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Chapter 5 CANopen Operation Mode

ASDA A2-E

5-18

Revision April, 2015

5.9 Limit Position Handling Procedure

5.9.1 Description

Drive will switch to Quick-Stop status while traveling to the position of positive or

negative limit sensors, and it can be handled by the following procedures.

5.9.2 Operation Procedures

1. The servo panel will show the alarm while sensors are close to the positive or

negative limit. The motor is controlled by a deceleration slope to stop and it is at

Quick-Stop status. The drive will keep in servo-on status but will not accept the

further motion command.

2. Set

【

Controlword:6040h

】

to 0x8F for fault reset and clearing the alarm displayed

on the panel.

3. Set

【

Controlword:6040h

】

to 0x1F/0x0F for Operation Enabled, and then the servo

can accept the motion command again.

4. For a motor at its limit position, there must be a command which can drive the motor

to the backward direction. Or the alarm will be triggered again while the motor starts

moving.

Summary of Contents for ASDA A2-E

Page 1: ...ea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TE...

Page 2: ...ion of I O CN1 Connector Signal 1 8 1 5 2 CN2 Connector 1 9 1 5 3 CN5 Connector Full closed Loop 1 10 1 5 4 CN6 EtherCAT Terminal 1 11 1 5 5 CN7 Extension DI 1 12 1 5 6 CN STO 1 13 1 5 7 STO with Safe...

Page 3: ...16 Chapter 3 EtherCAT Communication States 3 1 3 1 State Transition Operation 3 2 Chapter 4 EtherCAT Troubleshooting 4 1 Chapter 5 CANopen Operation Mode 5 1 5 1 Profile Position Mode 5 1 5 1 1 Descr...

Page 4: ...eration Procedures 5 10 5 5 3 Advanced Setting Procedures 5 11 5 5 4 Associated Object List 5 11 5 6 Cyclic Synchronous Velocity Mode 5 12 5 6 1 Description 5 12 5 6 2 The Function of CSV Mode 5 12 5...

Page 5: ...5 10 4 Associated Object List 5 21 Chapter 6 Object Dictionary Entries 6 1 6 1 Specifications for Objects 6 1 6 1 1 Object Type 6 1 6 1 2 Data Type 6 1 6 2 Overview of Object Group 1000h 6 2 6 3 Over...

Page 6: ...e of Contents ASDA A2 E Revision April 2015 v Chapter 8 Alarm List 8 1 8 1 EtherCAT Communication Fault Messages 8 1 8 2 Error Code Table 8 4 8 3 SDO Error Message Abort Codes 8 7 Chapter 9 Reference...

Page 7: ...ASDA A2 E Table of Contents vi Revision April 2015 This page is intentionally left blank...

Page 8: ...data input area FMMU2 Mailbox status area Device profile CoE CANopen over EtherCAT Synchronization mode DC synchronization SYNC0 Non synchronized Free Run Communication object SDO Service Data Object...

Page 9: ...rface of Delta EtherCAT Servo Drive EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Run indicator RUN Link Activity of EtherCAT output port indica...

Page 10: ...ng ON OFF 200ms 200ms Single Flash ON OFF 200ms 1000ms OFF ON OFF Figure 2 RJ45 LED indicator pattern ERROR ERR LED The ERR LED indicator shows the error status of EtherCAT communication Indicator sta...

Page 11: ...contact Delta distributors for assistance RUN LED The RUN LED indicator shows the status of EtherCAT state machine Indicator state Slave State Off INIT Blinking PRE OPERATIONAL Single Flash SAFE OPERA...

Page 12: ...he physical link status and the link activity Indicator state Slave State Off No link Blinking Link and activity On Link without activity No link The link has not established yet Link and activity The...

Page 13: ...The Topology The topology is defined by the host controller Please refer to the host controller s application manual There are only one input port and one output port on Delta servo drive for EtherCAT...

Page 14: ...ital output 14 COM VDD power ground 2 DO1 Digital output 15 NC N A 3 DO2 Digital output 16 GND Analog input signal ground 4 DO2 Digital output 17 OA Encoder A pulse output 5 VDD 24V Power output 18 OA...

Page 15: ...r VDD 5 VDD is the 24V power provided by the drive and is for Digital Input DI and Digital Output DO signal The maximum current is 500mA COM 6 COM is the common input of Digital Input DI and Digital O...

Page 16: ...tary Connector 3106A 20 29S Drive Connector Motor Connector Pin No Terminal Symbol Function and Description Military connector Quick connector Color 5 T Serial communication signal input output A 1 Bl...

Page 17: ...tion and Description 1 Z phase input Opt_ Z Z phase 2 B phase input Opt_ B B phase 3 B phase input Opt_B B phase 4 A phase input Opt_A A phase 5 A phase input Opt_ A A phase 6 Encoder grounding GND Gr...

Page 18: ...rCAT Terminal CN5 Connector female Pin No Signal Name Terminal Symbol Function and Description 1 TX TX Transmit 2 TX TX Transmit 3 RX RX Receive 4 5 6 RX RX Receive 7 8 NOTE 1 The maximum distance bet...

Page 19: ...24V power is the same as the voltage of Pin11 in CN1 2 Extension DI9 EDI 9 Digital input pin 9 3 Extension DI10 EDI 10 Digital input pin 10 4 Extension DI11 EDI 11 Digital input pin 11 5 Extension DI...

Page 20: ...the same as the voltage of Pin11 in CN1 2 STO_A STO_A STO input pin A 3 STO_A STO_A STO input pin A 4 STO_B STO_B STO input pin B 5 STO_B STO_B STO input pin B 6 FDBK_A FDBK_A STO alarm output pin A...

Page 21: ...view 1 14 Revision April 2015 1 5 7 STO with Safety Relay ESTOP 1 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK_A FDBK_B COM COM STO 24V DC Safety Relay 1 5 8 STO Disable 1 2 3 4 5 6 7 8 STO STO_A STO_A...

Page 22: ...Chapter 1 CoE Drive Overview ASDA A2 E Revision April 2015 1 15 1 6 Dimension 1 6 1 220V Series 100W 200W 400W Weight 1 5 3 3 750W 1kW 1 5kW Weight 2 0 4 4...

Page 23: ...ASDA A2 E Chapter 1 Coe Drive Overview 1 16 Revision April 2015 2kW 3kW PE TERMINIAL 70 5 5 203 82 5 4 203 0 215 5 14 5 62 0 7 Weight 2 89 6 36...

Page 24: ...Drive Overview ASDA A2 E Revision April 2015 1 17 1 6 2 400V Series 400W 750W 1kW 1 5kW 5 5 180 65 70 5 4 163 12 5 47 173 Weight 2 0 4 4 2kW 3kW 4 5kW 5 5kW 123 5 107 6 70 2 205 5 230 8 245 107 7 Wei...

Page 25: ...2015 7 5kW PE TERMINAL 119 5 6 232 107 247 254 2 245 136 8 70 2 205 5 5 260 Weight 4 6 10 1 NOTE 1 Dimensions are in millimeters inches Weights are in kilograms kg and pounds lbs 2 Dimensions and weig...

Page 26: ...f servo drive P1 01 CTL Control Mode and Output Direction Address 0102H 0103H Interface Panel Software Communication Reference Default 0 Control Mode ALL Unit Pulse P mode r min S mode N m T mode Rang...

Page 27: ...internal speed command Tz Zero torque internal torque command Dual Mode The control mode selection is via DI signals For example either PT or S control mode can be selected via DI signal S P see Table...

Page 28: ...all the software properly before you start to configure the system 1 Copy Delta XML description to the folder the TwinCAT installed usually C TwinCAT Io EtherCAT 2 Restart the TwinCAT 3 The configurat...

Page 29: ...ASDA A2 E Chapter 2 System Setup 2 4 Revision April 2015 Figure 5 Select the correct Adapter from the devices NICs installed in the computer for EtherCAT communication and click Install Figure 6...

Page 30: ...p down menu File new 6 Right click I O Devices and select Scan Devices or Press F5 to scan the devices Click OK in the pop up dialog window to confirm the information Figure 7 Figure 8 7 Find Device n...

Page 31: ...il 2015 9 Click Yes to Add drives to NC Configuration Figure 11 10 Click No and TwinCAT will be switched to Config mode Figure 12 11 TwincAT is in Config Mode In the left panel it shows Device EtherCA...

Page 32: ...he Drive ASDA A2 E and in Online tab you can check if the device s EtherCAT state machine ESM is in PREOP state Figure 14 13 Double click on Drive ASDA A2 E CoE Drive and it will show 2nd TxPDO CoE Tx...

Page 33: ...ion cycle The minimum value is 1ms in the right window Figure 16 The communication cycle time SYNC0 cycle time and PDO cycle time should be set to the same value 15 Set Following Error Calculation to...

Page 34: ...onfiugration and press to activate configuration TwinCAT will be switched to Run Mode and then click OK in pop up dialog Figure 18 17 Enable the axis Servo On Under NC Configuration of the left window...

Page 35: ...In Online tab there are two different speed levels of jogging buttons for forward and backward movement which can test the system During the operation please Be Ensured that the movement would not da...

Page 36: ...iming For example a master sends a PDO at tick t1 and the slave will receive it at tick t1 or tick t2 and vice versa EtherCAT Data Frame EtherCAT Data Frame EtherCAT Data Frame EtherCAT Communication...

Page 37: ...2 The DC tab in the right window users can select DC Synchronous or Free Run as the Operation Mode This is for selecting synchronous or asynchronous mode Figure 24 2 3 3 Synchronous Clock Time Setting...

Page 38: ...DA A2 E Revision April 2015 2 13 The unit of cycle for SYNC0 cycle time is 1ms SYNC0 cycle time supported 1ms PDO cycle time 1ms 2ms PDO cycle time 2ms 3ms PDO cycle time 3ms SYNC0 cycle time is used...

Page 39: ...e XML file 1st PDO Mapping RxPDO 0x1600 Control Word 0x6040 Target Position 0x607A Target Velocity 0x60FF Target Torque 0x6071 Mode of Operation 0x6060 TxPDO 0x1A00 Status Word 0x6041 Actual Position...

Page 40: ...ling the PDO assignment 2 Set RxPDO mapping entry ex 0x1601 0 TxPDO mapping entry ex 0x1A01 0 to 0x0 for disabling the PDO mapping entry setting 3 Set RxPDO mapping entry ex 0x1601 0 0x1601 7 TxPDO ma...

Page 41: ...in the left window In Process Data field you can change PDO Assignment for another PDO mapping 3 Right click the PDO Content Window and find the PDO mapping that you desire to set and then you can con...

Page 42: ...Chapter 2 System Setup ASDA A2 E Revision April 2015 2 17 4 After changing the PDO Assignment press or F4 to reload I O devices Click No in pop up dialog and stay in Config Mode...

Page 43: ...ASDA A2 E Chapter 2 System Setup 2 18 Revision April 2015 This page is intentionally left blank...

Page 44: ...OP PS SP SO OS SI Figure 29 The EtherCAT State machine EtherCAT host controller can switch the states Different state provides different service State Description Init After power on the system will b...

Page 45: ...r 0 1 and it is possible to access mailbox Master will command the slave to switch to Safe Operational state PS SDO from the master will be employed for the settings of PDO mapping Master will define...

Page 46: ...d while using TwinCAT Scan boxes A Copy XML description of the ASDA A2 E to TwinCAT device description folder usually in C TwinCAT Io EtherCAT and restart TwinCAT System Q Why does EtherCAT state mach...

Page 47: ...Parameter tab select Extern in Following Error Calculation 3 Download and click OK in pop up dialog Figure 32 Q ASDA A2 E servo drive shows AL185 A This alarm message occurs because of the disconnecti...

Page 48: ...line If the number in the columns of Lost Frames and Rx Errors keeps increasing it means the system have severe interference Figure 33 Q ASDA A2 E servo drive servo drive shows AL3E1 A Working under O...

Page 49: ...ASDA A2 E Chapter 4 EtherCAT Troubleshooting 4 4 Revision April 2015 This page is intentionally left blank...

Page 50: ...s 6060h to profile position mode 0x01 2 Set Target position 607Ah to the target position unit PUU 3 Set Profile velocity 6081h to the profile velocity unit PUU per second 4 Set Profile acceleration 60...

Page 51: ...olerated position value which also defines the range of the position demand value unit PUU Read Following error actual value 60F4h to obtain the actual value of the following error unit PUU following...

Page 52: ...1h Modes of operation display INTEGER8 RO 6062h Position demand value PUU INTEGER32 RO 6063h Position actual value increment INTEGER32 RO 6064h Position actual value INTEGER32 RO 6065h Following error...

Page 53: ...ayed the interpolator will predict the speed and position for the next time according to the last acceleration When PDO delays for 2 cycle the Drive should stop and send out an error message PDO Rx Tx...

Page 54: ...hat SYNC0 receives PDO 60C2h Sub 1 for Interpolation time units The range is from 1ms to 20ms 60C2h Sub 2 for Interpolation time index The value is always 3 meaning the interpolation time unit is 10 3...

Page 55: ...Mode Position control Velocity control Torque control M S Target position 607Ah Position offset 60B0h Velocity offset 60B1h Torque offset 60B2h Position actual value 6064h Velocity actual value 606Ch...

Page 56: ...IGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 607A h Target position INTEGER32 RW 60B0 h Position offset INTEGER32 RW 6064 h Position actual value INTEGE...

Page 57: ...The method range is 1 to 35 Refer to OD 6098h definition which shows below 4 Set Homing speeds 6099h Sub 1 in order to set speed search for switching unit rpm 5 Set Homing speeds 6099h Sub 2 in order...

Page 58: ...tusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 607Ch Home offset INTEGER32 RW 6093h Position factor UNSIGNED32 RW 6098h Homing method INTEGER8...

Page 59: ...o On the internal velocity command will be reset and OD 60FFh will be cleared 3 Set Profile acceleration 6083h to plan acceleration slope millisecond from 0rpm to 3000rpm 4 Set Profile deceleration 60...

Page 60: ...o ensure the activation time is before velocity reached unit millisecond Set Velocity threshold 606Fh to allocate zero speed level unit 0 1rpm 5 5 4 Associated Object List Index Name Type Attr 6040h C...

Page 61: ...6 2 The Function of CSV Mode Velocity control Torque control M S Target velocity 60FFh Velocity offset 60B1h Torque offset 60B2h Position actual value 6064h Velocity actual value 606Ch Torque actual...

Page 62: ...ame Type Attr 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 60FF h Target velocity INTEGER32 RW 60B1...

Page 63: ...que slope 6087h to plan torque slope time unit millisecond from 0 to 100 rated torque 4 Set Target torque 6071h to the target torque The unit is given one rated torque in a thousand OD 6071h will be c...

Page 64: ...rolword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6071h Target torque INTEGER16 RW 6074h Torque demand value INTEGE...

Page 65: ...CST Mode Torque control M S Target torque 6071h Torque offset 60B2h Position actual value 6064h Velocity actual value 606Ch Torque actual value 6077h 5 8 3 Operation Procedures 1 Set Mode of operatio...

Page 66: ...SIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6071h Target torque INTEGER16 RW 60B2h Torque offset INTEGER16 RW 6077h Torque actual value INTEGER16 RO 6...

Page 67: ...tive or negative limit The motor is controlled by a deceleration slope to stop and it is at Quick Stop status The drive will keep in servo on status but will not accept the further motion command 2 Se...

Page 68: ...us of Touch Probe can be obtained by object 60B8h The definition of each bit is as the followings Bit Value Definition 0 0 Switch off touch probe 1 1 Enable touch probe 1 1 0 Trigger first event 1 Con...

Page 69: ...0B9h The definition of each bit is as the followings Bit Value Definition 0 0 Touch probe 1 is switched off 1 Touch probe 1 is enabled 1 0 Touch probe 1 has no positive edge value stored 1 Touch probe...

Page 70: ...0 1 Toggle with every update of Touch probe 2 value Stored 5 10 4 Associated Object List Index Name Type Attr 60B8h Touch probe function UNSIGNED16 RW 60B9h Touch probe status UNSIGNED16 RO 60BAh Touc...

Page 71: ...Chapter 5 CANopen Operation Mode ASDA A2 E 5 22 Revision April 2015 This page is intentionally left blank...

Page 72: ...A multiple data field object where each data field is a sample variable of the SAME basic data type e g array of UNSIGNED16 etc Sub index 0 is UNSIGNED8 but is not part of the ARRAY data RECORD A mul...

Page 73: ...view of Object Group 1000h Index Object Type Name Data Type Access 1000h VAR device type UNSIGNED32 RO 1001h VAR error register UNSIGNED8 RO 1600h 03h RECORD Receive PDO mapping UNSIGNED32 RW 1A00h 03...

Page 74: ...O Y 6064h VAR Position actual value INTEGER32 RO Y 6065h VAR Following error window UNSIGNED32 RW Y 6067h VAR Position windows UNSIGNED32 RW Y 6068h VAR Position window time UNSIGNED16 RW Y 606Bh VAR...

Page 75: ...factor UNSIGNED32 RW Y 6098h VAR Homing method INTEGER8 RW Y 6099h ARRAY Homing speeds UNSIGNED32 RW Y 609Ah VAR Homing acceleration UNSIGNED32 RW Y 60B0h VAR Position offset INTEGER32 RW Y 60B1h VAR...

Page 76: ...ning option code UNSIGNED16 RW Y 60F4h VAR Following error actual value INTEGER32 RO Y 60FCh VAR Position demand value INTEGER32 RO Y 60FDh VAR Digital inputs UNSIGNED32 RO Y 60FFh VAR Target velocity...

Page 77: ...alue 04020192 h A2 Series Object 1001h Error Register INDEX 1001h Name error register Object Code VAR Data Type UNSIGNED8 Access RO PDO Mapping Yes Value Range UNSIGNED8 Default Value 0 Object 1600h 1...

Page 78: ...Default Value 0 PDO Mapping 0 1 2 3 3 bbbb cccc aaaa yy zz xx 08h 20h 10h Object Dictionary cccc zz Application Object 3 bbbb yy Application Object 2 aaaa xx Application Object 1 Application Object 2...

Page 79: ...ing No Value Range UNSIGNED32 Default Value 0 Object 1C12h RxPDO assign INDEX 1C12h Name RxPDO assign Object Code RECORD Data Type PDO Mapping assign Access RW PDO Mapping No Sub Index 0 Description N...

Page 80: ...f assigned PDO mapping Data Type UNSIGNED8 Access RW PDO Mapping No Value Range 0 deactivated 1 One PDO mapping be assigned to SycManager3 for TxPDO Default Value 1 Sub Index 1 Description Index of as...

Page 81: ...ult Value 0 Object 6040h Controlword INDEX 6040h Name Controlword Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default Value P1 01 0x0C Default is 0x0004 State...

Page 82: ...000F for Servo On step by step Bit Operation mode PP HM IP PV PT 4 New set point positive trigger Homing operation start positive trigger N A N A N A 5 Change set immediately N A N A N A N A 6 Absolut...

Page 83: ...ult the drive will servo off 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning the drive is still servo on 8 N A 9 Remote 10 Target reached 11 Internal limit active Not supported PP HM IP...

Page 84: ...Fault reaction option code INDEX 605Eh Name Fault reaction option code Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value 2 Comment 0 Disable drive motor...

Page 85: ...on display Object Code VAR Data Type INTEGER8 Access RW PDO Mapping Yes Value Range INTEGER8 Default Value 0 Object 6062h Position demand value INDEX 6062h Name Position demand value Object Code VAR D...

Page 86: ...Yes Value Range INTEGER32 Default Value 0 Comment Unit PUU Object 6065h Following error window INDEX 6065h Name Following error window Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Va...

Page 87: ...ange UNSIGNED16 Default Value 0 Comment Unit millisecond Object 606Bh Velocity demand value INDEX 606Bh Name Velocity demand value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value R...

Page 88: ...lt Value 100 Comment Unit 0 1rpm Object 606Eh Velocity window time INDEX 606Eh Name Velocity window time Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default V...

Page 89: ...nt Unit one rated torque in a thousand Object 6072h Max torque INDEX 6072h Name Max torque Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range 0 3000 Default Value 3000 Comment...

Page 90: ...INDEX 6076h Name Motor rated torque Object Code VAR Data Type UNSIGNED32 Access RO PDO Mapping Yes Value Range UNSIGNED32 Comment Unit one rated torque in a thousand Object 6077h Torque actual value I...

Page 91: ...Name Target position Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Default Value 0 Comment For Profile position mode 6060h 1 Unit PUU Object 607Ch Home offset IND...

Page 92: ...iption Number of entries Data Type UNSIGNED8 Access RO PDO Mapping Yes Value Range 2 Default Value 2 Sub Index 1 Description Min position limit Data Type INTEGER32 Access RW PDO Mapping Yes Value Rang...

Page 93: ...rpm 10 Comment Unit 0 1rpm Object 6080h Max motor speed INDEX 6080h Name Max motor speed Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value P1 55 rpm...

Page 94: ...rom 0rpm to 3000rpm Object 6084h Profile deceleration INDEX 6084h Name Profile deceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1 UNSIGNED32 Default Value 200 Co...

Page 95: ...7h Torque slope INDEX 6087h Name Torque slope Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 0 Comment Unit millisecond time from 0 to 100 rated to...

Page 96: ...ault Value 1 Comment Same as P1 44 Sub Index 2 Description Feed_constant Data Type UNSIGNED32 Access RW PDO Mapping Yes Default Value 1 Comment Same as P1 45 Object 6098h Homing method INDEX 6098h Nam...

Page 97: ...Entries ASDA A2 E 6 26 Revision April 2015 Index Pulse Positive Limit Switch 2 Method2 Homing on positive limit switch and index pulse Home Switch Index Pulse 3 4 3 4 Method 3 and 4 Homing on positive...

Page 98: ...ex Pulse 6 5 6 5 Method 5 and 6 Homing on negative home switch and index pulse Home Switch Index Pulse 7 7 8 10 9 10 8 9 8 7 10 9 Positive Limit Switch Home Switch Index Pulse 13 14 14 12 11 11 13 12...

Page 99: ...pulse Method 31 and 32 Reserved no picture 33 34 Index Pulse Method 33 to 34 Homing on index pulse Method 35 Homing on current position no picture Object 6099h Homing speed INDEX 6099h Name Homing sp...

Page 100: ...Value 100 Comment Unit 0 1rpm Sub Index 2 Description Speed during search for zero Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1 500rpm Default Value 20 Comment Unit 0 1rpm Object 609Ah...

Page 101: ...Default Value 0 Comment Unit PUU Object 60B1h Velocity offset INDEX 60B1h Name Velocity offset Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Default Value 0 Comme...

Page 102: ...UNSIGNED16 Default Value 0 Comment 0 Object 60B9h Touch probe status INDEX 60B9h Name Touch probe status Object Code VAR Data Type UNSIGNED16 Access RO PDO Mapping Yes Value Range UNSIGNED16 Default V...

Page 103: ...2 Default Value 0 Comment Unit PUU Object 60BCh Touch probe pos2 pos value INDEX 60BCh Name Touch probe pos2 pos value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER...

Page 104: ...ed the Pos Difference OD 60C1sub2 1 manufacturer specific Delta definition need pos difference OD 60C1sub2 Object 60C1h Interpolation data record INDEX 60C1h Name Interpolation data record Object Code...

Page 105: ...omment Xi Xi 1 Xi 1 2 It is also the same as velocity Unit PUU Object 60C2h Interpolation time period INDEX 60C2h Name Interpolation time period Object Code RECORD Data Type UNSIGNED8 Access RW PDO Ma...

Page 106: ...ue 3 Object 60C5h Max acceleration INDEX 60C5h Name Max acceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1 65500 Default Value 200 Comment Unit millisecond min t...

Page 107: ...s Value Range UNSIGNED16 Default Value 0 Object 60F4h Following error actual value INDEX 60F4h Name Following error actual value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Ran...

Page 108: ...Yes Value Range UNSIGNED32 Default Value 0 Object 60FFh Target velocity INDEX 60FFh Name Target velocity Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Comment Un...

Page 109: ...eter If users desire to use CANopen protocol for simulate Keypad press they could read and write Keypad parameters via SDO protocol Users could read the Index first for knowing the Length of Parameter...

Page 110: ...r 6 Object Dictionary Entries Revision April 2015 6 39 Example 2 Object 212Ch Electronic Gear P1 44 INDEX 212Ch Name Electronic Gear Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value...

Page 111: ...Chapter 6 Object Dictionary Entries ASDA A2 E 6 40 Revision April 2015 This page is intentionally left blank...

Page 112: ...on 1 COM VDD 24V power is identical to pin 5 of CN1 2 STO_A STO input pin A 3 STO_A STO input pin A 4 STO_B STO input pin B 5 STO_B STO input pin B 6 FDBK_A STO alarm output pin A BJT Output Max Ratin...

Page 113: ...Safe Torque Off STO 7 2 Revision April 2015 STO with safety relay ESTOP 1 2 3 4 5 6 7 8 STO_A STO_A STO_B STO_B FDBK_A FDBK_B COM COM STO 24V DC Safety Relay STO Disable 1 2 3 4 5 6 7 8 STO STO_A STO_...

Page 114: ...10 10 PFDav Probability of Dangerous Failure on Demand IEC61508 4 18 10 6 Category Category ISO13849 1 Category 3 PL Performance Level ISO13849 1 d MTTFd Mean time to dangerous failure ISO13849 1 High...

Page 115: ...signal is lost for 10 ms at the same time AL500 occurs Then servo drive will be in Servo Off status STO_A STO_B S_ON Servo status H H L L ON OFF Servo on Servo off AL500 10 ms See the figure below Wh...

Page 116: ...Logic D Parameter P2 93 XX10 XX20 XX11 XX21 XX12 XX22 XX13 XX23 FDBK Behavior No Latch Latch No Latch Latch No Latch Latch No Latch Latch No STO alarm occurs Open Close Open Close Alarm occurs AL500...

Page 117: ...Communication Reference Default 0 Control Mode ALL Unit Range Format DEC Data Size 16 bit Settings BIT0 Select the logic for FDBK status BIT1 Determine if FDBK should be Latched 7 4 Related Alarm Des...

Page 118: ...not synchronize with STO_B signal for more than 1 second Make sure the wiring of STO_A is correct DI ARST or write 0 into P0 01 or 0x6040 Fault Reset AL502 STO_B lost Signal is lost or error Causes Ch...

Page 119: ...ASDA A2 E Chapter 7 Safety Function Safe Torque Off STO 7 8 Revision April 2015 This page is intentionally left blank...

Page 120: ...et AL122 Sub index error occurs when accessing CANopen PDO object The specified Sub index in the message does not exist 6040h fault reset AL123 Data type size error occurs when accessing CANopen PDO o...

Page 121: ...M cannot be used 6040h fault reset AL131 EEPROM checksum error The data saved in EEPROM has been damaged and all CANopen objects return to the default settings automatically 6040h fault reset AL132 Pa...

Page 122: ...AL501 STO_A lost Servo Off STO_A is de energized and STO_B is energized STO_A signal does not synchronize with STO_B signal for more than 1 second please check wiring contact or STO safety relay 6040h...

Page 123: ...011 Encoder error 7305 0011h AL012 Adjustment error 6320 0012h AL013 Emergency stop activated 5441 0013h AL014 Reverse limit switch error 5443 0014h AL015 Forward limit switch error 5442 0015h AL016 I...

Page 124: ...cessing CANopen PDO object 8200 0123h AL124 Data range error occurs when accessing CANopen PDO object 8200 0124h AL125 CANopen PDO object is read only and write protected 8200 0125h AL126 CANopen PDO...

Page 125: ...AL3E4 CANopen IP command failed Servo Off 6200 03E4h AL3E5 SYNC period error Servo Off 6200 03E5h AL500 Safe torque off Servo Off 9000 0500h AL501 STO_A lost Servo Off 9000 0501h AL502 STO_B lost Ser...

Page 126: ...ype does not match length of the service parameter does not match 06090011 h Sub index does not exist 06090030 h Value range of parameter exceeded only for writing access 08000000 h General error 0800...

Page 127: ...ASDA A2 E Chapter 8 Alarm List 8 8 Revision April 2015 This page is intentionally left blank...

Page 128: ...Reference 1 CANopen Application Layer and Communication Profile CiA Draft Standard 301 Version 4 02 Date 13 February 2002 2 CANopen Device Profile Drives and Motion Control CiA Draft Standard Proposal...

Page 129: ...cific requirements The instructions of the associated Installation and Operating Manual shall be considered It is confirmed that the product under test complies with the requirements for machines defi...

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