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DMX-CAN Manual 

page 16 

rev 1.6 

 

Figure 6.1 

CANOpen Communication 

If CANOpen communication is required, first you need to communicate using RS-232 
and use the Windows program to change the communication method to CANOpen, 
download the setup, and store to flash.  Once communication method is changed, you 
need to reboot the module for the new parameter to take effect and then communicate 
through CANopen. 
 
When communicating on CANOpen, it is recommended to add 120 Ohm terminating 
resistor between CAN-H and CAN-L signal on the last module. 
 
Below is a typical CANopen master and multi-slave multi-drop network. 
 

Содержание DMX-CAN-23

Страница 1: ...DMX CAN Manual page 1 rev 1 6 DMX CAN 23 Integrated Step Motor Encoder Driver Controller Manual...

Страница 2: ...guage in any form and means any part of this publication without the written permission from ARCUS ARCUS makes no representations or warranties regarding the content of this document We reserve the ri...

Страница 3: ...igital Outputs 14 Digital Inputs 14 6 Getting Started 15 RS 232 Communication 15 RS 485 Communication 15 CANOpen Communication 16 Windows GUI 17 7 Motion Control Overview 29 Built in encoder 29 Built...

Страница 4: ...0 Response type selection 40 Storing to Flash 41 Default Settings 42 8 Object Dictionary CANOpen 43 Manufacturer Specific Objects 2000h 5FFFh 43 CiA DSP 402 6000h 9FFFh 51 Notes 64 9 Communication Pro...

Страница 5: ...nputs StepNLoop closed loop control position verification Opto isolated I O 6 x inputs 1 x high speed position capture latch input 3 x outputs 1 x position synchronized output Limit Limit Home inputs...

Страница 6: ...Main Product Figure 1 0 Contacting Support For technical support contact support arcus technology com Or contact your local distributor for technical support DMX CAN 23 Motor Stack Size 2 Double 3 Tr...

Страница 7: ...C to 70 C Storage Temperature 55 C to 150 C Based on component ratings Digital Inputs Type Opto isolated NPN inputs Opto isolator supply 12 to 24 VDC Maximum forward diode current 45 mA Includes limi...

Страница 8: ...DMX CAN Manual page 8 rev 1 6 3 Dimensions All dimensions in inches DMX CAN 23 Figure 3 0 All dimensions in inches Model L inches DMX K SA 23 2 2 2 DMX K SA 23 3 3 1 Table 3 0...

Страница 9: ...ons NEMA Size Stack Size Current Phase Holding Torque Resistance Phase Inductance Phase Inertia 23 Double 2 8A 0 95 N m 0 9 2 5 mH 1 64 oz in2 Triple 2 8A 1 41 N m 1 13 3 6 mH 2 62 oz in2 Table 4 0 Mo...

Страница 10: ...DMX CAN Manual page 10 rev 1 6 Figure 4 1...

Страница 11: ...ND Ground 4 I O 485 RS 485 plus signal 5 I HOME Home input 6 I O 485 RS 485 minus signal 7 O DO1 INP Digital Output 1 8 I LIM Plus limit input 9 I O RXD RS 232 RXD signal 10 I LIM Minus limit input 11...

Страница 12: ...OPTOGND Opto supply ground 22 O DO3 ALM Digital Output 3 Alarm 23 I O CAN L CAN L 24 I GND Ground Shorted to pin 3 Table 5 0 Mating Connector Description 24 pin 2mm dual row connector Mating Connector...

Страница 13: ...DMX CAN Manual page 13 rev 1 6 DMX CAN 23 Interface Circuit Figure 5 1...

Страница 14: ...output Figure 5 2 WARNING The maximum sink current for digital outputs is 90 mA Take caution to select the appropriate external supply and pull up resistance to limit the sink current below this leve...

Страница 15: ...485 Communication If RS 485 communication is required first you need to communicate using RS 232 and use the Windows program to change the communication method to RS 485 download the setup and store t...

Страница 16: ...method to CANOpen download the setup and store to flash Once communication method is changed you need to reboot the module for the new parameter to take effect and then communicate through CANopen Whe...

Страница 17: ...1 6 Figure 6 2 Windows GUI DMX CAN comes with user friendly Windows Program to quickly communicate test program and debug the DMX CAN unit Start the DMX CAN program and following dialog box will show...

Страница 18: ...485 bus Note that the DMX CAN must be configured to use RS 485 communication F Open connection uses the selected COM port and the device name to open communication with the DMX CAN module G Close the...

Страница 19: ...DMX CAN Manual page 19 rev 1 6 When Open Connection button is pressed and communication is successfully established following screen will show Figure 6 4 A C J E B I G F H K D...

Страница 20: ...not moving ii ACCEL motor is accelerating iii CONST motor is running in constant speed iv DECEL motor is decelerating v ERROR limit error 6 StepNLoop status i NA StepNLoop disabled ii IDLE motor is no...

Страница 21: ...e 3 Enable motor power is turned on or off using this check box When motor is disabled no motion is done 4 SET POS SET ENC Set the pulse position or encoder position Positions are set using the positi...

Страница 22: ...tal output when StepNLoop is disabled When StepNLoop is enabled DO1 is used as In Position output unless EDO is disabled 2 Digital Output bit 2 this is general purpose digital output when Sync Output...

Страница 23: ...the selected device 2 Device ID Device ID of the communicating DMX CAN To communicate with a different DMX CAN on the fly select another ID number from this drop down box F Latch Input Figure 6 10 1 E...

Страница 24: ...N WAITING 3 The sync position used for comparison to the encoder position 4 Set the conditional used for the Sync output Once this condition is met the sync output DO2 is activated H Terminal Send Ter...

Страница 25: ...all DMX CAN modules on a RS 485 bus 3 Send command Type the commands here manually When sending commands you do not need to type the device name For example when you want to know what the motor statu...

Страница 26: ...ton must be pressed In order for the configuration to be permanent store to flash must be pressed Click on the Setup button to show the following display box Figure 6 13 1 Polarity values direction ho...

Страница 27: ...000 bps 125000 bps 250000 bps 500000 bps 800000 bps 1000000 bps 8 Miscellaneous Settings a Set EOBOOT Configure the status of the motor enable at boot up b Set DOBOOT Configure the status of the digit...

Страница 28: ...Desired Acc Dec The acceleration deceleration use for the on the fly speed change operation 3 Before setting the DMX CAN into motion set the SSPDM parameter To see which to use see the on the fly spe...

Страница 29: ...d EX command returns encoder position PX command returns the real time target position of your move When StepNLoop closed loop control is disabled EX command returns encoder position PX command return...

Страница 30: ...eferenced one bit at a time by the DI 1 6 commands Note that the indexes are 1 based for the bit references i e DI1 refers to bit 0 not bit 1 Bit Description Bit Wise Command 0 Digital Input 1 DI1 1 D...

Страница 31: ...e enabled or disabled The initial state the enable output can be defined by setting the EOBOOT register to the desired initial value The value is stored to flash memory once the STORE command is issue...

Страница 32: ...g Motor When the motor is moving jogging or homing using the ABORT command will immediately stop the motor Using the STOP command will decelerate the motor to low speed before stopping Homing Home sea...

Страница 33: ...lse is found the motor stops and the position is set to zero Home Input Only High speed and low speed Use the HL HL command Figure 7 4 shows the homing routine Figure 7 4 A Starts the motor from low s...

Страница 34: ...sible to have the motor automatically return to the zero position To do so set the RZ 1 Limit Only Use the L L command Figure 7 4 shows the homing routine Figure 7 5 A Issuing the command starts the m...

Страница 35: ...eared using the CLR command before issuing any subsequent move commands 7 Plus limit error This bit is latched when plus limit is hit during motion This error must be cleared using the CLR command bef...

Страница 36: ...and LTE latched encoder position commands Sync Output DMX CAN has a designated synchronization digital output DO2 The synchronization signal output is triggered when the encoder position value meets t...

Страница 37: ...he DX command See Table 7 5 for a list of the SNL control parameters SNL Parameter Description Command Tolerance Maximum error between target and actual position that is considered In Position In this...

Страница 38: ...ondition SNL behavior motor is moving SNL behavior motor is idle SLT Continue to monitor the DX In Position No correction is performed SLT AND SLE Continue to monitor the DX Out of Position A correcti...

Страница 39: ...t be within 100mA to 2500mA unless the user wishes to have the motor become disabled during idle state To do this set the idle current to 0 RS 232 RS 485 CANopen Selection In order to choose between R...

Страница 40: ...hese changes set the desired rate using the BR command Please note the following bit rate codes Return Value Description 1 10000 bps 2 20000 bps 3 50000 bps 4 100000 bps 5 125000 bps 6 250000 bps 7 50...

Страница 41: ...jogging the motor in positive direction Send 01J CR Reply 01OK Null For aborting any motion in progress Send 01ABORT CR Reply 01OK Null To achieve this response string type send command RT 1 To write...

Страница 42: ...1000 mA CURR Run Current 1600 mA CURT Idle Time 500 mSec DB Baud Rate for RS 232 RS 485 9600 bps DN Device ID DMC01 DOBOOT Digital Output Boot up State 7 EDO Alarm In Pos Output Mode Enabled EOBOOT E...

Страница 43: ...nly pertain to Arcus Technology motion products Object 2000h Alarm In Position Enable This object disables or enables the alarm in position feature available on the DMX CAN When enabled this feature w...

Страница 44: ...m allowable correction attempts 0 232 1 Read Write Table 8 7 Sub Index Name Description Value Range Access 03h Tolerance Range Allowable error before a correction attempt is made while the motor is mo...

Страница 45: ...ndex Name Data Type Value Range Access 2002h StepNLoop Delta Signed 32 231 231 1 Read Only Table 8 12 Object 2003h StepNLoop Status This object returns the current StepNLoop status Object Description...

Страница 46: ...ex Name Description Value Range Access 02h Run Current Current used while the motor is moving 100 2500 mA Read Write Table 8 18 Sub Index Name Description Value Range Access 03h Idle Current Current u...

Страница 47: ...n be defined by configuring this object Object Description Index Name Data Type Value Range Access 2006h Enable Output Boot Unsigned 8 0 1 Read Write Table 8 24 Object 2007h Latch Enable The latch ope...

Страница 48: ...Index Description Sub Index Name Value Range Access 00h Number of elements 2 Read Only Table 8 30 Sub Index Name Description Value Range Access 01h Pulse Position The latched pulse position 231 231 1...

Страница 49: ...000 5 125 000 6 250 000 7 500 000 8 800 000 9 1 000 000 Table 8 36 Object 200Ch Node ID The node ID of the CANOpen device can be configured by this object Object Description Index Name Data Type Value...

Страница 50: ...ve all parameters and store them to flash and the object will be reset to zero indicating that the store has been performed See below for a timing diagram Figure 8 2 A Object 200Eh activated indicatin...

Страница 51: ...chine allows the user to enable the motor recover from faults and enter or exit the various modes of the DMX CAN Figure 8 1 shows the DSP 402 state machine Figure 8 3 The DSP 402 state machine changes...

Страница 52: ...ecovers from the current fault and prepares the state machine for further operation All other transitions of the DSP 402 state machine are automated by DMX CAN The DMX CAN has three modes of operation...

Страница 53: ...e table 8 45 for the description of these bits Bit Homing Mode Profile Velocity Mode Profile Position Mode 4 Homing Operation Start Not Used new_set_point 5 Not Used Not Used change_set_immediately 6...

Страница 54: ...e Modes of Operation object Also note that the DMX CAN initiates and terminates a mode of operation via the Controlword object 6040h Value Mode of Operation 0 Reserved 1 Profile Position Mode 2 N A 3...

Страница 55: ...s the current status of all limit home and general purpose digital inputs Object Description Index Name Data Type Value Range Access 60FDh Digital Inputs Unsigned 32 0 232 1 Read Only Table 8 51 See t...

Страница 56: ...55 Since the DMX CAN is an integrated micro step stepper motor solution this object is read only and will return the value 768 See the table below for the value description Bit Motor Type 0 Non Stand...

Страница 57: ...ion and the desired zero position During homing the motor will find the home switch location and then move to the zero position which is determined by the value of the home offset The home offset is d...

Страница 58: ...e motor using the limit inputs only in the positive and negative direction respectively When the homing routine is started the motor will accelerate to the Home Switch Speed As soon as the limit input...

Страница 59: ...using the current position This method uses the current position of the DMX CAN as the home position Object 6099h Homing Speeds This object will define the speeds that are used when performing a homi...

Страница 60: ...609Ah Homing Acceleration The homing acceleration defines the acceleration and deceleration that is used when the motor is starting or stopping its motion profile Acceleration time is in milliseconds...

Страница 61: ...Position Actual Value Signed 32 231 231 1 Read Only Table 8 68 Object 607Ah Target Position This object defines the target position when the DMX CAN is in Profile Position Mode If the motor is in open...

Страница 62: ...h Profile Acceleration The profile acceleration is the time the motor takes to accelerate to the profile velocity This object is in milliseconds Object Description Index Name Data Type Value Range Acc...

Страница 63: ...l motion profile Figure 8 10 Object Description Index Name Data Type Value Range Access 6086h Motion Profile Type Signed 16 32768 32767 Read Write Table 8 74 See table 8 77 for the motion profile code...

Страница 64: ...word 1 Single Set point change_set_immediately 0 The DMX CAN will move to a given target position Once the move is completed it will indicate the move is complete and receive a new target position fr...

Страница 65: ...ncoder position Send 01EX CR Reply 1000 Null For jogging the motor in positive direction Send 01J CR Reply OK Null For aborting any motion in progress Send 01ABORT CR Reply OK Null Notes The address 0...

Страница 66: ...alarm in pos feature 0x2001 0x01 Read Write StepNLoop Enable Enable disable StepNLoop 0x02 Read Write Max Attempt Max number of correction attempts 0x03 Read Write Run Tolerance Minimum allowable err...

Страница 67: ...d Write Profile Velocity Target high speed of the motor 0x6082 None Read Write End Velocity Target low speed of the motor 0x6083 None Read Write Profile acceleration Target acceleration 0x6084 None Re...

Страница 68: ...transfer a SDO request to the DMX CAN an appropriate COB ID has to be transferred with each message The following formula can be used to calculate the correct COB IB COB ID 0x0600 Node ID DMX CAN wil...

Страница 69: ...Sets acceleration value in milliseconds OK CLR Clears limit and StepNLoop error OK BR Return bit rate setting CANopen 1 2 3 4 5 6 7 8 BR Value Set bit rate Range 1 10000 2 20000 3 50000 4 100000 5 125...

Страница 70: ...ue 0 alarm in pos mode OK EO Returns driver power enable status 1 Motor power enabled 0 Motor power disabled EO 0 or 1 Enables value 1 or disable value 0 motor power OK EOBOOT Get EO boot up state 0 o...

Страница 71: ...larity OK PS Returns current pulse speed Value in PPS PX Returns current position value Position value in 32 bit PX value Sets the current position value OK RT Get response type parameter 0 or 1 RT 0...

Страница 72: ...mes the motor in negative direction using the Z index encoder channel ONLY OK ZH Homes the motor in positive direction using the home switch and then Z index encoder channel OK ZH Homes the motor in n...

Страница 73: ...ation Range The allowable acceleration deceleration values depend on the LSPD and HSPD settings The minimum acceleration deceleration setting for a given high speed and low speed is shown in Table A 0...

Страница 74: ...DMX CAN Manual page 74 rev 1 6 Contact Information Arcus Technology Inc 3159 Independence Drive Livermore CA 94551 925 373 8800 www arcus technology com...

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