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ViX CANOpen Series Digital Drives User Guide

1. Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2153 00 GOTO Command Visible String WO N A N A No This object allows the user to directly move to a pre defined program label The limitations to this are as follows 1 The label must have been defined within the EASI V program using the DECLARE function 2 The label must be not longer than 5 ASCII characters 3 The ASCII commands must be in upper case Example In order to move to the START label it is necessary to use the following format The user only need send the NAME of the program Thus in the example below only the word START is sent Command System Command ASCII String Goto START Program Axis 1 1GOTO START 53 54 41 52 54 0x2155 LOOP Loop Program Label Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2155 00 LOOP Command Various RW 0x02 0x02 No This object allows the user to loop a pre defined program label and has the same functionality as the LOOP command within EASI V 0x2155 01 LOOP Number of Loops Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2155 01 Number of Loops Unsigned16 RW 0x0000 OxFFFF No This sub index defines the number of loops to be executed The label must already be defined on the target for the execu
2. For further information on the transmission types please refer to Appendix 3 0x1401 03 RxPDO2 Configuration Inhibit Time Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1401 02 Inhibit Time Unsigned16 RW 0x03E8 0x0000 OxFFFF It is important to remember that this value is specified in units where 1 unit 100us VIX CANopen USER GUIDE 15 RxPDO1 Mapping Parameter 0x1600 RxPDO1 Mapping Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1600 00 RxPDO1 Parameter Array 5 No 0x1600 00 RxPDO1 Mapping Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1600 00 Number of Unsigned8 RW 0x02 0x00 0x04 Entries 0x1600 01 RxPDO1 Mapping PDO Mapping Entry 1 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1600 01 Fin Unsigned32 RW 0x60400010 0x00000000 OxFFFFFFFF This PDO has a default mapping of 0x6040 the ViX Control Word 0x1600 02 RxPDO1 Mapping PDO Mapping Entry 2 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1600 02 in Unsigned32 RW 0x60640020 0x00000000 OxFFFFFFFF This PDO has a default mapping of 0x606
3. Status W ord 1000 000_0_0000 Not Ready to Switch On De Energised Status Word 200000 0021111 Fault Control Word VOR RX Status W ord 2000 2200 KT D0O0O0 H Control Word Switch On Disabled E 13 Dox xxx De Energised 7 H L Control Word gt 7 Control Word Dx x110 Oxxx 0x Status W ord H 2000920020 1 _000 1 Control Word Ready to Switch On Doc x 110 8 De Energised SE e Pkt Doo x110 Control Word Doo x111 Status W ord xox 700x200 1_001 1 Switched On Energis ed A 5 Control Word Oxx 0111 Control Word Oooo 015 44 Status Word IOXX00X_X00x_0111 Control Word Quick Stop Active Doze 1111 Energised Control Word 4 Mox 1111 Status W ord 200092000 1x_0111 Operation Enable Energis ed Power Enabled VIX CANopen USER GUIDE 76 Explanation It should be noted that the previous diagram is only valid if the states are shifted over the CAN bus If this is not so then it is possible for the status object 0x6041 to return an invalid number Below is a diagram showing the operation of the state machine over can and the commands sent to shift states Example Operation Using CAN State Machine Status Word 06 40 Control Word 00 06 Status Word 06 31 Ready to Switch On Control Word 00 07 Energise Drive Status Word 06 33 Switched On Control Word 00 OF Enable Operation Status Word 06
4. 30 Incremental Position 0x2050 43 In Position Window 0x6067 64 Time 0x6068 64 Input Word 0x6100 70 L Life Time 0x100D 30 Loop 0X2 55 e 46 M Manufacturer Device Name Ps A EE 28 Manufacturer Hardware Revision IOX1009T 29 Manufacturer Software Revision OXIDO usaras 29 Motion Profile Type Ox6086 66 N Node lD 5 O Object NDSeS sese 10 Operation Mode Change 0x6060 63 Report 0x6061 63 Output Word 0x6300 71 P Process Data Objects PDO 12 TxPDO1 Configuration 0x1800 18 TxPDO2 Configuration 0x1801 20 TxPDO Mappable Objects 24 TxPDO1 Mapping 0x1A00 22 TxPDO2 Mapping 0x1A01 23 RxPDO1 Configuration 0x1400 13 RxPDO2 Configuration 0x1401 14 RxPDO Mappable Objects 17 RxPDO1 Mapping 0x1600 15 RxPDO2 Mapping 0x1601 16 Position Actual 0x6064 63 Position Error OX205 ME 43 VIX CANopen USER GUIDE COPA atc toca Obes 70 Position Target EE ee 44 OXGO PAT A 65 POSMAIN 0x21A0 47 PDO see Process Data Objects PROFILE Ox21A1 48 Profile Acceleration 0x21A1 02 50 Deceleration 0x21A1 03 50 Distance 0x21A1 04 50 Velocity 0x21A1 06 51 REG OX21A2 2 51 RxPDO see Pr
5. This object allows the user to control the state machine within the ViX drive Please refer to the earlier section for more information 0x2008 0B VC FieldBUSNode FN Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 OB FieldBUS Node Unsigned8 RW 0x00 Ox7F No This object defines the node identity Although this parameter can be written to and changed it will not become active until a power cycle or software reset is carried out VIX CANopen USER GUIDE 43 0x2008 0C VC FieldBUS Control FC Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 OC FieldBUS Control Unsigned8 RW 0x00 OxFF No This object defines the fieldbus control variable Please refer to the earlier section for more information 0x2008 0D VC S Curve Enable SC Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 OD S Curve Enable Unsigned8 RW 0x00 0x01 No This object writes to the SC variable and hence enables s curve operation during acceleration and deceleration 0x2050 PI Incremental Position Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2050 00 Incremental Integer32 RW 0x80000000 Ox7FFFFFFF RxPDO Position TxPDO This object reports th
6. 0x1801 04 TxPDO2 Configuration Reserved Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 04 Reserved Unsigned8 N A 0x00 0x00 OxFF 0x1801 05 TxPDO2 Configuration Event Timer Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 05 Event Timer Unsigned16 RW 0x000A 0x0000 OxFFFF Asynchronous TxPDOs can be transmitted cyclically with the event timer If its value is greater than 0 it becomes a millisecond timer When this is expired the PDO is transmitted Transmission therefore takes place both when an external device input is altered and when the event timer is lapsed VIX CANopen USER GUIDE 22 TxPDO1 Mapping Parameter 0x1A00 TxPDO1 Mapping Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1A00 00 TxPDO1 Parameter Array 5 No 0x1A00 00 TxPDO1 Mapping Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum Ox1A00 00 Number of Unsigned8 RW 0x02 0x00 0x04 Entries 0x1A00 01 TxPDO1 Mapping PDO Mapping Entry 1 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum Ox1A00 01 es Unsigned32 RW 0x60410010 0x00000000 OxFFFFFFFF This PDO has a
7. Source FOLLOW Variable ASCII Value Analogue Input A 0x41 X4 1 and X4 2 Encoder Input E 0x45 X4 7 X8 8 X4 12 X4 13 Source On Off Permanent Bit Set 15 14 13 12 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 1 0 1 1 0 0 0 0 o 0 1 This binary number converted into hex will give the value 0x4181 This will be the value used in 0x21A5 01 0x21A5 02 FOLLOW Scale Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping Ox21A5 02 FOLLOW Scale Integer16 RW 0xEC78 0x1388 No This object allows the user to specify the SCALE term used in the FOLLOW command It should be noted that the current range is 5000 to 5000 The default value is 100 The SCALE is scaled too That is the value read back over CAN is increased by a factor of 10 Thus if the value of 100 is user as per the example the value of 0X21A5 02 is Ox03E8 0x21A6 BRAKE Servo Index Name Sub Indices Elements Attribute PDO Mapping 0x21A6 BRAKE Command 0x03 0x04 RW No VIX CANopen USER GUIDE 57 This object allows the user to specify the BRAKE parameters This object defines two parameters of the BRAKE function The breakdown of the bit allocation has been shown in the diagram overleaf 0x21A6 SS 1BRAKE on off mode RD ED 0x21 ie 0x21A6 02 0x21A6 03 0x21A6 01 BRAKE On Off and Mode Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum
8. CANOpen Report 0x2007 02 01 05 00 00 Thus by observation it can be seen that the CANOpen value reports the data in an inverted form 0x2007 03 VR Indexer Status ST Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 03 Indexer Status Unsigned32 RO 0x00000000 OxFFFFFFFF TxPDO Sub index 3 reports back the indexer status The individual bits of the status will indicate true whilst the condition exists See table for further information 0x2007 04 VR User Fault UF Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 04 User Fault Unsigned32 RO 0x00000000 OxFFFFFFFF No The user fault status is reported back by sub index 4 Reading the fault status will cause the fault flags to be reset and the status cleared Faults will stay valid until read and so there may be a flag from a previous fault still set See table for further information VIX CANopen USER GUIDE 37 0x2007 05 VR Ready Busy Flag RB Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 05 Ready Busy Flag Unsigned8 RO 0x00 0x01 TxPDO This flag shows when the drive is either Ready or Busy With the motor stationary this bit is set to 0 when the motor is moving this is set to 1 It should be noted that this flag c
9. 20 14 DC4 60 3C lt 100 64 d 21 15 NAK 61 3D 101 65 e 22 16 SYN 62 3E gt 102 66 f 23 17 ETB 63 3F 2 103 67 g 24 18 CAN 64 40 104 68 h 25 19 EM 65 41 A 105 69 I 26 1A SUB 66 42 B 106 6A j 27 1B ESC 67 43 C 107 6B k 28 1C FS 68 44 D 108 6C 29 1D GS 69 45 E 109 6D m 30 1E RS 70 46 F 110 6E n 31 1F US 71 47 G 111 6F 0 32 20 space 72 48 H 112 70 p 33 21 73 49 I 113 71 q 34 22 i 74 4A J 114 72 r 35 23 75 4B K 115 73 s 36 24 76 4C L 116 74 t 37 25 77 4D M 117 75 U 38 26 amp 78 4E N 118 76 V 39 27 i 79 4F O 119 77 w 40 28 80 50 P 120 78 x VIX CANopen USER GUIDE 78 Appendix 2 CiA DS 301 CAN State Diagram Introduction All CANOpen devices utilise the same standard state NMT state machine It can be seen that from power on the node will immediately pass through to the Pre Operational state It is in this state that device configuration using SDOs is possible When complete the node is then moved into the Operational state by the issue of the Start Remote Node command Power On Reset Reset Node Initialization initialisation finished Enter Pre Operational Pre Operational Stop Remote Node Enter Pre Operational Stopped Stop Remote Node Operational VIX CANopen USER GUIDE 79 Appendix 3
10. S je ee ae er Pat o O OC o Wang I Switch On Disabled DD OSS aua aas Voltage Disabled T H a DI Operation Enabled swen T Ready to SwitchOn T It should be noted that a healthy drive should return the value 0x0627 VIX CANopen USER GUIDE 63 0x6060 Change Operation Mode Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6060 00 Change Integer8 WO OxEO OxFF No Operation Mode This object allows the user to change the mode of operation of the drive identical to the M command within EASI V Mode BRAKE Variable ASCII Value Mode Absolute MA OxFO Mode Incremental MI OxFE Mode Continuous MC OxFF Mode Position MP OxEO Mode Bi Directional MB OxF8 0x6061 Report Operation Mode Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6061 00 Report Integer8 RO OxEO OxFF No Operation Mode This object allows the user to see the current mode of operation of the ViX drive See object 0x6060 for information on the returned values 0x6064 PA Position Actual Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6064 00 Position Actual Unsigned32 RO 0x00000000 Ox7FFFFFFF No This object reports the absolute position of the motor Similar to the 1R PA command w
11. SYNC NMT Error Boot Up Control Initialisation X Stopped X X Pre Operational X X X X X X Operational X X X X X X X For PDOs to be active the state machine must be Operational With Bit 5 of the Fieldbus Control set the internal state machine will be set to Operational and will make PDOs valid without the need for a master axis to send an NMT message Use Device Address as Node ID When this bit is set the saved Node ID is over written and the device address is used as the Node ID The parameter is only valid on power up or after a reset VIX CANopen USER GUIDE 7 3 External I O Modules Overview Parker has introduced a range of I O modules for use on the CANOpen FieldBUS The implementation of CANOpen on the ViX product range has been enhanced to include the monitor and trigger on condition of external I O modules The command structure has been made such that the status of the inputs and outputs can be can be accessed through two new variables IE and OE To date the FMON command supports up to 32 digital inputs and 32 outputs Analogue UO is not yet supported This command has been designed with the Parker PIO in mind although so long as the I O device does not send more than 32 bits within its TXPDO the device will be compatible The CANOpen ViX drive has been equipped with a simple NMT capable of setting the chosen node into the Operational state This can
12. Speak when spoken to only echo responses 7 Echo Off Speak whenever only echo responses It is useful to note that with the Echo On the drive transmits characters received so that commands may be passed to other axes in a RS232 chain while with Echo Off the drive doesn t transmit any characters received If the parameter is set to Speak Whenever then the drive will transmit a message if required for example E when a limit is hit without being specifically requested This mode is dangerous to use in a daisy chain RS232 application as it could corrupt a valid message VIX CANopen USER GUIDE 41 0x2008 08 VC LimitMask LIMITS Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 08 Limit Mask Unsigned32 RW 0x10000 OxFFFFOO3F No This object is identical to the EASI V LIMITS command This entry is made of several values these are the limit deceleration LD the mode of operation mode the type of limits type and the bit mask to enable or disable them mask aLIMITS mask type mode LD mode type mask Action Bit5 Bit3 Bit1 BitO 0 0 Positive and Negative limits enabled 0 1 Positive limit enabled Negative limit disabled 1 0 Negative limit enabled Positive limit disabled 1 1 Positive and Negative limits disabled 0 Limit normally open 1 Limit normally closed 0 Stop motion when a limit is hit but co
13. C CANopen Baud rate ee 5 Transmission distance 3 Message setze 3 Noe Said 4 Command 0x2005 34 Communication Objects 27 Communication Object Identifier GOB ID uta alias 10 Control 0x2004 31 Control Word 0x6040 61 D Deceleration 0x6084 66 Device Type 0x1000 27 Drive Manufacturer 0x6504 72 E Error Code 0x603F 61 Error Field 0x1003 28 Error Register 0x1001 28 External Input Modules 7 F Fieldbus Baud Rate FB 5 Fieldbus Control FC 6 Fiebdbus Node ID FN 5 Fieldbus Protocol FP 5 Filter Time 0x2060 44 O IA AA 7 FOLLOW 0x21A9l 55 Following Error Window 0x6065 64 FRATE RI Teen 58 G Galant Feed Forward 0x2061 44 Integral Gain 0x2062 44 Proportional Gain 2063 45 Velocity Gain 0x2064 42 GOTO I0X21B21 ae 46 Guard Time 0x1000C 29 82 H Homing 0x6098 67 Acceleration Deceleration 0x609A 70 Method 0x6098 67 Velocity 0x6099 69 Identity Object 0x1018
14. Mapping Ox21A6 01 BRAKE On Off Integer16 RW 0x0000 0x4DFF No and Mode This object specifies the On Off and Mode action To better explain this an example has been written Example We wish to specify the following BRAKE command over the CAN bus 1BRAKE1 A 50 200 From the information on 0x21A6 01 we can look at the first section of the BRAKE command i e BRAKE1 A The construction has been broken down into a series of steps for the user MSB LSB 15 en U on off mode Bits 15 to 8 specify the brake operation mode Again this takes the form of an ASCII character The ViX supports the following modes Mode BRAKE Variable ASCII Value Automatic Holding Brake A 0x41 Automatic Dynamic Brake D 0x44 Manual Brake M 0x4D VIX CANopen USER GUIDE 58 Thus for our application we have chosen A and so our bit pattern breaks down as follows Mode On Off 15 14 13 12 10 9 8 7 6 5 4 3 2 110 1 0 0 0 0 011 1 0 0 0 0 0 0 0 This binary number converted into hex will give the value 0x4180 This will be the value used in 0x21A6 01 0x21A6 02 BRAKE RD Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping Ox21A6 02 BRAKE RD Unsigned16 RW 0x0000 0x1388 No This object specifies the time in milliseconds for the brake to be released after the drive has b
15. O O la Maximum Jerk la Less Jerk To achieve this type of S curve correction an average acceleration value is used which is set at half the value of the maximum acceleration In all cases the value of AA will be used for acceleration and deceleration Asymmetric move profiles are not possible when using S curve correction Data Details Mode System Variable Object Value Trapezoidal Move 1W SC 0 0x0000 S Curve Profile 1W SC 1 0x0001 VIX CANopen USER GUIDE 67 0x6098 Homing Method Edge Type and Direction Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6098 00 Homing Method Integer8 RW 0x000001 0x98967F No This object defines the type of homing method to be used Similar to the HOME command this specifies the home edge e towards the positive or negative travel limit whether the switch is normally open or closed and finally the direction the search should start in 0x6098 0x6099 Ox609A 1HOME on off reference edge home type direction 0x6098 0x6099 gt and velocity accel decel mode eo AT VIX CANopen USER GUIDE 68 Data Details Object Value Home Edge Switch Type Direction Homing Mode FE OO Fo ino Feo iow FAO EE Fed NOE ara le Dee NO IP ss SEDGE FeO ZERO Fs dO ZERO Fa Cd wo zero No zZ mo zZ The user should select from the above table the combination th
16. Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6083 00 Profile Unsigned32 RW 0x000001 0x98967F No Acceleration This object allows the user to change the acceleration rate of the currently selected Profile e Profile 0 The range of this command is from 0 01rps to 99999 99rps This object uses a scaling factor of 100 VIX CANopen USER GUIDE 66 0x6084 AD Profile Deceleration Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6084 00 Profile Unsigned32 RW 0x000001 0x98967F No Deceleration This object allows the user to change the deceleration rate of the currently selected Profile e Profile 0 The range of this command is from 0 01rps to 99999 99rps This object uses a scaling factor of 100 0x6086 SC Motion Profile Type Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6086 00 Motion Profile Integer16 RW 0x0000 0x0001 No Type This object allows the user to select between the standard trapezoid or S curve motion profile To reduce the rate of change of acceleration or deceleration within a move select SC When enabled this variable smoothes out rapid changes of acceleration See the diagram below for more information Trapezoidal S Curve D D E SS oO E S N bH e Time gt Time 8 8 w ZS Time A Time
17. TXPDO and RxPDO Transmission Types Introduction For both transmit and receive PDOs it is possible to define the transmission type As default this is pre chosen as COV or Change Of Value however it is possible to send a RTR or Remote Transmission Request For the users information a table has been prepared to show all the options supported Transmission PDO Transmission Type Dec Hex Async RTR Only TXPDO RxPDO 252 FC x Data is read in with Not Supported a SYNC but not sent request via RTR 253 FD X X Request via RTR COV 254 FE X COV COV 255 FF x COV COV Objects 0x1400 02 and 0x1401 02 support transmission types OxFE to OxFF and is set by default to OxFF Objects 0x1800 02 and 0x1801 02 supports transmission types OxFC to OxFF and is set by default to OxFE For TxPDO1 or 2 if the transmission type is set to OxFE or OxFF then the data will be transmitted at an interval set by the inhibit time VIX CANopen USER GUIDE 80 Appendix 4 Further Information on External UO Introduction It was thought to be useful to include some of the more detailed information about the implementation of the external I O functionality with the external I O All of the testing and verification was done using the IXAAT USB to CAN compact combined with the C3 powerPLmC CANOpen Protocol Analyser When the user selects a 1Z the ViX drive re sets and issues an Enter Pre Operational a
18. Attribute Object Values PDO Index Minimum Maximum Mapping 0x6300 00 Output Word Unsigned16 RW 0x0000 0x0000 TXPDO RxPDO This object allows the user to read and write to the outputs The breakdown of this object is complex and thus has been split into two parts When the status of the outputs are read if all are set off then the value returned is 0x0010 It should be remembered that this bit is always set The bit pattern has been shown below Object Value Easi V Response 0x0010 7000 0x0030 100 0x0050 010 0x0090 001 Secondly if the user wishes to set an output then a more complex procedure must be followed The lower byte of the word is an OR component and is OR ed with the existing output status The upper byte of the word is the mask for the output and is AND ed with the result of the previous OR Example MSB LSB AND Component Current Status OR Component Alwavs 0x0 If the current state of the output is 0x0070 i e the first two outputs are on and we wish to set the last output we must set the third bit so the result of the OR is 1 and the result of the AND is 1 Thus we choose the value 0x0707 We can ignore the Current Status as this is updated as soon as the new output status command is received Checking with the Current Status after the object write we see the value OxOOFO VIX CANopen USER GUIDE 72 VIX CANopen
19. Bin Hex Hex Broadcast Objects 0000 0x000 ae Network Management SYNC 0001 128 0x080 0x1005 COB ID of the SYNC object TIME 0010 256 0x100 Goin Peer to Peer Objects EMCY 0001 129 255 0x1014 Emergency fault 0x081 OxOFF TxPDO1 0011 385 511 0x1800 Allocated Index 1A00h 1 641 767 Allocated Index 1A01h 2 0x281 Ox2FF Transmit PDO 513 639 Allocated Index 1600h 17 0x201 0x27F Receive PDO 769 895 Allocated Index 1601h 2 0x301 0x37F Receive PDO TxSDO1 1011 1409 1535 0x1200 Transmit Service Data RxSDO1 1100 1537 1663 0x1200 Receive Service Data 1793 1919 Node Guarding checking 0x701 0x77F Bus integrity VIX CANopen USER GUIDE Service Data Messages The Parker EME implementation of CANopen supports a single transmit Service Data Object TxSDO1 and a single receive SDO RxSDO1 The configuration and addressing are shown below SDO Configuration 0x1200 SDO Configuration Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1200 00 Server SDO Parameter Array 3 RO No 0x1200 00 SDO Configuration Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1200 00 Number of Unsigned8 RO 0x02 0x02 0x03 Entries 0x1200 01 SDO Configuration RxSDO1 COB ID Index Sub Name Type Attribute Object Values Index Default Minimum M
20. MS to 90 will give a current reduction value of 4A 70 of 5 6A VIX CANopen USER GUIDE 40 0x2008 06 VC Current Clamp CL Servo Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 06 Current Clamp Unsigned8 RW 0x01 0x64 No This object limits the current output of the drive to protect low current motors or to set a particular torque level and Peak Current PC can allow a controlled boost of motor current when required CL can be set as a percentage 1 to 100 of the peak drive current and once set drive output current cannot be exceeded using any other command or system variable The default value is 0x64 0x2008 07 VC Comms Response Style EX Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 07 Comms Response Unsigned8 RW 0x00 0x07 No Style System variable EX controls the style and protocol of the drive s serial communications link This does not affect the CAN parameters only the RS232 There are 4 options listed in the table below Value Parameter Action 0 Echo Off Speak when spoken to default for RS485 comms 1 Echo Off Speak whenever 2 Echo On Speak when spoken to 3 Echo On Speak whenever default for RS232 comms 4 Echo Off See description for 6 5 Echo Off See description for 7 6 Echo Off
21. PDO To aid understanding an example has been written below We already have a default mapping for the TxPDO 0x1A00 first entry we will use this and two others in this example Index Sub Object PDO Entry PDO Length Byte Count Index 0x6041 00 Status Word 60 41 00 10 00 00 2 bytes 0x6040 00 Control Word 60 40 00 10 00 00 2 bytes 0x6064 00 Position Actual 60 64 00 20 00 00 00 00 4 bytes The correct operation to perform this mapping is shown in the flow diagram below When the NMT is used to start the node it can be seen that the packet sent is 8 bytes long VIX CANopen USER GUIDE RxPDO1 Configuration Bus Master gt ViX Node 0x1400 RxPDO1 Configuration Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1400 00 RxPDO1 Parameter Array 4 No 0x1400 00 RxPDO1 Configuration Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1400 00 Number of Unsigned8 RO 0x03 0x02 0x03 Entries 0x1400 01 RxPDO1 Configuration RxPDO1 COB ID Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1400 01 COB ID of Unsigned32 RW 0x200 0x201 0x27F RxPDO1 Node ID 0x1400 02 RxPDO1 Configuration Transmission Type Index Sub Name Type Attribute Ob
22. Unsigned8 WO 00 0x81 OxA4 RxPDO The CONTROL word executes commanded actions as defined by the table overleaf The data range is set in the high band of the 8 bit value to be compliant with other Parker EME products VIX CANopen USER GUIDE 32 The actions on receiving the values have been listed in the table below along with the equivalent ASCII command Data Value Commanded Action System Variable Dee Hex 128 80 Reseved OoOO O mm Im So TS 135 139 EES 141 8D Positive Direction LD aa SE Reseved T 144 90 Exit Program Loop LP 145 160 91 AO Reserved me M Ree OZ 165 255 A5 FF Reserved The Pause and Continue commands are intended for pausing a move and then continuing when ready This function is not currently supported on stepper products The Pause command implemented in standard product code is for Pausing execution from the command buffer As the implementation of CANOpen is for faster code execution the commands would seem inappropriate for inclusion here The Clear All command will clear all labels from memory but a save must be executed to make this permanent These commands will respond as if entered via an ASCII terminal The CANopen protocol will still be valid over the CAN interface but the responses if any to the commands will be transmitted over RS232 e g the command to Save will respond with the checksum sent over RS232 after successful completion When executin
23. a pre defined PROFILE From object 0x21A1 we have shown how to specify one over the CAN bus The current PROFILE is always 0 and by selecting a new profile this value is copied into the PROFILEO location 0x21A5 FOLLOW Index Name Sub Indices Elements Attribute PDO Mapping 0x21A5 FOLLOW Command 0x02 0x03 RW No This object allows the user to specify the FOLLOW parameters 0x21A5 1 FOLLOW on off source mode scale 0x21 ij or 0x21A5 02 0x21A5 01 FOLLOW On Off Source and Mode Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A5 01 FOLLOW Unsigned32 RW 0x0000 OxFFFF No On Off Source and Mode This object defines three parameters of the FOLLOW function The breakdown of the bit allocation has been shown in the diagram below Example We wish to specify the following FOLLOW command over the CAN bus 1FOLLOW1 A 1 100 From the information on 0x21A5 01 we can look at the first section of the FOLLOW command i e FOLLOW1 A 1 The construction has been broken down into a series of steps for the user VIX CANopen USER GUIDE permanent bit set on off source 56 Bits 15 to 8 specify the signal source the ViX is to follow This takes the form of an ASCII character The ViX supports the sources described below
24. of the equipment or this user guide IN saret WARNING High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP WELL CLEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be enclosed such that no part is accessible while power may be applied If the equipment is used in any manner that does not conform to the instructions given in this user guide then the protection provided by the equipment may be impaired The information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker EME or its licensors and may not be copied disclosed or used for any purpose not expressly authorised by the owner thereof Since Parker EME constantly strives to improve all of its products we reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without the prior consent of Parker EME Electromechanical Division of Park
25. value is 0x02 X4 El 0 El 1 El 2 12 STEP CW A 7 STEP CW A 13 DIR CCW B 8 DIR CCW B 0x2008 04 VC Encoder Output EO Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 04 Encoder Output Unsigned8 RW 0x00 0x02 No This object controls encoder output when connected on the X4 connector The table below shows the operation of the EO variable The default value is 0x02 X4 EO 0 EO 1 EO 2 14 STEP CW A 9 STEP CW A 15 DIR CCW B 10 DIR CCW B 0x2008 05 VC Motor Standby MS Stepper Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 05 Motor Standby Unsigned8 RW Ox0A 0x64 No When the motor is stationary reduce its current to minimise heating or to conserve power MS sets the reduction in current as a percentage of the programmed current the value set in the MOTOR command When selected the drive will switch to standby 25mS after the last motor step Motor standby current reduction is capped at a value of 70 of the drive s maximum output current Consequently if you attempt to set an MS value greater than 70 the current reduction value will always be equal to 70 of the drive s maximum output current For example using a ViX500 max output current of 5 6A and setting
26. 3 5 10 8000 5 It is important to remember that the values have a scaling factor applied to them the details are listed in the table below System Variable Description Scaling Factor AA Acceleration Rate x 100 AD Deceleration Rate x 100 D Distance x1 V Velocity x 1000 The reason this is done is because internally it is not possible for the controller to handle floating point i e fractional numbers Thus all values are scaled to make them whole It is important to remember this when specifying a PROFILE over can Continuing our example the values we enter over CAN are as follows Index Sub Index Value Hex Value Dec Received Value 0x21A1 0x02 0x01F4 500 5 0x21A1 0x03 0x03E8 1000 10 0x21A1 0x04 0x1F 40 00 00 8000 8000 0x21A1 0x06 0x1388 5000 5 When we have specified all the values for the PROFILE we then write to sub index 0x01 the value of the profile we wish to change Thus 0x21A1 01 03 this will then write all the values to the PROFILE register REMEMBER to store this permanently the SV function should be used The operation can be confirmed using EASI V 0x21A1 01 PROFILE Number Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A1 01 PROFILE Unsigned16 RW 0x01 0x08 No Number This object defines the profile number The user can select from profile 1 to 8 The process of writing to this obje
27. 37 Operation Enable SA GO Command sent over EASLV Control Word 00 02 e Stop motor motion Status Word 06 17 Quick Stop Active Control Word 00 OF Status Word 06 37 Re Enable Drive Operation Enable Control Word 00 07 Disable Drive Status Word 06 33 Switched On Control Word 00 00 De Energise Drive VIX CANopen USER GUIDE 77 Appendix 1 ASCII Table Introduction Several of the CANOpen objects are of the type VIS_string when the user looks at this object an ASCII string is returned For ease of use a lookup table has been included ASCII HEX Symbol ASCII HEX Symbol ASCII HEX Symbol ASCII HEN Symbol 0 0 NUL 1 1 SOH 41 29 81 51 Q 121 79 y 2 2 STX 42 2A 2 82 52 R 122 7A Z 3 3 ETX 43 2B 83 53 S 123 7B 4 4 EOT 44 2C f 84 54 T 124 7C 5 5 ENQ 45 2D 85 55 U 125 7D 6 6 ACK 46 2E 86 56 V 126 7E S 7 7 BEL 47 2F 87 57 W 127 7F O 8 8 BS 48 30 0 88 58 x 9 9 TAB 49 31 1 89 59 Y 10 A LF 50 32 2 90 5A Z 11 B VT 51 33 3 91 5B 12 C FF 52 34 4 92 BC 13 D CR 53 35 5 93 5D 14 E SOH 54 36 6 94 5E A 15 F SI 55 37 7 95 5F 16 10 DLE 56 38 8 96 60 17 11 DC1 57 39 9 97 61 a 18 12 DC2 58 3A 98 62 b 19 13 DC3 59 3B 99 63 C
28. 4 the ViX Position Actual value 0x1600 03 RxPDO1 Mapping PDO Mapping Entry 3 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1600 03 R Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF 0x1600 04 RxPDO1 Mapping PDO Mapping Entry 4 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1600 04 Bi Unsigned32 RW 0x00000000 0x00000000 OXFFFFFFFF VIX CANopen USER GUIDE 16 RxPDO2 Mapping Parameter 0x1601 RxPDO2 Mapping Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1601 00 RxPDO2 Parameter Array 5 No 0x1601 00 RxPDO2 Mapping Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1601 00 Number of Unsigned8 RW 0x02 0x00 0x04 Entries 0x1601 02 RxPDO2 Mapping PDO Mapping Entry 1 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1601 o Be Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF 0x1601 02 RxPDO2 Mapping PDO Mapping Entry 2 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1601 02 Unsigned32 RW 0x00000000 0x00000000 OXxFFFFFFFF 0x1601 03 RxPDO2 Mapping PDO Mapping Entry 3 Index Sub Name Type
29. 6 RW 0x0000 OxFFFF No This object allows the user to control the ViX drive using a bit pattern A limited implementation has been written and it is hoped the user will take advantage of the 0x2004 object for more precise control for this only the mandatory states have been implemented Data Details The control word breaks down as follows MSB LSB 15 141 3 1211 14019 8171615 4 3 2110 Switch Off Quick Stop Reset Fault Disable Voltage Enable Operation Manufacturer Specific Bit KEE EE 4 6 Reserved o0 Switch Off VIX CANopen USER GUIDE 62 0x6041 Status Word Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6041 00 Status Word Unsigned16 RO 0x0000 OxFFFF RxPDO This object allows the user to check the current status of the ViX drive It is recommended that this value is mapped to one of the PDOs Data Details The status word breaks down as follows MSB LSB hah ej 8 7 6 5 al 3 2 11 0 Ready to Switch On Switched On Operation Enabled Fault Voltage Disabled Quick Stop Switch On Disabled Warning FieldBUS Error Remote Target Reached Internal Limit Active Bit Definition Description 15 Manufacturer Specific 14 Manufacturer Specific 13 Operation Mode Specific 12 Operation Mode Specific 11 10 7 Internal Limit Active A drive limit has been activated check LIMITS command
30. 8 2D 53 65 72 76 6F 20 77 69 74 68 20 43 41 4E 00 CH Servo with CAN 43 4D 2D 53 74 65 70 70 65 72 20 77 69 74 68 20 43 41 4E CM Stepper with CAN VIX CANopen USER GUIDE 29 0x1009 Manufacturer Hardware Revision Index Sub Index Name Type Attribute Default Value 0x1009 00 Manufacturer Hardware Visible String RO See below Revision The object indicates the hardware type of the ViX node the user is currently addressing The following values are returned Default Value String Translation 56 69 58 32 35 30 43 45 VIX250CE 56 69 58 32 35 30 43 4D VIX250CM 56 69 58 32 35 30 43 48 VIX250CH 56 69 58 35 30 30 43 45 VIX500CE 56 69 58 35 30 30 43 4D VIX500CM 56 69 58 35 30 30 43 48 VIX500CH 0x100A Manufacturer Software Revision Index Sub Index Name Type Attribute Default Value 0x100A 00 Manufacturer Software Visible String RO See text Revision The object indicates the software revision code of the ViX node the user is currently addressing The information is consistent with the 1R RV command when used within EASI V An example response has been shown below Example Response String Translation 32 2E 34 43 00 43 2 40 C 0x100C Guard Time Index Sub Index Name Type Attribute Default Value 0x100C 00 Guard Time Unsigned16 RW 0 The object indicates the time in milli seconds that a CAN bus m
31. Attribute Object Values Index Default Minimum Maximum ox1601 03 E e Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF 0x1601 04 RxPDO2 Mapping PDO Mapping Entry 4 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1601 04 ne Unsigned32 RW 0x00000000 0x00000000 OXxFFFFFFFF VIX CANopen USER GUIDE 17 Objects Available for RxPDO Mapping System Byte 0x2004 00 Control 20 04 00 10 0x2050 00 Incremental Position 20 50 00 20 0x2051 00 Position Error z in 20 51 00 20 0x2052 00 Position Target PT RW 4 20 52 00 20 0x6040 00 Control Word RW 2 60 40 00 10 0x6064 00 Position Actual PA RW 4 60 64 00 20 0x607A 00 Target Position D RW 4 60 7A 00 20 0x6081 00 Profile Velocity V RW 4 60 81 00 20 0x6300 00 Output Word O RW 2 63 00 00 10 VIX CANopen USER GUIDE TxPDO1 Configuration ViX Node Bus Master 18 0x1800 TxPDO1 Configuration Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1800 00 TxPDO1 Parameter Array 6 No 0x1800 00 TxPDO1 Configuration Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 00 Number of Unsigned8 RO 0x05 0x02 0x05 Entries 0x1800 01 TxPDO1 Configuration TxPDO1 COB ID Index Su
32. Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 00 Number of Entries Unsigned8 RO 0x00 0x06 No This sub index reports back the number of entries used in the object 0x2007 0x2007 01 VR Analogue Input Al Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 01 Analogue Input Integer16 RO OxF800 Ox07FF TxPDO The actual value read on the ADC is reported back by this sub index 1 The value may be altered by change on the hardware analogue input or fine tuned by altering the value of the offset It is important to remember the negative value is generated using a twos complement VIX CANopen USER GUIDE 36 0x2007 02 VH Drive Fault Status DF Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 02 Drive Fault Unsigned32 RO 0x00000000 OxFFFFFFFF No Status Sub index 2 defines the drive fault status The status is latched and is not effected by reading the status The normal method for clearing a drive fault is to remove the original fault condition and then execute an energise command to clear the fault flags Note To date the information reported back from this register is in a different state to that when read using EASI V The following example should explain EASI V Report 1R DF 1000_0000 1010_0000 0000_0000 0000_0000
33. Information on External IO 78 INDEX eds 76 BUSIOMEeHFESdBAack EE 83 User Guide Change Summary This user guide version 1600 330 02 is the second version of the ViX CANopen User Guide It should be noted that there has been extensive modifications by the applications team at Parker EME So much so that the standard vertical line used formerly to indicate changes has been omitted It is hoped that the reader will not compare this manual to the previous version Associated Documentation CIA Draft Standard 301 Version 3 0 CIA Draft Standard Proposal 402 Version 1 1 Hauser COMPAX M S Bus Option CANopen VIX CANopen USER GUIDE 2 1 Introduction User Guide Assumptions This user guide assumes you have a working knowledge of CANopen Fieldbus Protocol and you are familiar with the programming and operation of motion control equipment The guide is intended as a reference only Structure of the User Guide The guide is presented in six sections summarised below Section 1 Introduction This section which introduces you to the structure and scope of CANopen used with Parker ViX drives Section 2 Software Requirements Provides an introduction to CANopen as implemented within the ViX drive Section 3 External UO Modules Describes the use of I O modules for use on the CANOpen fieldbus Section 4 Object Types Describes the type of Data Object used in CANopen This section includes SDO and PDO definitions combined with configurat
34. Maximum Mapping 0x21A2 01 REG On Off Unsigned8 RW 0x10 0x8F No Edge and Profile Number This object defines three parameters of the REG function The breakdown of the bit allocation has been shown in the diagram below profile number VIX CANopen USER GUIDE 52 Example We wish to specify the following REG command over the CAN bus 1REG1 1 8 2000 10 3 From the information on 0x21A1 01 we can look at the first section of the REG command i e REG1 1 8 The construction has been broken down into a series of steps for the user Profile Number Edge On Off Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit 1 BitO 1 0 0 0 0 1 0 1 This binary number converted into hex will give the value 0x85 This will be the value used in 0x21A2 01 0x21A2 02 REG Output Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A2 02 REG Output Unsigned8 RW 0x00 0x03 No This object allows the user to program an output to indicate that a move that has been armed and is ready for registration The accepted values have been listed in the table below Output Number Value Binary Value Hex 0 0b0000 0x00 1 0b0110 0x01 2 0b0111 0x02 3 0b1000 0x03 0x21A2 03 REG Hold Off Distance Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A2 03
35. REG Hold Unsigned32 RW 0x00000000 Ox7FFFFFFF No Off Distance This object specifies the hold off distance which is a number of steps after which the controller will begin to search for a valid registration signal VIX CANopen USER GUIDE 53 0x21A2 04 REG Registration Window Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A2 04 REG Unsigned32 RW 0x00000000 Ox7FFFFFFF No Registration Window This object specifies the number of motor steps after the hold off distance that the registration mark will occur in 0x21A3 STALL Stepper Index Name Sub Indices Elements Attribute PDO Mapping 0x21A3 STALL Command 0x02 0x02 RW No This object allows the user to specify the STALL parameters 0x21A3 01 STALL On Off Stop and Output Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A3 01 STALL Unsigned16 RW 0x0000 0x0085 No On Off Stop and Output This object defines three parameters of the REG function The breakdown of the bit allocation has been shown in the diagram below 0x21A3 AAA A 1STALL on off error window stop output 0x21A3 01 a 0x21A3 02 VIX CANopen USER GUIDE 54 Example We wish to specify the following STALL command over the CAN bus 1STALL1 100 1 3 From the information on 0x21A3 01 we
36. Type Attribute Object Values PDO Index Minimum Maximum Mapping Ox609A 00 Homing Unsigned32 RW 0x0001 0x1388 No Acceleration Decleration This object configures the acceleration rate used during a Homing operation The acceleration is reported in units of revolutions per second This value has a scaling factor of 100 Ox60F4 Position Error PE Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping Ox60F4 00 Position Error Unsigned32 RW 0x00000000 Ox No This object allows the user to configure the position error window PE reports the position error that is the difference between PT and PA 0x6100 Input Word IS Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6100 00 Input Word Unsigned16 RO OxFFEO OxFFFF TxPDO This object defines the current input status of the drive That is the inputs that are active Data Details MSB F F OxE bit 4 rn SARAK LSB i User Input 1 Stop User Input 2 Reg User Input 3 Home User Input 4 Lim User Input 5 Lim It should be noted that the input 5 is part of the second nibble An example has been shown below VIX CANopen USER GUIDE 71 Input Bit Pattern Object Value 00000 OxEO 00001 OxFO 00011 OxF8 00111 OxFC 01111 OxFE 11111 OxFF 0x6300 Output Word O Index Sub Name Type
37. USER GUIDE 73 0x6504 Drive Manufacturer Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6504 00 Drive Manufacturer Visible String RW 0x0000 0x0000 No This object is read and write accessible The default value reports back Parker EME The maximum number of characters allowable is 27 When writing to this location the existing buffer is overwritten only for the number of characters entered The location is currently non savable Default Value String Translation 50 61 72 6B 65 72 20 45 4D 45 00 00 00 00 00 Parker EME VIX CANopen USER GUIDE 6 STATE MACHINE Introduction 75 The state machine implemented within the ViX product has been based on the Draft Standard 402 issue 1 1 for Device profiles in the drives and motion control applications The standard defines the sequence of operations and states that enables the controller to power up in a known safe manner The standard also defines the states for enabling motion and recovery from a fault The various states of the device can be achieved by bit manipulation of the control object 0x6040 and the status can be read back via the status object 0x6041 Only the mandatory parts of the state machine have been implemented Below is a state flow diagram and overleaf an explanation Status Word aessa Renn RRR RRR RRR RIERA 0000 001111 Power i Fault Reaction Active Disabled ol
38. Unsigned16 RW 0x0001 0xC350 No Velocity This object defines velocity to be used for the profile This value is scaled by a factor of 1000 and is in units or revolutions per second rps The servo information is overleaf VIX CANopen USER GUIDE 51 0x21A1 06 PROFILE Velocity Servo Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A1 06 PROFILE Unsigned16 RW 0x0001 0x4C4B40 No Velocity This object defines velocity to be used for the profile This value is scaled by a factor of 1000 and is in units or revolutions per second rps 0x21A2 REG Index Name Sub Indices Elements Attribute PDO Mapping 0x21A2 REG Command 0x04 0x03 RW No This object allows the user to define the REG command and is broken down into the same parts as the EASI V command For the relation between the objects and the REG command please see the diagram below 0x21A2 1REGon off edge profile number hold off distance registration window output 0x21A2 01 0x21A2 02 0x21A2 03 0x21A2 04 0x21A2 05 It can be seen that within 0x21A2 01 there is the on off edge and profile number information To aid understanding this has been broken down into its component parts within the sub index information 0x21A2 01 REG On Off Edge and Profile Number Index Sub Name Type Attribute Object Values PDO Index Minimum
39. Values PDO Index Minimum Maximum Mapping Ox606C 00 Velocity Integer32 RW 0x0001 0x30D4 No This object reads and writes to the current velocity of the drive This value is scaled by a factor of 100 when read back over CAN VIX CANopen USER GUIDE 65 0x607A D Target Position Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x607A 00 Velocity Integer32 RW 0x80000000 Ox7FFFFFFF No This object sets the target position of the drive It should be noted that this value is the same as the EASI V command D There is no scaling for this value 0x6081 Profile Velocity Stepper Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6081 00 Profile Velocity Integer32 RW 0x0001 0xC350 No This writes to the velocity of the current profile i e Profile O Similar to the 606C command it is left to the user to select either to change The minimum velocity specified over CAN is 0x0001 which is a speed of 0 01rps and a maximum of 0x30D4 or 125rps This object uses a scaling factor of 100 0x6081 Profile Velocity Servo Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6081 00 Profile Velocity Integer32 RW 0x0001 0x4C4B40 No See previous for operation 0x6083 AA Profile Acceleration Index
40. Vix CANOpen Series Digital Drives Automation User Guide Automation ce ViX250CE ViX500CE ViX250CM ViX500CM ViX250CH amp ViX500CH CANopen User Guide Part No 1600 330 02 June 2005 IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them failure to do so may result in damage to equipment and personal injury In particular you should study the contents of this user guide carefully before installing or operating the equipment The installation set up test and maintenance procedures given in this User Guide should only be carried out by competent personnel trained in the installation of electronic equipment Such personnel should be aware of the potential electrical and mechanical hazards associated with mains powered motion control equipment please see the safety warning below The individual or group having overall responsibility for this equipment must ensure that operators are adequately trained Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way connected with the use
41. an be used for a checking system but is different to the Moving Not Moving or MV system variable 0x2007 06 VR Position Registration PR Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2007 06 Reg Capture Integer32 RO 0x00000080 Ox7FFFFFFF TxPDO Sub index 6 reports the position recorded at the point of a registration interrupt being received 0x2008 VC Configure Variable Data Index Sub Index Name Type Attribute PDO Mapping 0x2008 00 VC Various RO See Below Data details E AA ee Variable Value 0x2008 00 Numberofentries N A Unsigned8 RO mp 0x2008 06 Current Clamp CL Unsignedg RW 0x64 0x2008 08 Imt Mask LIMITS Unsigned32 RW 0x00000000 0x2008 09 FieldBUS Baud rate FB Unsignedi6 RW 0x00 0x2008 12 FieldBUS Control FC Unsignedg RW 0x2008 13 SCurveEnable SC Unsigned8 RW VIX CANopen USER GUIDE 38 The parameters in the table above can be addressed by using the sub index The sub index is used to call the relevant parameter to modify the object dictionary Limited data checking is carried out during the data transfer Care must be taken when downloading new parameters to avoid ambiguous values as the fault detection software is not user friendly The equivalent ASCII command for the above is nR system variable or nW system varia
42. aster cyclically interrogates the CAN slave for its status The time between two interrogations is termed as the guard time VIX CANopen USER GUIDE 30 0x100D Life Time Factor Index Sub Index Name Type Attribute Default Value 0x100D 00 Life Time Factor Unsigned8 RW 0 This factor is part of the Node Guarding Protocol The CAN slave checks if it was interrogated within the Node Life Time guard time multiplied with the life time factor If not the slave works on the basis that the NMT master is no longer in its normal operation It then triggers a Life Guarding Event If the node lifetime is zero no monitoring will take place To reduce the load on the processor it is recommended that the Node Guarding Protocol is not used 0x1014 COB ID Emergency Object Index Sub Index Name Type Attribute Default Value 0x1014 00 COB ID EMCY Unsigned32 RW 0x80 Node ID This object defines the COB ID for the EMCY message 0x1018 Identity Object Index Sub Index Name Type Attribute Default Value 0x1018 00 Max Supported Entries Unsigned8 RO 01 01 Manufacturer ID Unsigned32 RO 00 00 00 89 02 Device Description Unsigned32 RO 00 00 00 00 03 Revision Number Unsigned32 RO 00 00 00 00 04 Serial Number Unsigned32 RO 00 00 00 00 This object defines the device used Any Parker product has been given the number Ox89 The other fields are le
43. at suits the machine and set the corresponding object value VIX CANopen USER GUIDE 69 Example Using the example in the ViX manual then the EASI V command we have is as follows Stop on the negative edge Switch is normally closed Search direction is negative 15rps Position to the edge of the switch HOME 1 1 15 100 1 0x6098 OxE8 0x6099 Homing Velocity Index Name Sub Indices Elements Attribute PDO Mapping 0x6099 Home Velocity 0x02 0x03 RW No This object defines the speed at which the drive looks for the home switch The units are revolutions per sec rps 0x6099 01 Homing Velocity Velocity Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6099 01 Homing Unsigned32 RW 0xEC78 0x1388 No Velocity This object defines the velocity This value should be 5000 This value has a scaling factor of 1000 0x6099 02 Home Final Velocity Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6099 02 Home Final Unsigned32 RW 0x00000000 OxFFFFFFFF No Velocity This object defines the final creep or slow speed that the drive uses to complete the last part of the move This value has a scaling factor of 1000 VIX CANopen USER GUIDE 70 0x609A Homing Acceleration Deceleration Index Sub Name
44. ata and places it in a buffer to await execution The buffer is accessed using the FIFO principle As a result of this an actual write to a parameter such as acceleration may update the object dictionary immediately but the actual value change may not take place in the application for several milliseconds depending on what is already in the buffer The minimum time for update would be one millisecond regardless of any impending token in the buffer The data read however is taken directly from the application variable The read gives an immediate indication of the currently programmed value This may cause some confusion as the parameter may be loaded with one value but because the buffer is still executing previous commands may read back a different value To be sure that the buffer is clear it is advisable to read the system status first Software Settings Four parameters relevant to the CanOpen protocol are initiated and saved via the RS232 port The parameters Node ID Baud rate Protocol and Control are configured using ASCII or CanOpen commands and then saved The settings are then automatically loaded on the next power cycle STE Effective From Node ID 1 127 Default is 99 S E 0 1000 See table below Protocol FP 0 255 See table below 0 255 See table below The address of the node can be specified as different to the controller address but must be unique on the Can bus The node address can be configu
45. aximum 0x1200 01 RxSDO1 Unsigned32 RO 0x600 0x601 0x67F Node ID This object specifies the COB ID of the SDO parameter This is calculated automatically by the drive The direction of this SDO is Bus Master ViX Node 0x1200 02 SDO Configuration TxSDO1 COB ID Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1200 02 TxSDO1 Unsigned32 RO 0x580 0x581 Ox5FF Node ID This object specifies the COB ID of the SDO parameter This is calculated automatically by the drive The direction of this SDO is ViX Node Bus Master These data messages are used for read and write access to all entries of the object dictionary Messages of this type are relatively slow and where possible the use of PDOs is suggested For example the 0x2004 and 0x2007 would be ideal objects to be sent by SDO VIX CANopen USER GUIDE Process Data Messages PDO The Parker EME implementation of CANopen supports up to two transmit Process Data Objects TxPDO and two receive PDOs RxPDO PDOs are sent with no protocol overhead and are therefore very fast They are ideal for real time data to be transferred They can be programmed to be cyclic or acyclic They can be configured by using SDOs Example PDO Mapping RxPDO1 From the Software Requirements Overview section the user will remember that the Vix can support 8 data bytes of information mapped per
46. b Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 01 COB ID of Unsigned32 RW 0x180 0x181 0x1FF TxPDO1 Node ID 0x1800 02 TxPDO1 Configuration Transmission Type Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 02 Transmission Unsigned8 RW OxFE 0x00 OxFF Type For further information on the transmission types please refer to Appendix 3 0x1800 03 TxPDO1 Configuration Inhibit Time Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 03 Inhibit Time Unsigned16 RW 0x03E8 0x0000 OxFFFF It is important to remember that this value is specified in units where 1 unit 100us VIX CANopen USER GUIDE 19 0x1800 04 TxPDO1 Configuration Reserved Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 04 Reserved Unsigned8 N A 0x00 0x00 OxFF 0x1800 05 TxPDO1 Configuration Event Timer Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1800 05 Event Timer Unsigned16 RW 0x000A 0x0000 OxFFFF Asynchronous TxPDOs can be transmitted cyclically with the event timer If its value is greater than 0 it becomes a millisecond timer When this is expired the PDO is transmitted Transmission therefore takes place both when an external device inp
47. b Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2061 00 Feed Forward Gain Unsigned32 RW 0x000 Ox3FF No The opposing action of proportional and velocity gains result in a position error that depends on speed This is called following error Feed forward gain can be used to offset the following error and improve tracking accuracy This is important in contouring applications 0x2062 Gi Integral Gain Servo Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2062 00 Integral Gain Unsigned32 RW 0x000 Ox3FF No Proportional action may be insufficient to overcome static position errors caused by gravitational load effects Integral action accumulates a steady state error until sufficient torque is produced to move the load It improves overall positioning accuracy but may produce low frequency oscillation around the commanded position VIX CANopen USER GUIDE 45 0x2063 GP Proportional Gain Servo Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2063 00 Proportional Gain Unsigned32 RW 0x000 Ox3FF No Proportional gain determines the amount of torque produced in response to a given position error It sets the stiffness of the system and affects the following error A high proportional gain gives a stiff responsive system but results in o
48. be achieved using the FC variable It is recommended that upon completion of a correct FMON command that the user sets the FC variable correctly With reference to the FC command the MSB and LSB should be set to enable and hence run external CANOpen 1 0 1W FC 129 On sending this command save SV and reset Z the unit The user will notice that the drive will then go through the boot sequence the FB LED will flash for 3 seconds and then remain on This is confirmation of correct operation of the NMT the user should also notice that the I O RUN or STATUS LED should stay on Configuration A single command is used to configure the input source aFMON remote_node ID remote_inputs remote_outputs where a is the axis number of the ViX product remote_node ID is the node number of the input module remote_inputs is the number of expected inputs remote_outputs is the number of expected outputs The configured parameters must be saved and will become active on the next power cycle The range of the inputs are as follows 8 16 and 32 It is important this value is either greater than or equal to the actual number used To check the configuration a single command will report the state of both the inputs and outputs 1 For the interested user some more information and FAQ s can be found in Appendix 4 VIX CANopen USER GUIDE 8 aFMON where a is the axis number of the ViX product An examp
49. be different to the node ID An invalid command example a command sent in lower case will result in an error being displayed over RS232 The RS232 port is still an option for configuring the drive and setting up labels before placing the drive onto the fieldbus Remember to use SAVE after configuration and before recycling power VIX CANopen USER GUIDE 35 0x2007 VR Access read variable data Index Sub Index Name Type Attribute PDO Mapping 0x2007 00 VR Various RO See Below Data details Eee Variable Value 0x2007 00 Numberofentries N A Unsigned8 RO 0x06 0x2007 01 Analogue Input AI Integert6 RO NA 10x2007 02 Drive Fault Status DF Unsigned32 RO N A 10x2007 03 Indexer Status ST Unsigned32 RO N A 10x2007 04 _ User Fault UF Unsigned2 RO N A 10x2007 05 Ready Busy Flag RB Unsigned RO N A 0x2007 06 Position Registration PR Integer32 RO NA The parameters in the table above can be addressed by using the sub index The sub index is used to call the relevant parameter to read the object Limited data checking is carried out during the data transfer The equivalent ASCII command for the above is nR system variable or nW system variable x where n is the axis number and the system variable is that shown in the table above 0x2007 00 VR Number of Entries Index Sub Name Type
50. ble x where n is the axis number and the mnemonic is that shown in the table above 0x2008 00 VC Number of Entries Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 00 Number of Entries Unsigned8 RO 0x00 Ox0D No This sub index reports back the number of entries used in the object 0x2008 0x2008 01 VC Analogue Offset AO Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 01 Analogue Offset Integer16 RW OxF801 07FF No This object allows the user to offset the differential analogue speed torque control input 0x2008 02 VC Analogue Dead Band AB Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 02 Analogue Dead Integer16 RW 0x00 OxFF No band This object allows the user to widen or narrow the region in which the analogue control system ignores the analogue input This is useful if the analogue source is noisy when at zero position VIX CANopen USER GUIDE 39 0x2008 03 VC Encoder Input EI Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 03 Encoder Input Unsigned8 RW 0x00 0x02 No This object controls encoder when connected on the X4 connector The table below shows the operation of the El variable The default
51. can look at the first section of the STALL command i e STALL1 1 3 The construction has been broken down into a series of steps for the user Setting the STOP parameter to 1 will run a fault routine if one is defined once the motor has stopped However no further action is taken if the STOP parameter is set to 0 Output Stop On Off Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit 1 Bit 0 1 0 0 0 0 1 0 1 It should be noted that the Output field takes the same format as REG command and this has been shown in the table below Output Number Value Binary Value Hex 0 0b0000 0x00 1 0b0110 0x01 2 0b0111 0x02 3 0b1000 0x03 This binary number converted into hex will give the value 0x85 This will be the value used in 0x21A3 01 0x21A3 02 STALL Error Window Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A3 02 STALL Error Unsigned32 RW 0x0000 OxFFFF No Window This object specifies the number of steps that the motor can lose before the shaft is considered to have stalled This value is specified in motor steps VIX CANopen USER GUIDE 55 0x21A4 USE Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A4 00 USE Command Unsigned8 WO 0x01 0x08 No This object allows the user to specify
52. contains internal errors This register is also part of the emergency message Further information as to the layout has been shown below In the event of an error bit 0 is always set k Meaning General Error Current Voltage Temperature Communication Device Profile Specific Reserved Manufacturer Specific leo Scala len D 0x1003 Pre defined Error Field Index Sub Index Name Type Attribute Default Value 0x1003 00 Number of Errors Unsigned8 RW 00 01 Standard Error Field Unsigned32 RO 00 00 00 00 The sub index 0 contains the errors currently stored in the field If a new error occurs it will be entered in sub index 1 and all existing errors are moved down by one Since the ViX only has one sub index only the last error is stored The error memory is deleted by writing a 0 into sub index 00 The error field follows the standard design as shown below Bit 31 Bit 15 Bit 0 Additional Information Error Code 0x1008 Manufacturer Device Name Index Sub Index Name Type Attribute Default Value 0x1008 00 Manufacturer Device Name Visible String RO See below The object indicates the name of the ViX node the user is currently addressing The following values are returned Default Value String Translation 43 45 2D 53 65 72 76 6F 20 77 69 74 68 20 43 41 4E 00 CE Servo with CAN 43 4
53. controller has been reset Fieldbus Protocol FP This variable is used for setting fieldbus communication options and has currently only one parameter Bit 1 is set to indicate that when node guarding is selected a message is displayed over RS232 to indicate a change in status of the node guarding This is relevant to the port implementation of node guarding only VIX CANopen USER GUIDE 6 Fieldbus Control Variable FC The options for functionality selected using Fieldbus Control are as listed below MSB LSB Check to set state machine to Operational FC 1 Reserved Reserved Reserved Set state to operational FC 16 Use device address for Node ID FC 32 Reserved Enable FMON State Machine and State Machine over ride Access to motion control parameters or any associated parameter must have the device state machine set to operation enabled before being used Example parameters are velocity and acceleration Less obvious parameters are those to do with running labels as these may command motion within their routines The CanOpen specification defines a state machine to achieve operational state to allow the motion control parameters Bit 5 of the FC i e FC 16 will set the state machine to Operational mode immediately Set State to Operational The CanOpen specification defines a second state machine for the type of message that will be accepted as valid State Service SDO PDO EMCY TIME
54. ct will initiate execution of the profile function and make use of whatever values are in the sub indices at that time VIX CANopen USER GUIDE 50 0x21A1 02 PROFILE Acceleration Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A1 02 PROFILE Unsigned16 RW 0x0000 0x98967F No Acceleration This object defines the AA parameter within the PROFILE command It should be noted that this value is scaled buy a factor of 100 The units are revolutions per second rps ek 0x21A1 03 PROFILE Deceleration Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A1 03 PROFILE Unsigned16 RW 0x0000 0x98967F No Deceleration This object defines the AD parameter within the PROFILE command Again like the AA command this value is scaled by 100 when read back The units are revolutions per second pe 0x21A1 04 PROFILE Distance Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A1 04 PROFILE Integer32 RW 0x80000000 Ox7FFFFFFF No Distance This object defines the distance to be traveled Similar to the D command the units are in motor increments This value is not scaled 0x21A1 06 PROFILE Velocity Stepper Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A1 06 PROFILE
55. d various other commands where applicable In order to satisfy the functionality of ViX stepper and servo products a set of manufacturer specific objects have been implemented These objects allow further drive profile configuration and allow the use of the specific modes of operation Scope of CAN Bus Control The objects and their implementation are described later in this guide Further details are also given of the software operation and flow It may be worth considering at this point some of the system limitations for those not needing to know any more than the basics to get a system running The objects do not provide facility for defining labels or some of the higher level report facilities The intention is that the drive is pre programmed with labels and sequences using EASI V and the RS232 serial port This configuration can be saved in each unit prior to being incorporated into a FieldBus system A facility is provided to send commands and data over the CANopen protocol in ASCII format object 0x2005 This will only accept one command per message The RS232 port should only be used as a maintenance port The operation of the software cannot be guaranteed if both the RS232 and CANopen ports are used at the same time VIX CANopen USER GUIDE 4 The CanOpen implementation makes use of an object dictionary that is immediately updated on a data write access This maintains the high data transfer rates The interface software tokenises the d
56. default mapping of 0x6041 the ViX Status Word 0x1A00 02 TxPDO1 Mapping PDO Mapping Entry 2 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1A00 02 G Unsigned32 RW 0x00000000 0x00000000 oxFFFFFFFF 0x1A00 03 TxPDO1 Mapping PDO Mapping Entry 3 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1A00 03 ah Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF 0x1A00 04 TxPDO1 Mapping PDO Mapping Entry 4 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1A00 04 Br Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF VIX CANopen USER GUIDE 23 TxPDO2 Mapping Parameter 0x1A01 TxPDO2 Mapping Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1A01 00 TxPDO2 Parameter Array 5 No 0x1A01 00 TxPDO2 Mapping Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1A01 00 Number of Unsigned8 RW 0x00 0x00 0x04 Entries 0x1A01 02 TxPDO2 Mapping PDO Mapping Entry 1 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum oxiao1 o E Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF 0x1A01 02 TxPDO2 Mapping PDO Mapping Entry 2 In
57. dex Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1A01 02 EE Unsigned32 RW 0x00000000 0x00000000 oxFFFFFFFF 0x1A01 03 TxPDO2 Mapping PDO Mapping Entry 3 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum oxiao1 03 EE Unsigned32 RW ox00000000 0x00000000 OxFFFFFFFF 0x1A01 04 TxPDO2 Mapping PDO Mapping Entry 4 Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1A01 04 Be Unsigned32 RW 0x00000000 0x00000000 OxFFFFFFFF VIX CANopen USER GUIDE Objects Available for Transmit PDO Mapping 24 System Byte 0x2007 01 Analogue Input 20 07 01 10 0x2007 03 Indexer Status 20 07 03 10 0x2007 05 Ready Busy Flag B 20 i 20 07 05 10 0x2007 06 Position Registration PR RO 4 20 07 06 10 0x2050 00 Incremental Position PI RW 4 20 50 00 20 0x2051 00 Position Error PE RW 4 20 51 00 20 0x2052 00 Position Target PT RW 4 20 52 00 20 0x6040 00 Control Word RW 2 60 40 00 10 0x6041 00 Status Word ST RO 2 60 41 00 10 0x6064 00 Position Actual PA RO 4 60 64 00 20 0x606C 00 Velocity V RO 4 60 6C 00 20 0x607A 00 Target Position D RW 4 60 7A 00 20 0x6081 00 Profile Velocity V RW 4 60 81 00 20 0x6100 00 Input Word IS RO 2 61 00 00 10 0x6300 00 Output Word O RW 2 63 00 00 10 VIX CANopen USER GUIDE 25 VIX CANopen USER GUIDE 27 5 Object Library Commun
58. e distance moved by the last move G command 0x2051 PE Position Error Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2051 00 Position Error Integer32 RW 0x80000000 Ox7FFFFFFF RxPDO TxPDO This object reports the position error that is the difference between PT and PA VIX CANopen USER GUIDE 44 0x2052 PT Position Target Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2051 00 Position Target Integer32 RW 0x80000000 Ox7FFFFFFF RxPDO TxPDO This object reports the target position of the motor that is where you have commanded the motor to move to 0x2060 FT Filter Time Servo Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2051 00 Filter Time Unsigned8 RW 0x00 OxFF No Fast positioning systems need high proportional and velocity gains By limiting the bandwidth the digital filter prevents a high gain system from becoming too lively The filter also serves to average the effects of the digital control loop reducing the jitter at standstill and the audible noise The value of FT should be kept as low as possible The arbitrary units used to set the value of FT cannot be directly related to any time value 0x2061 GF Feed Forward Gain Servo Only Index Su
59. een energised The default value is 50mS 0x21A6 02 BRAKE ED Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping Ox21A6 02 BRAKE ED Unsigned16 RW 0x0000 0x1388 No This object specifies the time in milliseconds for the brake to be engaged before the drive de energises The default value is 50mS 0x21A7 FRATE Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A7 00 FRATE Unsigned8 RW 0x00 0x01 No Command This object specifies the Feed RATE override the FRATE command is used together with the analogue input to scale the peak velocity of the drive V With this object set to 0x01 the FRATE is enabled VIX CANopen USER GUIDE 59 VIX CANopen USER GUIDE 60 Defined Device Profile Objects DSP 402 V1 1 Object table Index Sub Object System Object Type Attributes PDO Indexes Variable Mapping 0x603F 00 Error Code Unsigned16 RO No 0x6040 00 Control Word Unsigned16 RW RxPDO 0x6041 00 Status Word Unsigned16 RO TXPDO 0x6060 00 Operation Mode Integer8 WO No 0x6061 00 Report Current Operation Mode M Integer8 RO No 0x6064 00 Position Actual PA Integer32 RO TxPDO 0x6065 00 Following Error Window Integer32 RW No 0x6067 00 In Position Window Unsigned32 RW No 0x6068 00 Un Position Time IT Unsigned16 RW No 0
60. er Hannifin plc 2005 All Rights Reserved Parker Hannifin plc Electromechanical Automation Arena Buisness Centre Holy Rood Close Poole Dorset BH17 7BA UK Tel 44 0 1202 606300 Fax 44 0 1202 606301 Website www parker eme com e mail sales digiplan parker com Parker Hannifin S p A Electromechanical Automation Via Gounod 1 1 20092 Cinisello Balsamo MI Italy Tel 39 0266012459 Fax 39 0266012808 Website www parker eme com e mail sales sbc parker com Contact Addresses Parker Hannifin GmbH Electromechanical Automation Robert Bosch Str 22 D 77656 Offenburg Germany Tel 49 0 781 509 0 Fax 49 0 781 509 98176 Website www parker eme com e mail sales hauser parker com Parker Hannifin Corporation Compumotor Division 5500 Business Park Drive Suite D Rohnert Park CA 94928 USA Tel 1 800 358 9070 Fax 1 707 584 3793 FaxBack System 800 936 6939 e mail CMR_help parker com Website www compumotor com VIX CANopen USER GUIDE 1 Contents Rote A oe 2 2 Software Requirements ann es 3 Os EXCESO 7 O e Thy EE 10 5 Object Library Communication Objects DS301 vn 27 Defined Device Profile Objects D8402 VTT 60 Te State MachiN atte er o Z betta tela anti latent ata Meats 75 Appendix ASCIL Table 20er 75 Appendix 2 CIA DS 301 State Diagram sese 76 Appendix 3 TxPDO and RxPDO Transmission Types ooocccccccccccnccnonocccononoconananannnnnons 77 Appendix 4 Further
61. fect program flow This can only be done as a bit mask for banks of 8 bits at once and applies to both the external inputs IE and external outputs OE Using a Mask Bit Pattern The format of the command is no different to the standard IF or TR test The structure of the command is aTR IEn cond val or alF IEn cond val aTR OEn cond val or alF OEn cond val where a is the axis number of the ViX product n is the bank number of the 8 bit external I O to be addressed this can be IE1 4 or OE1 4 cond is the condition to be executed to the following value for the next line to execute this condition can be or lt gt val is entered as an 8 bit mask binary for the comparison bits can be denoted in the mask as 0 1 or X don t care Example 1TR IE1 XXXXXXX1 or 11F 1E2 11XX0XX1 1TR OE1 1XX0XXX1 or 11F OE3 100X0XXX VIX CANopen USER GUIDE 10 4 Object Types Addressing Every object type is accessed through a Communication OBject IDentifier COB ID The COB ID is made up from a function code representing the object type followed by a seven bit device address Communication Object Identifier COB ID Function Code Device Address Node ID 1 127 The COB ID also defines the priority of the message with the highest priority going to the lowest COB ID The following table gives an overview of the object availability Object Function COB ID Defined Index Description Type Code
62. ft blank Please refer to 0x1008 0x1009 and 0x100A for further product information VIX CANopen USER GUIDE 31 Manufacturer Specific Objects Object Table The following object table defines the objects using the CANopen protocol that are specific to stepper products A more detailed description of each object follows EE Tm e Indexes Variable Mapping 0x2004 CONTROL NA Unsignedg WO Rx 0x2005 i 0x2007 Variable Read NA Various RO Various 0x2008 i 0x2050 0x2051 0x2052 0x2060 0x2061 00 00 ASCII Command N A Visible String WO NA 00 00 00 00 00 0x2062 00 Integral Gain 00 00 00 00 6 00 ncremental Position Integer32 Pl Position Error Feed forward Gain 0x2063 Proportional Gain 0x2064 Velocity Gain 0x2100 ARM Command ARM Unsigned8 RW No 0x2153 GOTO Command GOTO Visible String WO No 0x2155 LOOP Command LOOP Various WO No 0x21A0 POSMAIN Command 0x21A1 PROFILE Command PROFILE Various RW No 0x21A2 DEG Command REG Various RW No 0x21A3 0x21A4 USE USE Unsigned8 WO No 0x21A5 FOLLOW Command FOLLOW Various 0x21A6 BRAKE Command BRAKE Various 0x21A7 FRATE Command FRATE Unsigned8 0x2004 CONTROL Execute Commands Index Sub Name Type Attribute Object Values PDO Index Default Minimum Maximum Mapping 0x2004 00 Control
63. g the RFS command value 162 the CAN interface will continue communication even though the fieldbus node identity and the fieldbus baud rate default values may be reported back as different to required The new settings do not come into effect until the power is re cycled The default parameters must be saved before cycling the power VIX CANopen USER GUIDE 33 VIX CANopen USER GUIDE 34 0x2005 COMMAND Execute ASCII formatted command Index Sub Index Name Type Attribute Default Value 0x2005 00 Command Visible String WO 00 Data details Coding Format ASCII Accepted Data 0x20 Ox7F Example Command System Command ASCII String Energise Axis 1 10N 31 4F 4F Goto START Program Axis 1 1GOTO START 31 47 4F 54 4F 28 53 54 41 52 54 29 Commands in ASCII format can be sent over the CAN bus with this object Enough characters are allowed to define the longest command PROFILE This is an inefficient use of the CAN protocol as several messages have to be sent in order for the full command to be read in the case of defining a profile The maximum number of data bytes per message is 8 In order to send 56 characters 9 separate messages require transmitting and receiving This is transparent to the user but the overhead in using the Fieldbus may affect other devices connected to the bus When using this object the ASCII data must be in upper case and preceded by the axis address note this may
64. ication Objects DS 301 V 3 0 Object Table Sub ee Fo GE EE EE 0x1008 Manufacturers Device Name 00 Visible String RO 0x1009 Manufacturers Hardware Visible String Version 0x100A Manufacturers Software Version 00 Visible String RO 0x100C Guard Time_______ 00 Unsignedt6 RW 0x100D Life Time Factor 00 Unsignedg RW 0x1014 COB ID Emergency Object 00 Unsigned32 RW 0x1018 Identity Object Lo Unsigneds2 RO 0x1200 11 Server SDO DD To Various RO General Notes The table above shows the Objects that are implemented in ViX products configured for CANopen protocol The implementation of these objects is based on the Draft Standard of the Communication Profile DS 301 version 3 0 0x1000 Device Type Index Sub Index Name Type Attribute Default Value 0x1000 00 Device Type Unsigned32 RO 00 02 01 92 ViX Servo Drive 00 04 01 92 ViX Stepper Drive The 01 92 refers to the device profile for drives and motion control This profile number is 402 The 00 02 and 00 04 refer to the additional information that can be specified In the case of 00 02 this specifies a Servo Drive while 00 04 specifies a Stepper Drive VIX CANopen USER GUIDE 28 0x1001 Error Register Index Sub Index Name Type Attribute Default Value 0x1001 00 Error Register Unsigned8 RO N A This register
65. ion and mapping parameters Section 5 Object Library Describes the various forms of Object that are used These are sub divided into the following types Communication objects 0x1000 to 0x1A01 Manufacturer specific objects 0x2004 to 0x21A7 Device Profile objects Ox603F to 0x6504 Section 6 State Machine The state diagram for CANopen used with Parker ViX drives Appendices Appendix 1 contains an ASCII table This is for the users reference There are several objects that return ASCII strings and it has been included to help Appendix 2 contains the DS 301 state diagram again this is used for user reference Appendix 3 TxPDO and RxPDO transmission types This is included to show the user the differences in transmission types and the associated ViX node behaviour Index Customer Feedback VIX CANopen USER GUIDE 3 2 Software Requirements Overview The CANopen Fieldbus is designed for the motion and control market The fast data rates and data formatting make it ideal for closing low bandwidth control loops with remote feedback devices It can support up to 127 nodes at up to 500metres distance Baud rates range from 20kHz up to 1MHz Each message can consist of up to 8 bytes of information The communications objects for setting the COB ID SDOs and PDOs are described in the CIA draft standard 301 The standard for the device profile DSP 402 has been followed at the application level for configuring the modes of operation an
66. ithin EASI V 0x6065 Following Error Window Stepper Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6065 00 Following Error Unsigned32 RW 0x0000 OxFFFF No Window VIX CANopen USER GUIDE 64 This object reports the following error window This writes to the error window used in the stepper STALL 0x21A3 02 command 0x6065 Following Error Window Servo Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6065 00 Following Error Unsigned32 RW 0x0000 0x61A80 No Window See previous for operation 0x6067 In Position Window Stepper Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6067 00 In Position Unsigned32 RW 0x80000000 Ox7FFFFFFF No Window This object reports the in position window This object writes to the deadband of the POSMAIN command 0x21A0 02 0x6068 IT In Position Time Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6068 00 In Position Unsigned16 RO 0x0001 0x01F4 No Time This object writes to the system variable IT similar to the EASI V command 1W IT The IP flag can only go high once movement has stopped and the IT timer value has timed out 0x606C V Velocity Index Sub Name Type Attribute Object
67. ject Values Index Default Minimum Maximum 0x1400 02 Transmission Unsigned8 RW OxFE 0x00 OxFF Type For further information on the transmission types please refer to Appendix 3 0x1400 03 RxPDO1 Configuration Inhibit Time Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1400 03 Inhibit Time Unsigned16 RW 0x03E8 0x0000 OxFFFF It is important to remember that this value is specified in units where 1 unit 100us VIX CANopen USER GUIDE RxPDO2 Configuration Bus Master ViX Node 14 0x1401 RxPDO2 Configuration Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1401 00 RxPDO2 Parameter Array 4 No 0x1401 00 RxPDO2 Configuration Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1401 00 Number of Unsigned8 RO 0x03 0x02 0x03 Entries 0x1401 01 RxPDO2 Configuration RxPDO2 COB ID Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1401 01 Number of Unsigned32 RW 0x300 0x301 0x37F Entries Node ID 0x1401 02 RxPDO2 Configuration Transmission Type Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1401 02 Transmission Unsigned8 RW OxFE 0x00 OxFF Type
68. le using this is shown below 1FMON FMON 3 16 16 Reporting the received data for each input is prompted with a single command alS1 where a is the axis number of the ViX product The value is reported as a bit pattern an example response is shown below where input 1 is the first It can be seen that the input 8 is set on 1181 0000_0001_0000_0000_0000_0000_0000_0000 If the module number is omitted then the IS command will revert to its RS232 state and report the ViX product input status as a bit pattern It should be noted that to check each bank of the external inputs then the IE command should be used please refer to the section Decision Making on External I O Reporting and setting the current output status is also covered by a single command aOE where a is the axis number of the ViX product Unlike the IS command the information is reported back in a hexadecimal format The example below shows how to set the last four bits i e the first four outputs of the CAN I O and report back the current output status 10E 000F 10E 0x0000000F It should be noted that the CAN outputs function in a similar way to the 0 command This command is immediate and not saveable thus when the drive is reset or the 24V logic lost the outputs are set to zero VIX CANopen USER GUIDE 9 Decision Making on External I O It is possible to use the IF and the TR commands with the external I O to af
69. nd then immediately an Enter Operational command thus ensuring the remote I O re sends the last state of the inputs Using the CANOpen monitor the commands can be seen as they are sent by the drive In the example below the Vix drive has node ID of 99 and the PIO 3 99 Generic NMT ErrorControl Bootup Message 0 Broadcast NMT Enter Preoperational Node 3 0 Broadcast NMT Start Remote Node 3 The Parker PIO modules used were as follows PIO 347 CANOpen Fieldbus Coupler ECO version PIO 602 PIO Supply Module 24VDC PIO 402 PIO 4 Channel Digital Input Module PIO 504 PIO 4 Channel Digital Output Module PIO 600 PIO Bus End Module The outputs from the drive are re set when the user issues a 1Z in a similar way to the O command Analogue inputs and outputs are not supported and there are no plans to implement this One TxPDO and one RxPDO can handle all of the inputs and outputs The maximum baud rate of 1Mb was used in all tests and has been shown to work reliably If the 11S1 command returns all zeroes but the bus is in the Operational state and there are inputs on then the size of the FMON command is too large Reduce this to the next size down VIX CANopen USER GUIDE 81 VIX CANopen USER GUIDE Index A Acceleration 0x6083 65 ASCII Command 0x2005 34 ASCII Table 75 ARM Command 0x2100 45 B Ba d rale E 5 BRAKE 0x21A6 56
70. nformation This is the area in which the drive is considered to be in position If the motor moves out of this location the POSMAIN command becomes active VIX CANopen USER GUIDE 48 0x21A0 03 POSMAIN Settle Time Stepper Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A0 03 POSMAIN Unsigned16 RW 0x0000 OxFFFF No Settle Time This object specifies how long in milliseconds that the indexer will wait after motion has ceased before checking the feedback encoder This value is specified in milliseconds mS 0x21A1 PROFILE Index Name Sub Indices Elements Attribute PDO Mapping 0x21A0 PROFILE Command 0x06 0x05 RW No This object allows the user to define the PROFILE command and is broken down into the same parts as the EASI V command For the relation between the objects and the PROFILE command please see the diagram overleaf PE gt BRA aren AA AD D V 0x21A1 ot 0x21A1 C 0x21A1 ok 0x21A1 04 0x21A1 06 It should be noted that 21A1 05 has been omitted This is reserved for the VS command Described as the Start Stop velocity it used a property that a stepper motor can literally jump to a speed from stationary Since this has not been implemented on the ViX sub index 0x05 has been removed VIX CANopen USER GUIDE 49 Example We wish to specify the following profile over the CAN bus 1PROFILE
71. ntinue the program 1 Stop motion when a limit is hit and abort the program Then run the FAULT program Example EASI V Command 1LIMITS 0 1 0 100 Enable both limits Normally open switches Stop motion when a limit is hit Deceleration rate of 100 revs CANOpen Response 0x27 10 00 28 We can calculate that 0x2710 is our LD value This is equal to 10 000 thus the value used within EASI V has been multiplied by 100 VIX CANopen USER GUIDE 42 We must then convert 0x28 into a binary pattern and thus we see 0600101000 Using the table above we can confirm the following Bit 5 True Stop motion when a limit is hit and abort the program Bit 3 True Normally closed switches Bit2 amp Bit 1 False Enable both limit switches 0x2008 09 VC FieldBUS Baud Rate FB Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 09 FieldBUS Baud Unsigned16 RW 0x014 0x3E8 No Rate This object allows the user to defile the baud rate The values are in kHz i e 1000 1000kHz or 1MHz Although this parameter can be written to and changed it will not become active until a power cycle or software reset is carried out 0x2008 0A VC FieldBUS Protocol FP Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2008 OA FieldBUS Unsigned8 RW 0x00000000 OxFF No Protocol
72. ocess Data Objects S Scope of CAN bus control 3 SDO see Service Data Messages SDO Configuration 0x1200 11 Set state to operational 6 83 Software settngs eee eee d STALE OXZ AS Mina 53 State Machine VIX Drive een 73 CIA DS301 CANOpen 76 Status Word 0x6041 62 Structure of user guide 1 T TxPDOs see Process Data Objects U USE Ox21A4 aaa 55 User Assumptions ccccccccccccccncccnnns 1 V Variable Data Read 0x2007 35 Variable Data Configure 0x2008 37 Velocity IOXB0GCT 64 0X6081 u nennen 65 84 CUSTOMER FEEDBACK 85 Customer Feedback If you have spotted any errors omissions or inconsistent information within this user guide please let us know Either use this page or a photocopy to describe the error and Fax it to the number given below Alternatively you may phone or email the correction Name of user guide Part number 1600 s Found on the title page in the bottom left corner Your name Contact number or email address Description of the error Please include page number Errors can be reported By phone via a technical Or by email by Fax support engineer 44 0 1202 606301 44 0 1202 606300 support digiplan parker com CUSTOMER FEEDBACK 86
73. red via the RS232 ASCII link by entering the command nW FN x Where n is the axis drive address x is the required CanOpen node address The parameter can be checked by reading back the data that is nR FN These variables are also accessible over CanOpen via object 0x2008 and the relevant sub index Care must be taken when using these variables as wrong settings may cause the CanOpen link to fail VIX CANopen USER GUIDE 5 FieldBus Node ID FN The default node ID is 99 The Node ID can be set via RS232 this is done by using the following command nW FN X Where n is the axis drive address X is the node address 1 127 It can be set so that the CAN node address automatically takes the axis address by setting the fieldbus control see below After a change of value of Node ID a SAVE 1SV must be executed and power cycled to make the new data valid FieldBus Baud Rate FB The parameters for baud rate are limited to the following settings The required baud rate for CanOpen can be configured via the RS232 ASCII link by entering the command nW FB x Where n is the axis drive address x is the parameter value for the required baud rate shown above The parameter can be checked by reading back the data e nR FB Both of the above set up parameters can be defined over CanOpen by using the object 0x2008 Variable Configuration with the appropriate sub index The revised values will not become active until the
74. tion to be successful The process of writing to sub index 1 will initiate the loop using the label name in sub index 2 VIX CANopen USER GUIDE 47 0x2155 02 LOOP Label Name to be Looped Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2155 02 Label Name to Visible RW 0x0000000000 OxFFFF No be Looped String This object defines the label to be looped The data format contains a maximum of 5 ASCII characters The label must already be defined on the target for the execution to be successful The ASCII characters sent must be in upper case and do not require an address 0x21A0 POSMAIN Stepper Only Index Name Sub Indices Elements Attribute PDO Mapping 0x21A0 POSMAIN Command 0x03 0x04 RW No This object allows access to the POSMAIN functionality 0x21A0 01 POSMAIN ARM Status Stepper Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A0 01 POSMAIN ARM Unsigned16 RW 0x00 0x31 No Status This object defines the status of the ARM in bit 0 and the output is defined in the upper nibble of the lower byte 0x21A0 02 POSMAIN Dead Band Stepper Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x21A0 02 POSMAIN Unsigned16 RW 0x0000 Ox7FFF No Dead Band This contains the dead band i
75. ut is altered and when the event timer is lapsed VIX CANopen USER GUIDE 20 TxPDO2 Configuration ViX Node Bus Master 0x1801 TxPDO2 Configuration Object Details Index Sub Name Object Elements Attribute PDO Index Code Mapping 0x1801 00 TxPDO2 Parameter Array 6 No 0x1801 00 TxPDO2 Configuration Number of Entries Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1801 00 Number of Unsigned8 RO 0x05 0x02 0x05 Entries 0x1801 01 TxPDO2 Configuration TxPDO2 COB ID Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1801 01 COB ID of Unsigned32 RW 0x280 0x281 0x2FF TxPDO2 Node ID 0x1801 02 TxPDO2 Configuration Transmission Type Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1801 02 Transmission Unsigned8 RW OxFE 0x00 OxFF Type For further information on the transmission types please refer to Appendix 3 0x1801 03 TxPDO2 Configuration Inhibit Time Index Sub Name Type Attribute Object Values Index Default Minimum Maximum 0x1801 02 Inhibit Time Unsigned16 RW 0x03E8 0x0000 OxFFFF It is important to remember that this value is specified in units where 1 unit 100us VIX CANopen USER GUIDE 21
76. vershoot and oscillations that require damping 0x2064 GV Velocity Gain Servo Only Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2064 00 Velocity Gain Unsigned32 RW 0x000 Ox3FF No Velocity feedback is a signal that increases with shaft speed It acts in a negative sense opposing the proportional action and helping to stabilise the motion The damping action of velocity feedback allows a higher proportional gain to be used 0x2100 ARM ARM Command Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x2100 00 ARM Command Unsigned8 RW 0x00 0x80 No The ARM command allows you to enable arm or disable disarm the START label It also enables disables the FAULT label This has been shown in the diagram below 1ARM nn L Enable the FAULT label Enable the START label Naturally this forms a binary pattern of 0 1 2 and 3 this has been explained in the table below Index Sub Value System Action Index Command 0x2100 00 0x00 1ARMOO START label does not run on power up FAULT is not used if the drive goes into error 00 0x01 1ARMO1 FAULT is used if the drive goes into error 00 0x02 1ARM10 START label does run on power up 00 0x03 1ARM11 Both used VIX CANopen USER GUIDE 46 0x2153 GOTO GOTO ASCII Program Label
77. x606C 00 Velocity V Integer32 RO TxPDO 0x607A 00 Target Position D Integer32 RW RxPDO TxPDO 0x6081 00 Profile Velocity V Unsigned32 RW RxPDO TxPDO 0x6083 00 Profile Acceleration AA Unsigned32 RW No 0x6084 00 Profile Deceleration AD Unsigned32 RW No 0x6086 00 Motion Profile Type SC Integer16 RW No 0x6098 00 Homing Method Integer8 RW No 0x6099 02 Homing Velocity HF Unsigned32 RW No Ox609A 00 Homing Acceleration Unsigned32 RW No Deceleration Ox60F4 00 Position Error PE Unsigned16 RW No 0x6100 00 Input Word IS Unsigned16 RO TxPDO 0x6300 00 Output Word O Unsigned16 RW RxPDO TxPDO 0x6504 00 Drive Manufacturer Visible String RW No VIX CANopen USER GUIDE 61 0x603F Error Code Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x603F 00 Error Code Unsigned8 RW 0x0000 0x1000 No This object captures the last known drive error It corresponds to the value of the lower 16 bits of object 0x1003 Owing to a lack of space within the ViX memory it was decided to report all errors as 0x1000 which is a Generic Error as defined by the communications profile DS 301 and leave the detail in the User Fault UF Drive Fault DF and Status ST registers 0x6040 Control Word Index Sub Name Type Attribute Object Values PDO Index Minimum Maximum Mapping 0x6040 00 Control Word Unsigned1

ViX CANOpen Series Digital Drives User Guide

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