drive function is enabled and power is connected to motor E Drive parameters have been changed Refers to standard application of the drive QUICK STOP ACTIVE E Drive parameters have been changed QUICK STOP function being executed Drive function is enabled and power is connected to motor OPERATION command f the QUICK STOP OPTION CODE is set to 5 remain in QUICK STOP ACTIVE status you cannot quit he QUICK STOP ACTIVE status but you can switch to OPERATION ENABLE status using the ENABL
58. nd and motor revolutions per second encoder crements velocity encoder resolution second motor revolutions second Object 6091h Gear ratio Gear ratio defines the transmission ratio of a gear in relation to the motor It is defined as follows motor shaft revolutions ear ratio g driving shaft revolutions Object 6092h Feed constant The feed constant defines the feed per drive shaft revolution in position units This includes the gear if present feed feed constant driving shaft revolutions 09 2011 1003376 YukonDrive Harmonic Drive AG 47 Object 6093h Position factor The position factor converts the desired position in position units into the internal format in increments position encoder resolution gear ratio feed constant position factor Object 6094h Velocity encoder factor The velocity encoder factor converts the desired velocity in velocity units into the internal format in incre ments velocity encoder factor velocity encoder resolution gear ratio position unit F velocity notation index feed constant velocity unit e second F position notation index An example of F velocity notation index OF F position notation index would be 10 or 10 Object 6097h Acceleration factor The acceleration factor converts the acceleration in acceleration units per second into the internal format in increments per second velocity unit e veloc
59. ngs See also section 5 4 Units and scalings Yukon Drive supports the following objects in this operation mode Table 54 Velocity mode Object no Object name Object code Type 0x6042 vl target velocity VAR Integerl6 Table 55 Velocity mode Object no Object name Object code Type 0x6046 vl min max amount ARRAY Unsigned32 0x6048 vl velocity acceleration ARRAY Unsigned32 0x6049 vl velocity deceleration ARRAY Unsigned32 In this operation mode the device must be scaled in the unit Hertz Hz This requires the following settings using the Scaling Wizard in the standard CiA 402 area Position rev Speed rev s gt 1 s gt Hz Acceleration gt rev s s The limits then also have to be set Specifically these are Table 55 Limits in V F mode Object no Object name Description 0x6046 vl min max amount index 0 Min speed in user unit 1 Max speed in user unit 0x6048 vl velocity acceleration Index 0 Speed change in user unit 1 Per time unit 0x6049 vl velocity deceleration Index 0 Speed change in user unit 1 Per time unit 09 2011 1003376 YukonDrive Harmonic Drive AG 63 8 3 Cyclical operation modes profile generation in the controller In the cyclical operation modes described below the profile generation takes place in the controller the drive s internal profile generator is not active The drive interpolates between the controller setpoints transmitted cycli cally according to position speed t
60. nt limit 4 slow down on the voltage limit 5 slow down on slow down ramp and stay in QUICK STOP 6 slow down on quick stop ramp and stay in QUICK STOP 7 slow down on the current limit and stay in QUICK STOP 8 slow down on the voltage limit and stay in QUICK STOP Shutdown_Option_Code 1 Response as per Quick_Stop_Option_Code 0 disable drive function 1 slow down with slow down ramp disable the drive function Disable_Operation_Option_Code O disable drive function 1 slow down with slow down ramp and then disable the drive function Halt_Option_Code 0 disable drive motor is free to rotate 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on the current limit 4 slow down on the voltage limit Fault_Reaction_Option_Code 0 disable drive motor is free to rotate 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on the current limit 4 slow down on the voltage limit Modes_Of_Operation 1 profile position mode 3 profile velocity mode 6 homing mode 7 interpolated position mode 8 cyclic sync position mode EtherCAT ONLY 9 cyclic sync velocity mode EtherCAT ONLY 10 cyclic sync torque mode EtherCAT ONLY Modes_Of_Operation_Display see 0x6060 VAR VAR VAR VAR VAR VAR VAR VAR VAR Unsigned16 Unsigned16 Integerl6 Integerl6 Integerl6 Integerl6 Integerl6 Integers Integer8 09 201
61. o options are controlled via the timing of the NEW SETPOINT and CHANGE SET IMMEDIATELY bits in the control word and the SETPOINT ACKNOWLEDGE bit in the status word These bits allow a new positioning operation to be initiated even while the current one is ongoing data new_setpoint change_set_immediately setpoint_acknowledge 3 5 Picture 19 Setpoint transmission from a host computer If the CHANGE SET IMMEDIATELY bit is set to 0 solid line in above diagram a SINGLE SETPOINT is expected by the drive 1 When the setpoint has been transmitted to the drive the master activates the positioning by setting the new setpoint bit in the control word 2 The drive responds by setting the setpoint acknowledge bit in the status word 3 once the new data has been detected and saved Now the master can delete the new setpoint bit 4 Then the drive deletes the set point acknowledge bit to signal that a new setpoint is accepted 5 In the dia gram the mechanism initiates a speed O on reaching the target position at time t1 After the message indicating the target position has been reached the next target position can be initiated at time t2 62 Harmonic Drive AG YukonDrive 1003376 09 2011 8 2 4 Velocity mode V F mode This operation mode mode of operation 2 is used to control the drive in frequency regulated mode V F mode The units setpoint and ramp variables are derived from the factor group setti
62. ommunication Profile is documented in CiA 301 and regulates the way communication is executed It distinguishes between process data objects PDOs and service data objects SDOs The Communication Profile additionally defines a simplified network management system The device profile for CiA 402 Rev 2 0 variable speed drives was compiled on the basis of the CiA 301 Rev 4 01 communication services It describes the operation modes and device parameters supported The following sections will provide you with an overview of the CANopen functionality integrated in YukonDrive followed by the information necessary for commissioning 09 2011 1003376 YukonDrive Harmonic Drive AG 5 1 3 Introduction to EtherCAT As far as real time Ethernet systems are concerned EtherCAT has become well established in the area of automation The decisive factor here is not only the IEEE802 3 100BaseTX Ethernet physics known in the home office area but also the excellent value for money with regard to implementation in the master and slave modules Interconnection can be executed as required in a star ring or line structure using standard patch or crossover cables and is therefore easily adapted to the machine infrastructure To reduce the amount of training required familiar communication and device profiles were used as of the application layer In this way users familiar with CANopen profiles such as CiA 301 or CiA 402 can change over to this new field
63. onnection of CAN signal cables Bcc pedi Oo CAN bus connection table and Assignment of connection X19 table 2 e Connection of interface power supply e Activation of the internal bus terminating resistor on the final drive controller 3 Switch on the drive device Electrical installation is finished for how to proceed further refer to section 4 Commissioning and configuration The CANopen interface is integrated in YukonDrive The connection is made via connector X32 The interface is isolated from the drive controller electronics The supply to the isolated secondary side is provided by the customer via connector X32 10 Harmonic Drive AG YukonDrive 1003376 09 2011 Picture 4 System connection Table 4 Specification of CAN bus connection Connection Spring type terminal i 120W internal Wave terminating resistor be ii e Activation of the bus termination in the device via switch 8 Bus termination on the CAN option Max input frequency 1 MHz 24V 25 50 mA Ext voltage suppl xt voltage supply isolated from drive controller Voltage ripple Max 3 Vss Power consumption Max 50 mA per user Cable type 4 wire surge impedance 120 Q 09 2011 1003376 YukonDrive Harmonic Drive AG 11 Table 5 Assignment of connection X32 Terminal X32 PIN PIN Function Description 10 5 CAN_ 24V External 24V supply 9 4 CAN_H CAN High 8 3 CAN_SHLD CAN Shield optional 7 2 CAN_L
64. op axle with profile deceleration if not sup ported with profile acceleration Mode specific bits in the status word Bit 10 Target reached Bit 12 Setpoint acknowledge Bit 13 Following error Bit 14 ROT_ Table 52 Profile position mode bits in the status word Bit Name Value Description 0 Stop 0 Target position not reached Target Stop 1 Axle decelerates 10 reached i Stop 0 Target position reached Stop 1 Velocity of axle is O a Trajectory generator has not assumed the position Setpoint ing values yet acknowledge i Trajectory generator has assumed the positioning values 09 2011 1003376 YukonDrive Harmonic Drive AG 61 Table 53 Profile position mode bits in the status word Bit Name Value Description 0 No following error 13 Following error R 1 Following error Axle at standstill speed is much lower i Loo than parameter 745 MON_REFWINDOW Functional description This OPERATION MODE supports two different options for target position input SET OF SETPOINTS When the target position is reached the drive directly approaches the next target position the axle is not stop ped when the first target position is reached SINGLE SETPOINT When the target position is reached the drive indicates the fact to the master Then the drive receives a new setpoint At each target position the drive is stopped before being moved on to the next target position The tw
65. operation mode Table 45 Profile velocity mode Object Object Object Type no name code Ox606C Velocity actual value VAR Int32 Ox60FF Target velocity VAR Int32 0x6094 Velocity encoder factor ARRAY Int32 0x6083 Profile acceleration VAR Int32 0x6084 Profile deceleration VAR Int32 0x6085 Quick stop deceleration VAR Ulnt32 Ox607E Polarity VAR Ulnt8 Note In addition to the objects listed in the table object 0x6064 Position Actual Value is also updated cycli cally in profile velocity mode 56 Harmonic Drive AG YukonDrive 1003376 09 2011 Structure of operation mode n velocity units Multiplier be Multiplier ee A velocity_encoder_factor 6094h o edy IWVvelocity units Minimum __velocity max_motor_speed on Comparator imk 6080h po Multiplier gt velocity_factor_1 6095h l iosa een acceleration units gt im aon acceleration units p Limit Function pm a eE acceleration unit gt max_acceleration 60C5h max_deceleration 60C6h otion_profile_type _ anmanaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaamaaamamasasasMlt Profie elocity Profile cceleration rofile eceleration uick Stop eceleration Motion Profile elocity demand 6086h Type velocity demand gt gt Multiplier Multiplier velocity units G2 velocity_demand_valu
66. ord homing_speeds homing_acceleration home_offset Picture 17 Homing function status_word Homing position_demand_value YukonDrive supports all 35 homing methods defined in CiA 402 The individual homing methods functions and movement sequences are described in the device application manuals 58 Harmonic Drive AG YukonDrive 1003376 09 2011 Home offset The HOME OFFSET object is the difference between position O of the application and the HOME POSITION found during homing It is represented in position units At the end of a homing run the HOME OFFSET is added to the HOME POSITION found All subsequent absolute positioning operations relate to this new home position The homing method and the associated properties can be changed in two ways Homing can be changed either via DriveManacer or via CAN For configuration via CANopen the objects of the homing mode can be directly addressed For example for a change to the homing method object 0x6098 can be changed Mode specific bits in the control word Bit 4 HOMING OPERATION START Bit 8 STOP Table 48 Homing Mode bits in the control word Bit Name Value Description 0 Homing mode inactive Homi 4 aes 0 1 Start homing mode operation start 0 Homing mode active 1 0 Interrupt homing mode 0 Execute the instructions of bit 4 8 Stop 1 Stop axle with profile deceleration Mode specific bits in the status word Bit 10 TARGET REACHED
67. orque operation mode 8 3 1 Interpolated position mode The interpolated position mode operation mode mode of operation 7 is a further option alongside profile position mode for positioning axles via CANopen It is used for co ordinated movement of multiple axles or a single axle via one control In Interpolated Position mode though the driving profile is created entirely by the control It cyclically transmits roughly interpolated position values between which the drive controller handles the fine interpolation e g linear Accordingly the profile for the axle to follow is determined through the change in target positions for each time unit Position control is therefore implemented not only in the drive but also at the control level The following objects are supported by the device for this operation mode Table 56 Supported Objects Object no Object name Object code Type 0x60CO Interpolation sub mode select VAR Integerl6 0x60C1 Interpolation data record ARRAY Integer32 Ox60C2 Interpolation time period RECORD IndexO Unsigned8 Index1 Integer8 Multiplier __ Position range limit 607B Software position limit 607D Home offset 607C Interpolation data record 60C1 Interpolation data configuration 60C4 Interpolation submode selection 60C0 internal Polarity 607E ae 60FC Profile velocity 6081 or i End velocity 6082 poson Max motor
68. ous types no 1 F0 h Meaning The difference between this and the acyclic synchronous transmission type is that RxPDOs are only evaluated after receipt of I FO h Sync objects and TxPDOs are only transmitted every 1 FO h Sync objects Asynchronous types no FE h and FF h Meaning RxPDOs are evaluated immediately on receipt TxPDOs are transmitted by a device specific event The Sync object is irrelevant to this mode of transfer Special feature of type FF h For this the event is defined in the associated device profile OTE The desired transmission types are set by way of the corresponding CANopen objects 1400h for RxPDOs and 1800h for TxPDOs 5 5 Event controlled TxPDO transmission ote Event control is only active when the relevant transmission type is set to asynchronous FEh or FFh Function of event control Any bit changes within the TxPDO can serve as an event for the transmission of a TxPDO This means that only he mapped contents of this TxPDO can be used as an event for transmission of a TxPDO Accordingly it is not possible to send a TxPDO dependent on the changes in content of another TxPDO Example The status word 6041h is mapped in TxPDO1 TxPDO2 contains the current actual position A change in the status word in TxPDO1 can therefore not be used as an event for transmission of the TxPDO2 If this is required he status word 6041h can also be mapped in TxPDO2 however Selecting events n YukonDrive every b
69. pen EtherCAT 4 1 1 Commissioning The DriveManacer user interface is used for general commissioning of the drive system The DriveManacer includes tools to identify motor data provides access to a motor database for servo motors and enables general device configuration First commissioning is a separate subject regarding operation via the user interface and is described in detail in the device s application manual 4 1 2 Commissioning sequence Preconditions e The drive device is wired as specified in the operation manual and first commissioning is completed To test CAN communication it is sufficient to connect the voltage supply of the CAN option and the control voltage e If current is to be applied to the motor the hardware enable ENPO and the STO Safe Torque Off must also be correctly configured NOTE For more detailed information on optimisation of the software functions and control circuits refer to the device application manual Table 14 Step Action Note i Check the wiring Make sure the ENPO hardware enable X4 is not connected 2 Switch on the mains power and the 24V supply to the CAN interface Configure the drive device using the 3 Cai Inputs outputs software functions etc application manual Test the control quality and optimise the controller settings as necessary using the operation manual Set the parameters for the CAN communication The baud rate and the device address are required The
70. plication manual ote A full list of all error messages from YukonDrive including assignment of the corresponding emergency code can be found in the YukonDrive application manual 9 1 Error acknowledgement general Device errors can be acknowledged by the following mechanisms E Control word bit 7 edge controlled E Control input with programmed reset functionality E Hardware enable ENPO to control terminal E Operation via two buttons E Drive Manager user interface E Writing value 1 to parameter 153 MPRO_DRVCOM_FaultReset via the control unit or bus system NOTE For a detailed list of all error messages and remedial measures please refer to the YukonDrive application manual on our product CD 9 2 Error acknowledgement via bus system Another option is available via the object 6040 h control word Draft 402 6040h VAR Control word Integerl6 rw M An error acknowledgement is executed by a rising edge at bit 7 in the control word Resetting of the error is signalled by transmission of the following emergency message Table 67 Error acknowledgement ID Data bytes Description Emergency 00 00 00 00 00 00 00 00 Emergency message acknowledgement error If the cause of the error is not eliminated the drive controller returns to error status after transmission of another emergency message 09 2011 1003376 YukonDrive Harmonic Drive AG 69 10 Technology functions 10 1 Touch probe Positions of the drive can be recorded on t
71. rameters are visible in DriveManacer but only in the 1000H CiA 301 objects 6000H CiA 402 objects writeable readable range This means parameters stored both as device parameters 2xxxH range and as profile parameters CiA 301 CiA 402 can only be read and written to via their object number CiA 301 CiA 402 profile 09 2011 1003376 YukonDrive Harmonic DriveAG 27 Example The object 1000h Device Type exists both in the CiA 301 profile and also as a device parameter with parameter number 2011 Simultaneous two way access would therefore be possible via CANopen or EtherCAT In order to uniquely configure the access the read write access for this object is only possible via profile specific object number 1000h as per CiA 301 5 3 Examples of SDO handling The CANopen objects and the drive controller parameters can be accessed via the Receive SDO COB IDs 600 h node ID In a data transfer protocol a maximum of 4 data bytes can be transferred in Expedited mode This means all device parameters apart from String parameters can be written to with a single transfer protocol String parameters can be written to using the Multiplexed Domain protocol 28 Harmonic Drive AG YukonDrive 1003376 09 2011 Notes 09 2011 1003376 YukonDrive Harmonic Drive AG 29 Example of read access to string parameters parameter 3 DV_DeviceAliasName Note All numeric values are hexadecimal The string X axis is to be transferred
72. ronous synchronous i Profile position ae position velocity torque Bit velocity Homing mode position mode mode mode mode mode mode Ether Ether Ether CAT CAT CAT A 7 Target Target Target Setpoint Homing IP mode A s 12 Speed A 3 position velocity torque acknowledge attained active j A 7 ignored ignored ignored Followin Max sli Homin Followini 13 a E EER e reserved a reserved reserved error error error error 09 2011 1003376 YukonDrive Harmonic DriveAG 55 Bits 14 and 15 These bits are implemented specific to the manufacturer explanatory notes for them are given in the sections on the various operation modes 8 2 Operation modes with profile generation in drive For operation modes with profile generation in the drive the controller merely transmits a target position or speed for the movement to the drive controller How the drive controller reaches this position speed i e the configuration of the driving profile e g trapezoidal triangular steepness of ramps etc is determined and executed entirely by the drive controller 8 2 1 Profile velocity mode This operation mode mode of operation 3 is used to activate the device at a velocity setpoint as per the CiA 402 profile The drive is in speed control in this operation mode The units setpoint and ramp variables are derived from the factor group settings See also section 7 4 Units and scalings The device supports the following objects for this
73. rs Receive SDO 600 h Transmit SDO 580 h SDO Client SDO Server Daten 600H NodetD Byteo 1 2 3 4 5 6 7 Subindex Index Steuerfeld Objekt verzeichnis Antriebs regler 580H NodetD Byteo 2 3 4 5 6 7 Subindex Index Steuerfeld Picture 9 Example of an SDO data transfer in Expedited mode The CAL specification makes a basic distinction between three protocol services m Download protocol Write E Upload protocol Read E Abort protocol Error The upload and download protocols also differentiate between Expedited Multiplexed Domain protocol for access to objects with a data length of up to 4 bytes shown above and E Multiplexed Domain protocol for access to objects of any length The entries in the Control field are generated by the CANopen driver They are only included to fully document the examples cited The entries are dependent on the transferred data The control field is described in the CiA 301 profile 5 2 1 Data types NOTE The DriveManacer user interface displays many parameter settings in the form of value substitution texts Example Parameter 45 0 MOT_Type PSM When writing and reading via the field bus the corresponding numerical values for these value substitution texts must be used These values are displayed in brackets when the parameter is opened in DrivEMANAGER Example Parameter 45 O MOT_Type PSM 1 26 Harmonic Drive AG YukonDri
74. speed 6080 Minimum 6062 Max profile velocity 607F com parator Polarity 607E Profile acceleration 6083 Profile acceleration Profile deceleration 6084 or Profile deceleration Quick stop deceleration 6085 or Quick stop deceleration Max acceleration 60C5 Max deceleration 60C6 Quick stop option code 605A Picture 20 Structure of interpolated position mode 64 Harmonic Drive AG YukonDrive 1003376 09 2011 Mode specific bits in the control word Table 57 Mode specific bits in the control word Bit Name Value Description 0 Interpolated position mode inactive 4 Enable IP mode 1 Interpolated position mode active 0 Execute the instruction of bit 4 8 Stop 1 Stop axle Mode specific bits in the status word Table 58 Mode specific bits in the status word Bit Name Value Description o Stop 0 Position not yet reached Stop 1 Axle decelerates 10 Target reached Stop 0 Position reached Stop 1 Axle has velocity 0 0 Interpolated position mode inactive 12 IP mode active Interpolated position mode active 0 Axle not synchronised 14 Axle synchronised Axle synchronised 8 3 2 Cyclic Synchronous Position mode EtherCAT only In this operation mode mode of operation 8 the controller cyclically provides the position setpoints for the drive The position speed and current are controlled by the drive As an option an additional speed and torque setpoin
75. ster can determine the supported objects of the slave with the required additional information e g data type access rights etc The SDO Information Service therefore represents an alternative to the use of EDS files familiar from CANopen Functionality in YukonDrive Em Access to the object list and description E Alternative to integrating the EDS file EoE Functions such as the tunnelling of standard Ethernet frames in EtherCAT frames generally fall under Ethernet over EtherCAT This enables protocols for example TCP IP to be transferred via EtherCAT Implemented functionality in YukonDrive E Initiate EoE request E Initiate EoE response E EoE fragment request E EoE fragment response Distributed clocks Synchronisation in EtherCAT is implemented on the basis of distributed clocks Each slave has its own clock which is synchronised with the others using a synchronisation pulse The reference clock with which users are synchronised is accommodated in a slave NOTES on YukonDrive E All configuration of distributed clocks takes place in the controller Multiples of 125 ps time basis for control must always be used as cycle times XML file The XML file is used to integrate an EtherCAT slave into an EtherCAT master control It includes the configuration mapping etc for the respective operation modes NOTES on YukonDrive E The XML file is supplied with the firmware E Integration of this file is control specific NMT Network M
76. t can be transmitted as a pre control value The following objects are supported by the device for this operation mode Table 59 Supported objects Object no Object name Object code Type 0x607A Target position VAR Integer32 Ox60B1 Velocity offset VAR Integer32 Ox60B2 Torque offset VAR Integerl6 09 2011 1003376 YukonDrive Harmonic Drive AG 65 Torque offset 6082 Velocity offset 60B1 Position offset 60B0 Target p Position 5 Velocity Torque position _ control control control 607A f Torque actual value 6077n Velocity actual value 606C Position actual value 6064 Picture 21 Overview of cyclic synchronous position mode 4 Mode specific bits in the status word Table 60 Mode specific bits in the status word Bit Name Value Description 0 Target position ignored 12 Target position 1 Target position shall be used as input 0 No following error 13 Following error 1 Following error 8 3 3 Cyclic Synchronous Velocity mode EtherCAT only In this operation mode mode of operation 9 the controller cyclically transmits speed setpoints to the drive which controls the speed and current As an option an additional speed setpoint and additional torque setpoint for torque pre control can be transmitted by the controller The following objects are supported by the device for this operation mode Table 61 Supported objects Object no Object nam
77. the drive must be deactivated for this The relevant settings can be found in the tables below Table 64 CiA402 objects for external pre control Object no Object name Data type Scaling Ox60B1 Velocity offset Integer32 As per scaling for speeds CiA402 factor group Ox60B2 Torque offset Integerl6 In o based on rated motor torque in object 0x6076 i e a value of 1000 corresponds to the rated motor torque Table 65 YukonDrive device parameter Parameter Function Value 375 CON_IP_SFF Scale 376 CON_IP_TFFScale 379 CON_IP_FFMode e Subindex 0 e Subindex 1 e Subindex 2 Types of interpolation Scaling of speed pre control Scaling of torque pre control Switchover of pre control sources and specific setpoint formats PositionHighResolution Source for speed pre control values Source for torque pre control values 0 100 based on the pre control value 0 100 based on the pre control value See individual subindexes 0 32 bit position setpoint default 0 internal pre control default 1 external pre control 0 internal pre control default 1 external pre control When using external pre control via EtherCAT both linear and cubic or spline interpolation can be applied The type of interpolation is set via parameter P 370 CON_IP However do NOT use the setting SplineEXxtFF This type of interpolation is reserved for a different operation mode Checking pre
78. ture 13 Device controlling The status of the controller is controlled by way of the control word The status of the controller is displayed in the STATUS WORD In REMOTE MODE the controller is controlled directly from the CANopen network by PDO and SDO The state machine is controlled by the control word The state machine is also influenced by internal events such as errors 71 2 State machine The state machine describes the CONTROLLER STATUS and the possible options for control by the master A single status indicates a specific internal or external response At the same time the status of a controller restricts the possible control commands For example initiating a point to point positioning operation is only possible in the OPERATION ENABLE state States may change because of the control word or other internal events The current status is displayed in the STATUS WORD The state machine describes the controller status with regard to user commands and internal error messages controlword 6040h State Machine Internal Events statusword 6041h Actions WL Picture 14 State machine 09 2011 1003376 YukonDrive Harmonic Drive AG 41 7 1 3 Device states 0 Not Ready to Switch On 1 Switch On Disabled Fault 15 Fault Reaction Active Power Disabled Power 10 12 Enabled i Switched On 9 8 5 Quick Stop Activ Operation Enable Gncee 16 Picture 15 State
79. ve These four options are HALT function interrupt an ongoing movement E Controller disable function stop movement by cancelling the controller enable software Quick stop function stop movement by initiating a quick stop E Fault reaction function stop movement in case of an error For all variants the option code sets the parameters for the desired device response Table 30 Option Codes 5 Supported CANopen Function 3 settings Object 605Ah Quick stop option code Oto8 Object 605Bh Shutdown option code 1tol Object 605Ch Disable operation option code Oand1 Object 605Dh Halt option code Oto4 Object 605Eh Fault reaction option code Oto4 The objects form part of the data set as standard parameters of the devices NOTE The quick stop ramp is always executed with the smoothing preset for the driving profile ramps The error stop ramp is always executed without smoothing even when smoothing is programmed 44 Harmonic Drive AG YukonDrive 1003376 09 2011 7 3 Device control objects The following table lists the implemented objects for controlling the drive Table 31 Device control objects Object no Object name Object Code Type Attr 0x6040 0x6041 0x605A 0x605B 0x605C 0x605D 0x605E 0x6060 0x6061 Control word Status word Quick_Stop_Option_Code 0 disable drive function 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on the curre
80. ve 1003376 09 2011 The drive units support the following parameter data formats Table 21 Data types Data type Value range Function USIGN8 0 255 USIGN16 0 65535 Unsigned USIGN32 0 4294967295 INT8 128 127 INT8 32768 32767 Integer signed INT32 2147483648 2147483647 FLOAT32 see IEEE 32 bit floating point number in IEEE format STRING ASCII SHEER max Ise bytes in bus mode incl zero terminator 5 2 2 Representation of data types in the control protocol All data types are represented as 32 bit variables in Intel format and with the correct preceding sign Table 22 Assignment of data types in the data field Daten bytes in the 3 4 5 6 control protocol USIGN8 INT8 R r A Low Word Low Word High High Word Low High Word USIGN16 INT16 S LowByte Byte Byte HighByte USIGN32 INT32 FLOAT32 IEEE Format STRING See examples filled up with the appropriate preceding sign OOH or FFH 5 2 3 Access to device parameters Where can find the device parameters All device parameters are addressed by way of a parameter number In addition to the standard objects the CANopen profile also provides an area for manufacturer specific entries This area lies between 2000 h and 5FFF h If you then want to read or write parameter 455 MOT_FNOM rated motor frequency of the device the object index is generated from 2000 h parameter number hex In our example Index 2000 h 1C7 H NOTE Profile specific pa
81. xPDO3 mapping 1A03h TxPDO4 mapping NOTE A maximum of 8 objects can be mapped per PDO In a PDO a maximum of 8 bytes can be mapped NOTE Remember that the PDO must always be assigned an even number of bytes If an uneven number is required this must be completed with a dummy byte for example Parameter 2055 COM_301_U8 object 0x2807 is available for this purpose 34 Harmonic Drive AG YukonDrive 1003376 09 2011 5 7 Heartbeat function The Heartbeat function according to CiA 301 V4 01 is supported YukonDrive can then only be used as a heartbeat producer i e it sends heartbeat telegrams to the controller To this end object 1017H Producer Heart beat Time is implemented A time value in ms is entered as a value for this object The time value represents the cyclic interval during which the drive controller sends its heartbeat telegrams Heartbeat protocol The Heartbeat protocol defines an ERROR CONTROL SERVICE without using REMOTE FRAMES A HEARTBEAT PRODUCER sends a cyclic HEARTBEAT MESSAGE One or more HEARTBEAT CONSUMERS receive this message The relationship between the PRODUCER and the CONSUMER can be configured by way of the objects described below The HEARTBEAT CONSUMER monitors receipt of the HEARTBEAT PROTOCOL taking account of the preset HEARTBEAT CONSUMER TIME f the HEARTBEAT PROTOCOL is not received within the HEARTBEAT CONSUMER TIME a HEARTBEAT event is generated The HEARTBEAT PROTOCOL starts directly

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