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DSP resolver user manual

User Manual

Version 1.15

Error
code

Meaning

Support note

Error bit in error
register (index 1001)

0x0000

Error reset or no error

0x1000

Generic error

Generic

0x4200

Processor temperature
too high

not supported

0x6250

Incompatible hw and
sw

GManufacturer
specific

0x6350

automatic object
dictionary restoring
occured

Software has automatically restored
the object dictionary

GManufacturer
specific

0x8110

CAN overrun (Objects
lost)

not supported

0x8120

CAN in error passive
mode

not supported

0x8130

Heartbeat error

not supported

0x8140

Recovered from bus off

not supported

0x8210

PDO not processed due
to length error

not supported

0x8220

PDO length exceeded

not supported

0xFF10

Sensor failure detected

GManufacturer
specific

Table 7.10: Supported emergency (EMCY) message error codes

Error bits resulting from the EMCY messages are listed in table below.

bit

Error type

Support note

Generic

Set if generic or any other error is present

Current

not supported

voltage

not supported

temperature

not supported

communication

not supported

Device profile specific

not supported

reserved

Always 0

Manufacturer specific

Set if error is valid

Table 7.11: Error bits in error register (index 1001)

7.2.4

CAN bus baudrate

Every device connected to the CAN bus has to use same baudrate. Baudrate can be changed
with the LSS protocol ( a CAN open sub protocol) or trough RS232 interface with a

#SBxx!

command. The LSS protocol is described in details in CANopen manual chapter.

The serial protocol command is

#SBxx!

where xx is serial command index. Supported

baudrate values and correlated indexes for LSS and serial commands are listed in table xx.
Baudrate of an unconfigurated device is 125 kbit/s.

Copyright

Axiomatic Technologies Oy

28/56

Содержание DSP RESOLVER

Страница 1: ...Author JKA File reso_UM_1_15 For SW ver 1 5 Version 1 15 Modified 27 07 2007 11 33 DSP RESOLVER User Manual...

Страница 2: ...14 6 SOFTWARE UPDATES 19 6 1PROGRAMMING CABLE 19 6 2DOWNLOADING INSTRUCTIONS 20 7 PROFILE AND MANUFACTURER SPECIFIC FEATURES 21 7 1ENCODER RELATED FUNCTIONS AND CONFIGURATIONS 21 7 1 1Angle position r...

Страница 3: ...apping 41 8 4SERVICE DATA OBJECT SDO 42 8 5SAVING THE OBJECT DICTIONARY PARAMETERS 42 8 6RESTORING THE DEFAULT VALUES TO THE OBJECT DICTIONARY 43 8 7SPECIAL FUNCTIONS AND OBJECTS 43 8 7 1Boot up messa...

Страница 4: ...ory added 1 12 6 7 2006 JKA Accuracy corrected object 0x6500 co_encoder_diagnostic corrected 1 13 10 7 2006 JKA Accuracy corrected to the general chapter 1 14 8 8 2006 JKA Corrected mistake in enablin...

Страница 5: ...electrical revolution Resolution is sw configurable The maximum resolution is 22 bits Three different form factors allow chosing the most suitable solution for each application The newest type AXRES 1...

Страница 6: ...ull accuracy is always achieved Product highlights Measures absolute angular rotation no home point needed whole rotations and angular speed fullfils CAN open DS301 ver 4 1 communication specification...

Страница 7: ...hrough CAN interface Object Dictionary Consists of objects Accessable from CAN bus with SDO writ and read operations DS406 ver 3 1 The CAN open device profile for encoders Version 3 1 is published 21...

Страница 8: ...0 Transceiver Baudrates 50kB to 1MB Sensor element AXRES CO V2 1X LTN R58WURE151B24 031 07HA 3X LTN R58WURE153B24 031 07HA on request AXRES CO 1X SL LTN RE 10 Measuring range of angular rotation as de...

Страница 9: ...el Open style version contains two spring loaded connectors AXRES CO 1X SL 1x M12 connector 5 pin male EMC compatibility Fulfills the requirements of the industrial and mobile environments Emissions E...

Страница 10: ...ousing Customer specific CO CANopen 1X H closed type housing optional 3X U open type housing Table 4 1 Order codes of AXRES CO V2 AXRES CO 1X SL AXRES CO 1X SL x Can protocol Sensor element Housing Cu...

Страница 11: ...An external Signal level converter is required in case of AXRES CO V2 if module is connected to external devices like a laptop Serial interface connector is located so that it is accessable only in m...

Страница 12: ...ison 8A5006 32 or equivalent Pin Signal Type Function 1 CAN sh CAN CAN shield 2 V supply PWR Power supply 3 GND GND Power supply ground 4 CAN hi CAN CAN bus hi signal 5 CAN lo CAN CAN bus lo signal Ta...

Страница 13: ...R Power supply Table 5 5 Connector X2 Power supply voltage range is 9 35 V CAN bus signals withstand short circuits to 40V and GND 5 2 CAN bus cabling The bus should be routed continuously from one mo...

Страница 14: ...bit s 1000m 55m 275m Table 5 6 Baudrates bus and stub lengths The grounds of all modules must be connected together using low impedance cabling It is recommended to use a system ground point to which...

Страница 15: ...DSP resolver user manual User Manual Version 1 15 Illustration 5 2 Overview of AXRES CO V2 resolver with closed type housing Copyright Axiomatic Technologies Oy 15 56...

Страница 16: ...ver user manual User Manual Version 1 15 Illustration 5 3 AXRES CO V2 closed type resolver seen from the side Illustration 5 4 AXRES CO V2 closed type seen from bottom Copyright Axiomatic Technologies...

Страница 17: ...DSP resolver user manual User Manual Version 1 15 Illustration 5 5 AXRES CO V2 open type seen from bottom Copyright Axiomatic Technologies Oy 17 56...

Страница 18: ...DSP resolver user manual User Manual Version 1 15 Copyright Axiomatic Technologies Oy 18 56 Illustration 5 6 AXRES CO V2 open type without PCB seen from the side...

Страница 19: ...ogramming cable connection is shown in table XX The Connector housing on the AXRES end is JST ZHR 4 and a suitable crimp is BZH 003 PO 5 These accessories are available example from Farnell electronic...

Страница 20: ...the window Connect using the serial port you have available on your PC for example Direct to COM1 3 Serial port settings window opens Enter the following values Bits per second 115200 Data bits 8 Pari...

Страница 21: ...or s output co_position_value object This feature is common with the encoders and the reason why this document uses position instead of angle as the name of the primary output quantity of the module T...

Страница 22: ...is scaling bit 0x6001 0 U32 RW co_units_per_revolution 1 0x400000 Number of sensor output steps in one rotation 0x6004 0 U32 RO co_position_value 0 co_single_turn _resolution 1 Sensor output 0x6501 0...

Страница 23: ...s defined by the co_single_turn_resolution object Ensure that you set the resolution before setting the offset The value range of the co_preset_value is 0 co_single_turn_resolution 1 and the value ran...

Страница 24: ...nd instructions available in network management chapter 2 Configure the resolution if non default value is used 1 Allow scaling by setting co_operating_parameters 0x6000 bit 2 as logic 1 2 Set the new...

Страница 25: ...can smoothen the output of the speed calculation by increasing the length of the co_speed_buffer unsigned 16 bit variable at 0x2003 in the object dictionary The co_speed_buffer object defines how man...

Страница 26: ...revolutions object The co_counted_revolutions object is located at 0x2001 Writing 0x1 to the co_clear_revolution_counter_cmd object 0x2000 clears the number of counted revolutions The trigging point f...

Страница 27: ...ntifies the module vendor vendors product code and the revision number Serial number feature is not supported at the moment index sub type access variable values notes 0x1018 0 U32 RO co_identity 4 1...

Страница 28: ...ted emergency EMCY message error codes Error bits resulting from the EMCY messages are listed in table below bit Error type Support note 0 Generic Set if generic or any other error is present 1 Curren...

Страница 29: ...id into the co_node_id variable 0x100B in the object dictionary Save communication or all parameters by writing save signature to the co_store_param object 0x1010 subindex 1 all parameters or 2 just...

Страница 30: ...Os was on the module should be ready to operate now 7 2 6 PDO configurations The device has two transmit PDOs process data object that deliver the measurement data from the resolver module to other mo...

Страница 31: ...gers 3 U16 RW 0 Inhibit time not supported 4 U8 RW 0 Reserved 5 U16 RW 50 Event timer 50 milliseconds Table 7 14 TPDO1 s communication parameters index s u b type acc ess variable values notes 0x1A00...

Страница 32: ...ic synchronous 3 U16 RW 0 Inhibit time 4 U8 RW 0 Reserved 5 U16 RW 0 Event timer Table 7 16 TPDO2 s communication parameters index s u b type acc ess variable values notes 0x1A01 0 RW co_map_comm_par...

Страница 33: ...object 7 U32 RW No mapped object 8 U32 RW No mapped object Table 7 18 Content of TPDO_1 mapping object 0x1A00 when position value speed value and number of counted revolutions are mapped to it 7 2 7...

Страница 34: ...led 255 debug printing is on Table 7 19 Object dictionary variable related to RS232 printing A print example while normal print mode is chosen The first line is printed only once 305 5 0 36000 305 5 0...

Страница 35: ...ge Available trough CAN interface Description notes SNxxx 1 127 0x100b or LSS protocol Sets the node ID New node ID will be effective after module is reseted SBxxxx 125 250 500 1000 Through the LSS pr...

Страница 36: ...ject dictionary is divided in the following segments 0x1000 0x1FFF Communication object area 0x2000 0x5FFF Manufacturer specific area 0x6000 0x9FFF Device profile specific area 0xA000 0xBFFF Interface...

Страница 37: ...des process data to other CAN modules by sending transmit PDOs TPDO Receive PDOs RPDOs defines the messages which carries process data to the module from the other modules connected to the CAN bus Dev...

Страница 38: ...bit CAN ID and what s the current CAN ID 31 30 29 28 11 10 0 Valid bit RTR frame 0x0 0000 11 bit CAN ID 0 1 Always 1 Always 0 29 bit CAN ID not supported in this module Set 0 to enable the PDO and 1...

Страница 39: ...3 2 Disabling and enabling a PDO Transmission receive or transmit of an individual PDO is enabled by PDO s valid bit The valid bit is part of PDO s COB ID which is located for the first transmit PDO...

Страница 40: ...e TPDO_1 is located in index 0x1800 sub index 2 Event or timer driven An event specified in the device profile triggers message transmission An elapsed timer may also trigger the transmission Note tha...

Страница 41: ...mapping during operational state is supported the SDO Client the configurator is responsible for the data consistency Axiomatic resolver allows remapping during the operational state but the PDO unde...

Страница 42: ...m of doubly received CAN frames The next three byte of the first segment contain index and sub index of the Object Dictionary entry to be read or written The last four byte of the first segment carrie...

Страница 43: ...latile memory User is able to decide which type of parameters he wants to be restored Parameters are divided in 4 blocks Communication objects Manufacturer specific and Device profile specific The 4th...

Страница 44: ...options 0 1 Bit 0 enables boot up message Table 8 11 Object dictionary variables related to boot up message send configuration 8 7 2 Synchronization object Sync The sync object 0x1005 defines whether...

Страница 45: ...t message contains one byte of data and its CAN ID is 0x700 sender s node ID CAN ID lenght D0 D1 D2 D3 D4 D5 D6 D7 0x707 1 0x05 Table 8 14 An example of heart beat message coming from node 7 Module is...

Страница 46: ...re of an EMCY message is described in table below The CAN ID of the EMCY message is counted by the following way sender s node ID 0x80 The emergency code table co_predefined_error_code and error code...

Страница 47: ...t Time By means of Time Stamp a common time frame reference is provided to application devices It contains a value of the type Time of Day This object transmission follows the producer consumer push m...

Страница 48: ...hanged CAN ID length D0 D1 D2 D3 D4 D5 D6 D7 0x7E5 2 0x04 0x01 8 8 2 Protocol for setting the node id CAN ID length D0 D1 D2 D3 D4 D5 D6 D7 0x7E5 2 0x04 0x01 CAN ID length D0 D1 D2 D3 D4 D5 D6 D7 0x7E...

Страница 49: ...ic memory Value range Acceptable value range on device if limited indexh su b obj variable type b yt es acce ss M O pd o profile value Default value value range notes 1000 VAR co_device_type U32 4 RO...

Страница 50: ...signature 0x65766173 in specified subindex You may use any CANopen object dictionary toolkit or generate SDO message SDO 600 node ID 23 10 10 subindex 73 61 76 65 all in hexadecimals 1 U32 4 RW m n 1...

Страница 51: ...monitored Module is able to monitor one node 1 U32 4 RW m n 0 0 0 0x007F2710 Bits 0 15 Heartbeat time ms value range 0 10000 Bits 16 23 Node id to be listened value range 0 127 1017 VAR co_producer_h...

Страница 52: ...ed 254 Asynchronous 255 Asynchronous Synchronous transmission means that the transmission is related to SYNC object PDO will be transmitted after SYNC receiving the SYNC message Asynchronous transmiss...

Страница 53: ...040020 Mapped object Bits 0 7 Size of the mapped object Bits 8 15 Subindex of the mapped object Bits 16 31 Index of the mapped object Supported and recommended object sizes to map 0x20 32 bit 0x10 16...

Страница 54: ...lowed More information in chapter 6 2 2004 VAR co_serial_cmd U8 1 RW n 0 This object controls serial printing 0 printing is off 1 prints position speed and counted revolutions interval is object value...

Страница 55: ...it 3 Not supported with rotary sensors Bits 4 11 Reserved Bits 12 15 Reserved for manufacturer specific use 6001 VAR co_units_per_revolution U32 4 RW O n 36000 0x1 0x400000 Number of measuring units w...

Страница 56: ...13 15 Reserved for manufacturer specific use 6501 VAR co_single_turn_resolution U32 4 RO M n 36000 0x1 0x400000 Tells the current resolution36000 if scaling is disabled Otherwise co_unit_per_revolutio...

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