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CANopen – SD6
Operating manual

en-US
09/2019
ID 442637.01

Summary of Contents for CANopen SD6

Page 1: ... CANopen SD6 Operating manual en US 09 2019 ID 442637 01 ...

Page 2: ...d standards 9 3 2 Qualified personnel 9 3 3 Intended use 9 3 4 Operational environment and operation 9 3 5 Disposal 10 4 Network structure 11 5 CA6 communication module 12 5 1 Installation 12 6 Connection 13 6 1 Selecting suitable lines 13 6 2 Terminal resistances 14 6 3 Transmission rate and line length 14 6 4 X200 CANopen 15 6 5 LED display 16 6 5 1 CAN status 16 7 What you should know before co...

Page 3: ...tory 30 9 1 3 Network structure 30 9 2 CAN message 31 9 2 1 COB ID 32 9 3 Communication objects 35 9 3 1 Process data object PDO 35 9 3 2 Service data object SDO 38 9 3 3 Network management object NMT 44 9 3 4 Error Control Objects ERROR 46 9 3 5 Synchronization object SYNC 49 9 3 6 Emergency objects EMCY 49 10 Appendix 50 10 1 Supported communication objects 50 10 1 1 CiA 301 CANopen 1000 hex 1FF...

Page 4: ...ecision and productivity for automation technology and mechanical engineering despite ever more complex functions Drive controllers from the SD6 series can be equipped with the CA6 communication module to provide reliable communication between the drive technology and controller over the CANopen fieldbus system ...

Page 5: ...disposal and be accessible to qualified personnel at all times Also pass on this documentation if the product is transferred or sold to a third party 2 2 Described product Drive controllers of the SD6 series in combination with the DriveControlSuite software DS6 in V 6 4 D or later and associated firmware in V 6 4 D or later 2 3 Timeliness Check whether this document is the latest version of the d...

Page 6: ...lly highlighted ATTENTION Notice This indicates that damage to property may occur if the stated precautionary measures are not taken CAUTION Caution This word with a warning triangle indicates that minor personal injury may occur if the stated precautionary measures are not taken WARNING Warning This word with a warning triangle means there may be a considerable risk of fatal injury if the stated ...

Page 7: ...ned proper nouns functions referenced by the interface Select Referencing method A Predefined entry Save your own IP address User defined entry EVENT 52 COMMUNICATION Display indicators status messages warnings faults for status information referenced by the interface Keyboard shortcuts and command sequences or paths are represented as follows CTRL CTRL S Key shortcut Table Insert table Navigation...

Page 8: ... in AUTOMATION e V Nuremberg Germany Windows Windows XP Windows 7 Windows 10 Windows das Windows Logo Windows XP Windows 7 und Windows 10 are registered trademarks of Microsoft Corporation in the United States and or other countries All other trademarks not listed here are the property of their respective owners Products that are registered as trademarks are not specially indicated in this documen...

Page 9: ...nd observed 3 3 Intended use As defined by DIN EN 50178 SD6 drive controllers are electrical devices operating as power electronics to control the flow of energy in high voltage systems They are intended solely for the operation of synchronous servo motors asynchronous motors linear motors or torque motors The connection of other electronic loads or operation outside applicable technical specifica...

Page 10: ...637 01 3 5 Disposal Observe the current national and regional regulations when disposing of the product Dispose of the individual product parts depending on their properties e g as Electronic waste circuit boards Plastic Sheet metal Copper Aluminum Battery ...

Page 11: ...nt data overlapping through signal reflections at the two bus ends and thus reduce susceptibility to faults substantially terminal resistances of 120 Ω are connected between CAN H and CAN L The following graphic abstracts a CANopen network consisting of a controller as well as multiple SD6 drive controllers as bus nodes CANopen 3 x Controller Command level Controller level Commissioning Field leve...

Page 12: ...rive controller does not overheat DANGER Electrical voltage Risk of fatal injury due to electric shock Always switch off all power supply voltage before working on the devices Note the discharge time of the DC link capacitors in the general technical data You can only determine the absence of voltage after this time period ATTENTION Damage to property due to electrostatic discharge Take appropriat...

Page 13: ...smission rates we recommend using bus wires that meet the requirements listed in ISO 11898 2 such as the following Characteristic impedance 95 140 Ω Maximum operating capacitance 60 nF km Conductor resistance 70 mΩ m Plug connectors 9 pin D sub connectors with a metal housing or a housing made of metallized plastic are suitable as plug connectors at the beginning and end of a CAN bus line connecto...

Page 14: ...ave 1 Slave 2 Slave n SD6 SD6 SD6 X200 CAN X200 X200 GND optional Fig 2 Connecting the terminal resistances in a CANopen network 6 3 Transmission rate and line length The maximum length of a CAN bus line depends on the transmission rate i e baud rate The following table shows the maximum permitted cable lengths over the entire length of the bus in combination with the respective possible baud rate...

Page 15: ... communication module provides a 9 pin D sub connector for connecting the drive controllers to each other Connector Pin Designation Function 1 2 3 4 5 6 7 8 9 1 2 CAN L CAN low wire 3 GND Reference ground 4 5 6 7 CAN H CAN high wire 8 9 Tab 2 X200 connection description ...

Page 16: ...onal The drive controller is ready for parameterization for preparing the actual operation 1x flash Stopped All communication activities have stopped On Operational The CAN bus is activated all services are in operation Tab 3 Meaning of the green LED run Red LED Behavior Error Description Off No error no warning No error 1x flash Communication error in the operational state Warning level Check the...

Page 17: ...riveControlSuite commissioning software DS6 offers a graphic interface that you can use to project parameterize and start up your drive controller quickly and efficiently 1 2 3 4 5 6 Fig 4 DS6 Program interface 1 Project tree 2 Project menu 3 Workspace 4 Parameter description 5 Parameter check 6 Messages 7 1 1 1 Individualized workspace The project tree 1 and project menu 2 are connected and like ...

Page 18: ...ey are displayed on the respective wizard pages of the workspace in the form of circuit diagrams Blue text links or clickable icons indicate links within the program These refer to the corresponding wizard pages and as a result allow you to reach additional helpful detail pages with just a click 7 2 Meaning of parameters You can use parameters to adapt the function of a drive controller to your sp...

Page 19: ...alue E Display F Terminals analog and digital inputs and outputs brake G Technology Part 1 depending on the respective application H Encoders I Motion all motion settings J Motion blocks K Control panel L Technology Part 2 depending on the respective application M Profile P Customer specific parameters programming Q Customer specific parameters instance dependent programming R Production data for ...

Page 20: ...oating point number Floating point 1 word unsigned In accordance with ANSI IEEE 754 STR8 Text Text 8 characters STR16 Text Text 16 characters STR80 Text Text 80 characters Tab 6 Parameters Data types styles possible values Parameter types Use Integer floating point number For general computing processes Example Set and actual values Selection Numeric value to which a direct meaning is assigned Exa...

Page 21: ... and EtherCAT A10 4 access level Value Access level via PROFINET Structure parameters Consist of a group a line and multiple sequential listed elements which can have different properties and different values Example A00 Save values A00 0 Start Value Start action A00 1 Progress Value Display action progress A00 2 Result Value Display action result 7 2 4 Parameter structure Every parameter has spec...

Page 22: ...r logical relationships to other option modules or parameters For example a drive controller can evaluate an encoder using terminal X120 provided that terminal module XI6 has been installed The accompanying evaluation is activated using parameter H120 However this parameter is visible only if terminal module XI6 was initially selected during the drive project configuration Applications Application...

Page 23: ...rmware version 6 4 D or later DriveControlSuite commissioning software in version 6 4 D or later Controller Commissioning is divided into the following steps 1 DriveControlSuite The drive controllers communication modules combined with the CiA 402 device control are activated separately in DriveControlSuite for each drive controller participating in the bus system Similarly associated CANopen spec...

Page 24: ...and the Drive controller button is active Projecting the drive controller 1 Properties tab Establish the connection between your circuit diagram and the drive controller to be projected in DriveControlSuite Reference Specify the reference code equipment code of the drive controller Designation Give the drive controller a unique name Version Version your project configuration Description If necessa...

Page 25: ... manual in the next step 8 1 2 Parameterizing global CANopen settings ü As part of drive controller and axis project configuration you have projected the CiA 402 device control with the CANopen Rx and CANopen Tx process data as well as the CiA 402 application 1 Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu Wizard area 2 Select...

Page 26: ...eters Due to the unlimited transmission rate of the CAN bus 2 independent channels are enabled in the CANopen PDO default settings The STOBER drive controllers support a flexible assignment of the elements to be transmitted to the individual PDOs 8 1 3 1 Adapting the receive PDO ü You have configured the global CANopen settings 1 Highlight the relevant drive controller in the project tree and clic...

Page 27: ...it PDO for an asynchronous transmission type even if no new receive PDO is received A233 0 A233 5 1 mapped Parameter 6 mapped Parameter Configure the parameters that will be transmitted over the first transmit PDO of this channel The respective position 1st 6th provides information about the associated transmission sequence 4 Resulting data length Overall length of the elements of the first transm...

Page 28: ...guration that you would like to transfer to the drive controller 5 Repeat steps 3 and 4 for all other drive controllers to which you would like to transfer a project configuration 6 Online tab Click on Establish online connections ð The project configurations are transferred to the drive controllers Information During the search all drive controllers within the broadcast domain are found via IPv4 ...

Page 29: ... a simple cost effective installation are required What is CANopen CANopen is the CAN based communication protocol and the open standard for networking controllers drives encoders or sensors that is all nodes in a CAN bus system Both the functions of the intercommunicating nodes and the foundational communication mechanisms are defined in CANopen CANopen expands upon CAN with what is called the CA...

Page 30: ... types 0040 005F Manufacturer specific data types 0060 007F Profile specific static data types 0080 009F Profile specific complex data types 00A0 0FFF Reserved 1000 1FFF Communication profile CiA 301 and 302 2000 5FFF Manufacturer specific parameters 6000 9FFF Parameters from standardized profiles CiA 4xx A000 AFFF Network variables B000 FFFF Reserved Tab 7 Object directory Structure 9 1 3 Network...

Page 31: ...ng data Remote frame for requesting a data frame from another bus node Error frame for a known transmission error Overload frame as a forced break between the sending of data frames and remote frames Structure of a standard CAN message A standard CAN message is structured as follows Start Assignment COB ID Remote transmission Control panel Cycl redun dancy check Data field Feed back End 10 Node ID...

Page 32: ...rinciple of the predefined connection set This pre assignment makes it easy to commission a standard CAN network with a controller and up to 127 drive controllers If the SDO channels 2 3 and 4 are enabled a maximum of 31 drive controllers are connected This method is recommended for the majority of applications A COB ID consists of 11 bits where bits 7 10 are assigned the code function 4 bits and ...

Page 33: ... node ID 381hex 3FFhex 897 1023 1802 hex A231 0 RxPDO3 1000 400 hex node ID 401hex 47Fhex 1025 1151 1402 hex A223 0 TxPDO4 1001 480 hex node ID 481hex 4FFhex 1153 1279 1803 hex A232 0 RxPDO4 1010 500 hex node ID 501hex 5FFhex 1281 1407 1403 hex A224 0 TxSDO1 1011 580 hex node ID 581hex 59Fhex 1409 1439 1200 hex RxSDO1 1100 600 hex node ID 601hex 61Fhex 1537 1567 1200 hex TxSDO2 1011 5A0 hex node I...

Page 34: ... changes need to remain in effect even after the supply voltage is shut off you have to store these in the respective drive controllers that is set A00 0 Start to 1 Active Save values At the next start the drive controller checks whether the values in the associated communication parameters have been set to default If this is the case the predefined connection set mechanism takes effect If no defa...

Page 35: ...s contain error causes Monitoring objects ERROR CONTROL monitor the CAN network Some of the monitoring objects are NODE and LIFE GUARDING messages NMT SYNC and TIME STAMP are among the broadcast objects that are sent by the controller to all nodes simultaneously SDO PDO EMCY and ERROR CONTROL are peer to peer objects and can be exchanged in both directions 9 3 1 Process data object PDO Process dat...

Page 36: ...O messages are handled In general PDOs can be transmitted over 5 different types including some possible combinations Asynchronous Asynchronous PDO messages have no relationship with SYNC objects i e they are not transmitted in sync with a SYNC object A receive PDO is applied immediately after it is received similarly a transmit PDO is sent immediately after it is triggered by an event timer or a ...

Page 37: ...re a receive PDO is received and applied and before a transmit PDO is sent 241 253 Reserved 254 Yes Receive PDOs are applied upon being received and a transmit PDO is sent immediately afterwards 255 Yes Reserved 9 3 1 3 Inhibit time The inhibit time defines the minimum time that must be waited when 2 identical PDO messages will be sent on one channel It must be defined separately for each channel ...

Page 38: ...ls for transmitting service data objects The first SDO channel is always enabled Associated COB IDs 600 hex node ID and 580 hex node ID are unchangeable The COB IDs of the remaining channels can be reselected through corresponding parameterization or the channels can be disabled They are disabled by default The drive controllers enable the operation of up to 4 axes For each axis exactly one SDO ch...

Page 39: ...oad Response of the slave Byte 1 2 3 6 5 4 7 8 0x23 LSB MSB MSB LSB LSB MSB Master Slave Command Index Sub index LSW data MSW data Byte 1 2 3 6 5 4 7 8 0x63 LSB MSB MSB LSB LSB MSB Command Index Sub index Unused Read parameter Initiate Domain Upload Request The master uses an Initiate Domain Upload Request to initiate a read process for a communication parameter The request receives a positive ack...

Page 40: ...Bit 0 4 7 1 3 7 6 4 3 2 0 1 Master Slave ccs 1 n s m d x Byte Bit 0 4 7 1 3 7 5 4 0 scs 3 m reserved ccs Client command specifier 1 Initiate download request scs Server command specifier 3 Initiate download response n Number of bytes Number of bytes in Data that contain no usable data If e 0 s 1 then n valid otherwise n 0 e Transfer type 0 Normal transfer 1 Expedited transfer s Size indicator 0 No...

Page 41: ... 0 Download segment request scs Server command specifier 1 Download segment response n Number of bytes Number of bytes in Segment data that contain no usable data n 0 No information about unused data seg data Segment data 7 bytes of usable data c Continue 0 More segments follow 1 Last segment t Toggle bit t 0 for segment 1 must change for each segment Identical values for request and response x Un...

Page 42: ...e upload request scs Server command specifier 2 Initiate upload response n Number of bytes Number of bytes in Data that contain no usable data If e 0 s 1 then n valid otherwise n 0 e Transfer type 0 Normal transfer 1 Expedited transfer s Size indicator 0 Not displayed 1 Displayed m Multiplexor Index subindex d Data If e 0 s 0 then d reserved If e 0 s 1 then d number of bytes to be transmitted If e...

Page 43: ... idx x 00 00 00 00 Client DSegReq 00 01 02 03 04 05 06 07 ccs 0 t 0 n 0 c 0 all data bytes are used Server DSegRes 20 00 00 00 00 00 00 00 Client DSegReq 10 08 09 0A 0B 0C 0D 0E ccs 0 t 1 n 0 c 0 all data bytes are used Server DSegRes 30 00 00 00 00 00 00 00 Client DSegReq 0b 0F 10 00 00 00 00 00 ccs 0 t 0 n 5 c 1 5 data bytes are unused Server DSegRes 20 00 00 00 00 00 00 00 Segment upload with 1...

Page 44: ...4b 5b 3b 7 Reset Communication Reset Application 4a 2b 2a 6 6 6 Fig 6 Network Management Object NMT Potential operating states and state changes Operating states Reset application Configuration of the drive controller starts the stored values are loaded Reset communication Communication parameters are set to start values Initializing CAN bus activation is initialized Pre operational The drive cont...

Page 45: ... example uses the NMT_Start_Remote_Node command to show how an NMT command is composed of the bytes specified in the table COB ID Command specifier Node 0 1 0 The COB ID indicates the NMT command The respective command is entered in the Command specifier byte and which bus node will be addressed is defined in the Node byte If this value is 0 all nodes are addressed For an individual node to be add...

Page 46: ...message These remote frames are answered from the respective drive controllers by corresponding data frames This allows the controller to check whether its own state matches that of the drive controllers In return the drive controllers detect whether the controller is enabled If the controller does not send any remote frames within a certain time the drive controllers assume there is a communicati...

Page 47: ...rollers to be monitored NMT slave at regular intervals guard time Each drive controller detects the request indication and sends 1 byte of data as the answer response Bit 7 of this byte changes the state with each segment toggle bit Bits 0 to 6 contain the state of the NMT state machine The controller receives the message confirmation and uses it to check the drive controller If the life time fail...

Page 48: ...eartbeat Request 1 Byte Data COB ID 1792 Node ID Bit Bit 7 t 6 0 s Life Guarding Event Producer drive controller Consumer controller To enable detection of communication failures a CAN bus node usually a drive controller independently transmits cyclical messages heartbeat protocol which display its own operating state Thus the drive controllers act as producer while the controller acts as consumer...

Page 49: ...escribed the controller no longer cyclically queries the device state for a fault since the controller is automatically informed about each fault case along with its cause and rectification EMCY objects Structure The following example of a TMS motor temperature E43 fault message shows the structure of an EMCY error message Byte 1 2 3 6 5 4 7 8 Master Slave EMCY error code 4310 TEMPERATUR_ DRIVE Er...

Page 50: ... value range 1 2047 1006 hex 0 hex Communication cycle period A201 value range 0 32 000 000 1007 hex 0 hex Synchronous window length A202 1008 hex 0 hex Manufacturer device name E50 1009 hex 0 hex Manufacturer hardware version E52 1 100A hex 0 hex Manufacturer software version E53 3 100C hex 0 hex Guard time A203 guard time in ms 100C hex 100D hex 100D hex 0 hex Life time factor A204 guard time in...

Page 51: ...tructure elements 3 1203 hex 1 hex COB ID Client Server rx A220 0 1203 hex 2 hex COB ID Server Client tx A220 1 1203 hex 3 hex Node ID of the SDO client A220 2 1400 hex 1st receive PDO communication parameter Structure 1400 hex 0 hex Highest subindex supported Number of structure elements 2 1400 hex 1 hex COB ID used by RxPDO A221 0 1400 hex 2 hex Transmission type A221 1 value range 1 240 254 140...

Page 52: ... Structure 1800 hex 0 hex Highest subindex supported Number of structure elements 5 1800 hex 1 hex COB ID used by TxPDO A229 0 1800 hex 2 hex Transmission type A229 1 value range 1 240 254 1800 hex 3 hex Inhibit time A229 2 1800 hex 4 hex Reserved 1800 hex 5 hex Event timer A229 3 1801 hex 2nd TxPDO communication parameter Structure 1801 hex 0 hex Highest subindex supported Number of structure ele...

Page 53: ...cts in TxPDO Constant value of 6 1A00 hex 1 hex 6 hex Application objects A233 0 A233 5 1A01 hex 2nd TxPDO mapping parameter 1A01 hex 0 hex Number of mapped application objects in TxPDO Constant value of 6 1A01 hex 1 hex 6 hex Application objects A234 0 A234 5 1A02 hex 3rd TxPDO mapping parameter 1A02 hex 0 hex Number of mapped application objects in TxPDO 1A02 hex 1 hex 6 hex Application objects ...

Page 54: ... parameters of STOBER Index area Group Number Addressable parameters 2000 hex 21FF hex A Drive controller 0 A00 A511 2200 hex 23FF hex B Motor 1 B00 B511 2400 hex 25FF hex C Machine 2 C00 C511 2600 hex 27FF hex D Set value 3 D00 D511 2800 hex 29FF hex E Show 4 E00 E511 2A00 hex 2BFF hex F Terminals 5 F00 F511 2C00 hex 2DFF hex G Technology 6 G00 G511 2E00 hex 2FFF hex H Encoders 7 H00 H511 3000 he...

Page 55: ...066 hex 0 hex Following error time out A547 606C hex 0 hex Velocity actual value A553 6071 hex 0 hex Target torque A558 6072 hex 0 hex Max torque A559 6076 hex 0 hex Rated torque A563 6077 hex 0 hex Torque actual value A564 6078 hex 0 hex Current actual value A565 6079 hex 0 hex DC link circuit voltage A566 607A hex 0 hex Target position A567 607B hex Position range limit 607B hex 0 hex Highest su...

Page 56: ...n A588 60A3 hex 0 hex Profile jerk use A589 60A4 hex Profile jerk 60A4 hex 0 hex Highest subindex supported Constant value of 1 60A4 hex 1 hex Profile jerk Profile jerk 1 A590 60B1 hex 0 hex Velocity offset A592 60B2 hex 0 hex Torque offset A593 60B8 hex 0 hex Touch probe function A594 60B9 hex 0 hex Touch probe status A595 60BA hex 0 hex Touch probe position 1 positive value A596 60BB hex 0 hex T...

Page 57: ...ion 60C5 hex 0 hex Max acceleration A604 60C6 hex 0 hex Max deceleration A605 60E3 hex Supported homing methods 60E3 hex 0 hex Highest subindex supported Constant value of 19 60E3 hex 1 hex 14 hex 1st 19th supported homing method A619 0 A619 19 60E4 hex Additional position actual value 1st value 60E4 hex 0 hex Highest subindex supported Constant value of 1 60E4 hex 1 hex 1st additional position ac...

Page 58: ...mation 443077 The following CiA specifications are valid within the scope of this documentation CiA DS 301 V4 02 CANopen application layer and communication profile CANopen communication profile describes the key services and protocols under CANopen CiA DSP 302 V3 0 CANopen application layer and communication profile CANopen framework for programmable devices CiA DS 402 V2 0 CANopen device profile...

Page 59: ...DIN EN German acceptance of a European standard EMCY Emergency GND Ground IEC International Electrotechnical Commission IEEE Institute of Electrical and Electronics Engineers IGB Integrated Bus IP Internet Protocol LSB Least Significant Bit LSW Least Significant Word MSB Most Significant Bit MSW Most Significant Word NMT Network management PDO Process Data Objects RTR Remote Transmission Request R...

Page 60: ...hour service hotline Phone 49 7231 582 3000 Our address STÖBER Antriebstechnik GmbH Co KG Kieselbronner Strasse 12 75177 Pforzheim Germany 11 2 Your opinion is important to us We created this documentation to the best of our knowledge with the goal of helping you build and expand your expertise productively and efficiently with our products Your suggestions opinions wishes and constructive critici...

Page 61: ...BER SWITZERLAND www stoeber ch Phone 41 56 496 96 50 sales stoeber ch STOBER FRANCE www stober fr Phone 33 4 78 98 91 80 sales stober fr STOBER TAIWAN www stober tw Phone 886 4 2358 6089 sales stober tw STOBER ITALY www stober it Phone 39 02 93909570 sales stober it STOBER TURKEY www stober com Phone 90 212 338 8014 sales turkey stober com STOBER JAPAN www stober co jp Phone 81 3 5395 678 8 sales ...

Page 62: ... Protocol version 4 The IP address 255 255 255 255 is entered as the destination The content of the broadcast is not redirected by a router which limits it to the local network Node ID Bus address of a device master slave in a CAN network The node ID and function code form the COB ID PDO Communication objects in a CANopen or EtherCAT network that transmit data such as set and actual values control...

Page 63: ...D6 series as an example 11 Fig 2 Connecting the terminal resistances in a CANopen network 14 Fig 3 LEDs for the CAN status 16 Fig 4 DS6 Program interface 17 Fig 5 DriveControlSuite Navigation using text links and symbols 18 Fig 6 Network Management Object NMT Potential operating states and state changes 44 ...

Page 64: ...f the green LED run 16 Tab 4 Meaning of the red LED error 16 Tab 5 Parameter groups 19 Tab 6 Parameters Data types styles possible values 20 Tab 7 Object directory Structure 30 Tab 8 CiA 301 communication objects 1000 hex 1FFFF hex 50 Tab 9 Manufacturer specific communication objects 2000 hex 53FF hex 54 Tab 10 CiA 402 2 communication objects 6000 hex 65FF hex 55 ...

Page 65: ...STÖBER Antriebstechnik GmbH Co KG Kieselbronner Str 12 75177 Pforzheim Germany Tel 49 7231 582 0 mail stoeber de www stober com 442637 01 09 2019 24 h Service Hotline 49 7231 582 3000 www stober com ...

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