Schneider Electric DS301 manuale d’uso

www .schneider-electric.com 0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 Fieldb us interf ace Fieldb us manual V2.01, 11.2008[...]

2 Fieldb us interface Important information IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Impor tant inf ormation This manual is par t of the prod uct. Carefully read this manual and obser ve all instructions. K eep this m anual f or futu re ref erenc e . Hand this manual and all oth er per tinent product documenta tion ov er to all users of [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 T able of Contents Fieldb us interf ace 3 T able of Contents Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Writing conventions and symbols . . . . . . . . . . . .[...]

4 Fieldb us interface T able of Contents IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.1 Commissioning the de vice . . . . . . . . . . . . . . . . . . . . . . 53 5.2 Address and baud rate . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.3 Com[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 T able of Contents Fieldb us interf ace 5 8 Object directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 8.1 Ov er view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 8.1.1 Specifications f or the objects . . . . . . . . . . . . . . . . [...]

6 Fieldb us interface T able of Contents IL•1F CANopen DS301 0198441113586, V2.01, 11.2008[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 Writing con ventions and symbols Fieldb us interf ace 7 Writing con ventions and symbols Wo r k st e p s If work steps must b e performed consecutiv ely , this sequence of steps is represented as f o llo ws: 쮿 Special prerequisites for the f ollowing work steps 왘 Step 1 컅 Specific respon se [...]

8 Fieldb us interface Writing con ventions and symbols IL•1F CANopen DS301 0198441113586, V2.01, 11.2008[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 1 Intr oduction Fieldb us interf ace 9 1 Intr oduction 1.1 About this manual This manual describes the fieldbu s s pecifics for products in a fieldb us network addresse d via CANopen DS301. 1.2 CAN-Bus The CAN b us ( C ontroller A rea N etw or k) was originally de veloped f or f ast, economical da[...]

10 Fieldb us interface 1 Intr oduction IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 1.3 Fieldb us devices netw orked via CAN b us Diff erent fieldb us device s can be operated in the same f ieldbus seg- ment. The C ANopen bus provides a common basis f or inte rchanging commands and data b etween the prod uct described and other network de vi[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 1 Intr oduction Fieldb us interf ace 11 1.5 Documentation and literature references Manuals In addition to this fieldb us manual, the f ollowing manuals also belon gs to the product: • Produc t manual , describes the technical data, installat ion, com- missioning and all opera ting modes and fun[...]

12 Fieldb us interface 1 Intr oduction IL•1F CANopen DS301 0198441113586, V2.01, 11.2008[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 2 Before y ou begin - safety info rmation Fieldb us interf ace 13 2 Bef ore y ou begin - safety inf ormation The informat ion provided in this manual sup plements the pr oduct man- ual. Carefully read the product manual bef ore you begin.[...]

14 Fieldb us interface 2 Bef ore you begin - saf ety information IL•1F CANopen DS301 0198441113586, V2.01, 11.2008[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 15 3B a s i c s 3.1 CANopen technolog y 3.1.1 CANopen description language CANopen is a de vice- and manuf acturer-independ ent descr iption lan- guage f or communication via the CAN b us. CANo pen provides a co m- mon basis f or interchanging commands an d data betwe[...]

16 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.1.3 Objects All processes under CANopen are e xecuted via objects. Objects ca rry out different tasks; the y act as comm unication objects f o r data transport to the fieldb us, control the pr ocess of establishing a connection or mon- itor the network de vices. I[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 17 receiving de vices. Data types are declared by me ans of the objects of the data types. Object groups of the profiles CANopen objects carr y out v arious tasks in fieldbus mode . Profiles group th e objects by tasks .[...]

18 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.1.4 CANopen pr ofiles Standardiz ed profiles Standardized pro files descr ibe ob jects that are used with diff erent de- vices without additi onal configuration. The users and manuf acturers or- ganization CAN in A utomation has standardiz ed v arious profiles. Th[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 19 3.2 Comm unication profile CANopen manages comm unication between the netw ork devices with object dictionaries and objects . A network de vice can use process data objects (PDO) and se r vice data objects ( SDO) to request the object data from the object dict iona[...]

20 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Structure of object dictionary The objects in the object dictionary are sor ted b y inde x value s. T able 3. 3 shows the inde x ranges of the object dictionary according to the CAN- open specifications . T able 3.3 Index ranges of the ob ject dictionar y Object des[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 21 3.2.2 Comm unication objects Overview The comm unication objects are stan dardized with the DS30 1 CANopen communicatio n profile. The objects ca n be classified into 4 groups ac- cording to their tasks. Figure 3.4 Communication objects; the follo wing applie s to [...]

22 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 CAN message Data is e xchanged via the CAN bus in the form of CAN messages. A CAN message tr ansmits the communication object and a variety of ad- ministration and control inf or mation. Figure 3.5 CAN message and simplified representation of CANopen mes- sage CANop[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 23 COB IDs of the comm unication objects The f ollowing tab le shows the COB IDs of all co mmunication objects with the f actor y settings . The column "Inde x of object parameter s" shows the inde x of special objects with which the settings of the com- mun[...]

24 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Example Selection of a COB ID F or a de vice with the node address 5, the CO B ID of the communication object T_PDO1 is : 384+node ID = 384 (180 h ) + 5 = 389 (185 h ). Data frame The dat a frame of the CANopen message can hold u p to 8 byt es of data. In addition t[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 25 Client-ser v er relationship A client-server relat ionship is established between 2 de vices. The "ser v er" is the de vice whose object dictionar y is used during data e x- change. The "client" addresse s and star ts the exchange of messages an[...]

26 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.3 Service data communication 3.3.1 Overview Ser vice Data Object(SDO: S ervice D ata O bject) can be used to access the entries of an object dictionary via inde x and subinde x. The valu es of the objects can be read an d, if per missibl e, also be changed. Ev er [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 27 3.3.3 SDO message Put simply , an SDO message consists of the COB ID and the SDO data frame , in which up to 4 byte s of data can be sent. Longer da ta se- quences are distributed o ver m ultiple SDO messages with a special pro- tocol. The de vice sends SDOs of up [...]

28 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.3.4 Reading and writing data Writing data The client star ts a write request b y sending inde x, subinde x, data length and v alue. The ser v er sends a confirmation indicating whether the data w as cor- rectly processed. The confir mation contains th e same index[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 29 Reading data The client starts a read request b y sending the inde x and subinde x that point to the object or the object valu e whose value it w ants to read. The server confirms the request b y sending the desired data. The SDO response conta ins the same index a[...]

30 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Error respon se If a message could not be e valuat ed without errors , the server send s an error message . For details on the e valuat ion of the error message see chapter 7 "Diagnostics and troubleshoot ing". Figure 3.15 Respo nse with erro r message (er[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 31 3.4 Pr ocess data communication 3.4.1 Overview This chapter describes the flow of inf or mation from the perspective of your product in complian ce with CiA standard DS301. Th e designation "receive " relates to a flow of data from the ma ster to the prod[...]

32 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.4.2 PDO data exc hange Figure 3.16 PDO data e xchange Data e xchange with PDOs f ollows to the producer-con sumer relation- ship and can be tr iggered in 3 wa ys • Synchronized • Ev ent-driven, asynchrono us • On request of a consumer , asynch ronous The SYN[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 33 Remotely requested T ransmission of an as ynchronous PDO is t riggered when an e xter nal re- quest is receiv ed. Such a "Remote R equ est" is represented by a special bit in the CAN transmission frame; it has t he same COB ID (com muni- cation objec t id[...]

34 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Requesting process data One or more ne twork devices with consumer func tion can request PDO messages from a producer . The produc er is identified by the COB ID of the request and re sponds with the requested PDO . Figure 3.18 Requesting a message with RTR = 1 The [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 35 3.4.2.2 Re ceive PDO R_PDO4 (master -> sl ave) The master de vice can e xecut e the follo wing actions via the PDO4 chan- nel to the sla ve: • Control the sta te machine of the sla ve – Enab le/disab le the powe r stage of the product – T r igger and reset[...]

36 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 State mac hine – drivectrl The state machine is cont rolled via PDO4 or the SDO object drivectrl , 28:1, in bot h cases via bits Bits 0 ... 4. In PDO mode , a change f or m 0 to 1 triggers the corresponding function. In the case of access via SDO , a write access [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 37 Operating modes – modeCtrl In PDO mode, the operating modes are co ntrolled via object modeCtrl . The master m ust enter the f ollowing v alues to activ ate an operating mode or to change r efer ence values: • Ref erence v alues in fields "Ref16" and [...]

38 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Ref erence positions are ent ered in increments , ref erence speeds in [min -1 ]. If opera ting mode, ref erence position and ref erence speed ar e transmit- ted simultaneou sly in one PDO , data consistency is required. F or this reason, the produ ct ev aluates the[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 39 Struc ture of T_PDO4: Figure 3.20 Str u cture of T_PDO4 Status word driveSta t The information in the statu s word driveStat corresponds to bit s 0 ...15 of ob ject Status.driveStat , 28:2. Contents of informat ion: • State of sta te machine • W ar ning and err[...]

40 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Operating mo de modeStat This field corre sponds to bits 0 ... 2 of the object Status.xMode_act . Bits 6 and 7 pro vide additional inf or mation that can b e used for synchro- nized op erating mode control via the PDO s. The field contain s the follo wing informatio[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 41 Example of shor t positioning The master star ts a positioning mov ement that w ill only tak e a very shor t time. The duration is shor ter than t he polling cycle of the master . At point in time t 1 the movement is alr eady complete. Using bit x_end , the mas - t[...]

42 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Handling of er rors If t he master toggles bit 7 (MT) , this is inter preted by the sla ve as a re- quest to start an operating mode or to chan ge data of the current oper- ating mode . If the request cannot be processed , the active op erating mode is not changed a[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 43 3.4.2.5 Eme rgency service The Emergency Service signals inter nal de vice errors via the CAN bus. The error is sent to all network devices with an EMCY object a ccording to the "Consumer-Pr oducer" relationship . Figure 3.23 Error message with the EMCY o[...]

44 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.5 Synchr onization The synchronization object SYNC co ntrols the synchronous e xchange of messages betw een network de vices for pu r poses such as the simul- taneous star t of mu ltiple dr iv es. The data e xchange conf or ms to the produ cer-consumer relationshi[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 45 Cyclic ad acyclic data transmission Synchronous e xchange of messag es ca n be cyclic or acyclic. Figure 3.27 Cyclic and acyclic transmission In the case of cyclic transmission , PDO messages are e xchanged con- tinuously in a specified cycle, e.g. with e very SY N[...]

46 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 3.6 Netw ork management ser vices Network management (NMT) is part of the CANopen communication profile; it is used t o initialize the netw ork and the network de vices and to star t, stop an d monitor the networ k de vices in ne twork mode. NMT ser vices are e xecu[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 47 Initialization An NMT slav e automatic ally runs through an initialization phase after the supply v oltage is s witched on (power on ) to prepare it f or CAN bus operat ion. On completion of the initialization, the slav e switches to the state "Pre-op erationa[...]

48 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 NMT message T he NMT ser vices for device control are transmitted a s unconfir med messages with the COB ID = 0 . By def ault, the y hav e the highest priority on the CAN bus . The data frame of the NMT device ser vice consist s of 2 bytes. Figure 3.30 NMT message T[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 3 Basics Fieldb us interf ace 49 Structure of the NMT message After a request f rom the NMT master , the NMT sla ve responds with one data byte. Figure 3.31 Acknowledgement of the NMT sl a ve Bits 0 to 6 id entify the NMT state of the slav e: •4 ( 0 4 h ): "Stopped" •5 ( 0 5 h ): &qu[...]

50 Fieldb us interface 3 Basics IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Connection erro r The NMT master sign als a connection error to the ma ster program if: • the sla ve does not respond within the "guard time" period • the NMT state o f the slav e has changed without a request by the NMT master . Figure 3.32 sho ws an [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 4 Installation Fieldb us interf ace 51 4 Installation F or inf or mation on in stallation of the de vice and connecting the de vice to the fieldb us see the product man ual. Slav e withDIP s witches Bef ore installing the sla ve in th e system, you m ust set the network ad- dress and the baud rate[...]

52 Fieldb us interface 4 Installation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 5 Commissioning Fieldb us interf ace 53 5 Commissioning 5.1 Commissioning the de vice F or installation in the network , the de vice must first be properly installed (mechanically and electrically) and commissioned. Commission th e de vice as per product manual. T his prepares the device f or oper[...]

54 Fieldb us interface 5 Commissioning IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 5.2 Address and baud rate Up to 32 de vices can be addresse d in one CAN bus netw ork branch and up to 127 de vices in the e xtended network. Each de vice is identified b y a unique address . The def ault node address f or a de vice is 127. The def ault baud [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 5 Commissioning Fieldb us interf ace 55 5.3.2 T roub leshooting Chec k the follo wing settings if the sl av e does not respond: 왘 Did you start the slav e and s witch on the master? 왘 Are all cab le connections ok (e lectrically and mechanically)? 왘 Did you set the correct address at the sla[...]

56 Fieldb us interface 5 Commissioning IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 5.4 SyCon CANopen configuration software The CANopen network can be configur ed with the "SyCon" configura- tion softw are. An addit ional EDS file is included in the SYCON su bdirec- tor y on the produ ct CD . 왘 Procedure: 5.4.1 Creating a ne w n[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 5 Commissioning Fieldb us interf ace 57 5.4.3 Setting the b us parameters The menu item "Se ttings - Bus P arameter ..." allows y ou to set the CAN- open comm unication paramete rs. Please also co nsult the operating in- structions of the SyCon configurat ion software . 왘 Confirm your [...]

58 Fieldb us interface 5 Commissioning IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 5.4.4 Selecting and inserting nodes Use the men u item "Inser t - Node" to select the netwo r k nodes . The e x- ample sho ws a Lexium 05 . 왘 Confir m y our selection with "OK".[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 59 6 Operation 6.1 Overview The progr amming e xamples show hand s-on applications f or netw or k operat ion. There are 2 access methods via t he CANopen fieldb us: SDO "Service Data Objects" and PDO "Proce ss Data Objects". Using SDOs An SDO ac[...]

60 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Structure of the e xamples The PDOs are described from the perspectiv e of the slav e: The e xamples describe: •T a s k • Initial condition s • Required commands in the tr ansmit data frame • Respons e of the product in the receive data frame • P ossibl[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 61 6.2 Using SDO commands 6.2.1 Writing parameters Ta s k The parameter Motion.acc , 29:26 (acceleration) is to be se t to a v alue of 10,000. Inde x and subinde x must be con verted to hexade cimal notation and the constant 3 000 h added to the inde x fo r the SDO[...]

62 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 6.2.2 Reading a parameter Ta s k The pa rameter Status.n_act, 31:9 (actual speed) is t o be read. Inde x and subinde x must be conv er ted to he xadecimal notation and th e constant 3000 h ad ded to the inde x for t he SDO access: • Index:31 = 1F h + 3000 h = 3[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 63 6.3 Changing operating states with PDO4 The product oper ates in diff erent operating st ates. The individual oper- ating states are n umbered from 1 to 9 . The op erating states and the transition condit ions are described in more detail in the prod uct manual,[...]

64 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 6.3.1 Switching the po wer stage on and off The pow er stage is enab led by the transition from ope rating state 4 to 6 . F or this pur pose , the two bits Enable and Disable ar e av ailable in the R_PDO4 . One of th em must be "1", the other "0&qu[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 65 Example Master <---> Slave "Enable" is requested ---> drivectrl 02 h Slav e signals operating state 6 <--- driveStat XXX6 h request "Quick Stop" and "Enable" ---> drivectrl 06 h Slav e signals operating state 7 <--[...]

66 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 6.3.3 Resetting faults If an error occur s during op eration, the product switches to operating state 7 "Quic k Stop" or oper ating state 9 "F ault", dependin g on the type of error . After ha ving remedied the cause of the fault , you can res[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 67 6.4 Examples f or the operating modes with PDO4 R_PDO4 With the R_PDO4 you can start motion commands and change them while the y are being processed. R_PDO4 provides three fie lds f or these pur poses: • modeCtrl Star ting and changin g operating modes • &qu[...]

68 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 6.4.1 Operating mode Pr ofile P osition: absolute positioning T o star t an absolute posit ioning mo v ement, the f ollowing settings must be made in t he R_PDO4 : 왘 Enter the reference speed in "Re f16" and the target posit ion in "Ref32". [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 69 6.4.2 Operating mode Pr ofile P osition: relative positioning Relativ e positioning is similar to absolute p ositioning. Y ou only need to enter the value 13 h (operating mo de Profile P ositioning, relativ e posi- tioning) in field modeCtrl . Also note that sev[...]

70 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Example The Profile V elocity operating mod e is star ted with a ref erence speed of 1000 min -1 (03E8 h ). The ref erence speed is changed to 2000 min -1 (07D0 h ) during the mov ement. The Profile V elocit y operating mode is ter minated when the reference spee[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 71 6.4.5 Operating mode Homing During the ref erenc e mov ement a limit switch or ref erence switch is ap- proached and then a ne w v alue is assigned to this positi on. Bef ore a ref erence mo vement is star ted, the par ameters must be set by means of SDO wr ite [...]

72 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 6.5 Err or signaling via PDO4 6.5.1 Synchr onous errors If a request f or an operating mode se nt via R_PDO4 cannot be proc- essed by the product, the product rejects processing an d sets modeStat , bit 6 (" ModeError") in the T_PDO4 . Th is does not in[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 6 Operation Fieldb us interf ace 73 Example: Exter nal monitoring triggers a f ault message; positiv e limit s witch "LIMP" was hi t. T able 6.9 Asynchro nous error , tr iggering of an external Note: When the limit s witch is detect ed, t he motor is deceler ated with the EMERGENCY ST OP[...]

74 Fieldb us interface 6 Operation IL•1F CANopen DS301 0198441113586, V2.01, 11.2008[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 7 Diagnostics and tr oubleshooting Fieldb us interf ace 75 7 Dia gnostics and troub leshooting 7.1 Fieldb us communication err or diagnostics A properly operating field bus is essential f or e valuating oper ating and er- ror messages. Connections f or fieldb us mode If the product cannot be addre[...]

76 Fieldb us interface 7 Diagnostics and tr oubleshooting IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 7.2 Err or diagnostics via fieldb us 7.2.1 Message objects A number of objects pr ovide inf ormation on the operating and error state: •O b j e c t Statusword (6041 h ) Operating states, see product man ual •O b j e c t EMCY (80 h + Nod[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 7 Diagnostics and tr oubleshooting Fieldb us interf ace 77 7.3 CANopen err or messages CANopen error messages ar e signaled in the f or m of EMCY messa ges. The y are ev aluated via the objects Error register (1001 h ) a nd Error code (603F h ) . F or information on the object EM CY see chapter 3.[...]

78 Fieldb us interface 7 Diagnostics and tr oubleshooting IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 7.3.3 SDO err or message ABORT An SDO error message is gener ated as a response to an SDO trans- mission error . The cause of error is cont ained in error code , byte 4 to byte 7. Figure 7.1 SDO error messag e as a response to an SDO messag[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 79 8 Object directory 8.1 Overview This object dictionary only describes the protocol f or the product as per CANopen DS 301. The objects f or controlling operating modes , func- tions and all p arameters can be f ound in the product manual f or the prod- uc[...]

80 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Can be sav ed yes: v alues can be sav e d to the memor y of the pr oduct and are availab le when the p roduct is switched on ag ain. –: va lues are lost when the product is s witched off . 8.1.2 Objects, o ver view Index Subin dex Designation O bj. code [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 81 8.2 Objects of the pr oduct 1000h Devi ce type The object specifies the de vice profile used as well as the de vice type. Object description V alue descr iption 1001h Err or register The object specifies the er ror state of the product. The ma nuf acturer[...]

82 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Bit coding, subinde x 00h 1008h Manufacturer device name The object s pecifies the device name (e.g. “IFS ”) Object description V alue description 100Ch Guar d time The object specifies the time span f or node guarding of an NMT sla ve. Object descript[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 83 The time span f or connection monitoring of an NMT m aster results from the time span "guard time " multiplied by the f actor "life time", object Life time factor (100D h ). The time span can be cha nged in the NMT state "Pre-Oper[...]

84 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 V alue description 1018h Identit y Object The object pr ovides inf ormation on the product . Subinde x 01 h (vendor Id) contains the v endor identification, subinde x 02 h (product Id) contains the v endor-specific product code . V alue description Subinde[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 85 1403h Receiv e PDO4 c ommunication par ameter The object st ores settings f or the f our th receive PDO R_PDO4. Object description V alue descr iption Index 1403 h Object name receiv e PDO4 communication parameter Object code RECORD Data type PDO Communic[...]

86 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Bit assignment subinde x 01h Bit 31 A R_PDO can only be used if bit 31="0". Bit 30 R TR bit If a de vice suppor ts R_PDOs with RTR (remote tr ansmission request), it can request a PDO from a PDO producer with RTR = "0" in accordance wit[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 87 If an R_PDO is transmitted synchron ously (transmission type=0..252), the product e valuates the received da ta depending on the SYNC object . • In the case of acyclic tr ansmission (transmission type=0), the ev alu- ation depends on the SYNC ob ject, b[...]

88 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 V alue description Subindex 00h, number of elements Meaning Number of subinde xes Access read-only PDO mapping – V alue range – Default v alue 4 Can be sav ed – Subindex 01 h , 1st mapped object R_PDO4 Meaning First object f or mapping in R_PDO4 Acce[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 89 Bit coding from subinde x 01h Ev er y subinde x entry from subinde x 01h on specifies the object and the by te length of the object. The ob ject is identified via the inde x and the subinde x, which ref er to the object dictionary of the de vice. Settings[...]

90 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 The meani ng of the bit states an d subinde x values is descr ibed with the object receive PDO4 communication parameter (1403 h ). Settings R_PDO4 is transmitted asynchronously and in an e vent-driv en wa y . The b yte assignment of T_PDO4 is specified via[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 8 Object directory Fieldb us interf ace 91 V alue descr iption Subin de x 00 h , number of elements Meaning Number of subindex es Access read-only PDO mapping – V alue range – Def ault value 4 Can be sav ed – Subindex 01 h , 1st mapped object T_PDO4 Meaning First object f or the mapping in T[...]

92 Fieldb us interface 8 Object directory IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 The meaning of the bit states is describ ed with the object receive PDO4 mapping (1603 h ). Settings The PDO assignment f or T_PDO4 cannot be modified. Th e assigne- ment is described in 3.4.2.3 "T ransmit PDO T_PDO4 (product to mas- ter)". Subin[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 9 Glossary Fieldb us interf ace 93 9 Glossary 9.1 Units and con version tables The v alue in the specified unit (left colum n) is calculated for the desired unit (top ro w) with the f or mula (in the fie ld). Example: conversion of 5 meters [m] to yards [yd] 5 m / 0.9144 = 5.468 yd 9.1.1 Length 9.[...]

94 Fieldb us interface 9 Glossary IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 9.1.5 Rotation 9.1.6 T orque 9.1.7 Moment of inertia 9.1.8 T emperature 9.1.9 Conductor cr oss section min -1 (RPM) rad/s deg./s min -1 (RPM) -* π / 30 * 6 rad/s * 30 / π - * 57.295 deg./s / 6 / 57.295 - lb·in lb·ft oz·in Nm kp·m kp·cm d yne·cm lb·in - / [...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 9 Glossary Fieldb us interf ace 95 9.2 T erms and Abbreviations AC Alternating current CAN ( C ontroller A rea N etwo r k), st andardized open fieldbus as pe r ISO 11898, allo ws drives and other de vices from diff erent manuf acturers to communicate. CANope n Device- and man ufacturer -independen[...]

96 Fieldb us interface 9 Glossary IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 P ower stage The po wer stage contr ols the motor . The power stage generates curre nt f or controlling the motor on the basis of the positi oning signals from the controller . Hear tbeat Used f or unconfir med connect ion acknowle dgement messages from network de[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 10 Index Fieldb us interf ace 97 10 Inde x A Abbreviations 95 ABORT 76, 78 Acyclic data transmis sion 45 Address 54 Checking 75 Asynchrono us errors 76 B Baud rate 54 Checking 75 Before you begin Safety informat ion 13 Bit field data 22 Bit field identifier 22 Bit fields Data 22 Identifier 22 Boot[...]

98 Fieldb us interface 10 Index IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Read value 29 SDO 27 Write value 2 8 Command specifier 48 Command-code See command code Commissioning 53 Commissioning the device 53 Communication objects COB IDs 23 Controlling 22 Identificati on 22 overview 21 Communication profile DS301 18 Communication relations[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 10 Index Fieldb us interf ace 99 messages fo r CANopen 77 Response with SDO 30 Error code table 77 Error diag nostics Connections to f or fieldbus operation 75 Function test of field bus 75 error register 77 Example SDO message 2 7 Selection of a COB ID 24 F Function c ode 2 3 function code See Fu[...]

100 Fieldb us interface 10 Index IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Messages Asynchrono us errors 76 Error code (603F h) 77 Error regi ster (1001h) 77 on the device sta tus 76 Synchron ous errors 76 Mode Toggle 40 Multimaster capability 9 N Network manag ement See NMT NMT Message 48 Network services 46 Recipient of a message 48 Ser[...]

0198441113586, V2.01, 11.2008 IL•1F CANopen DS301 10 Index Fieldb us interf ace 101 Profiles standardized 18 Vendor-specific 18 R Real-time data exchang e 31 Recipient of an NMT message 48 Residual error probability 9 Response to SDO error 30 S SDO 21, 26 COB ID 27 Command code 27 Data 27 Data frame 27 Error message 76 error messag e 7 8 Error re[...]

102 Fieldb us interface 10 Index IL•1F CANopen DS301 0198441113586, V2.01, 11.2008 Terms 95 Time values For synchronization 44 Troubleshooting 7 5 U Units and conver sion tables 93 V Vendor-specific Profiles 18[...]