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LEMCOM CANopen®

– User manual

Messaging

COVAL

– LMCOP-EN-A-1155UM0068

19/49

8

MESSAGING

8.1

Information available via SDO

Configuration or miscellaneous parameters are only accessible via SDO:
2001h, 2002h, 2003h, 2004h, 2010h, 2011h, 2012h, 2013h, 2014h, 2015h, 2016h, 2017h, 2018h,
2019h, 2100h, 2101h, 2102h, 2103h, 2104h, 2105h, 2106h, 2107h, 2108h, 2109h, 210Ah, 210Bh,
210Ch, 210Dh, 3000h, 3001h, 3002h, 3010h, 3011h, 3020h, 3100h, 4000h, 4001h.

8.2

Information available via SDO and PDO

Process data is available via PDO and SDO:
2000h, 2001h and 2020h.

8.3

Transfer type of TX PDOs

The tran

sfer type of Tx PDOs is configured as “Manufacturer”.

For TX PDO 1 and TX PDO 2, it depends on the value configured in object

, which is used as

a Triggering Delta (+/-) in relation to the previous vacuum value.

The TX PDO 3 is sent each time the “part gripped” signal state changes on at least one module on
the island (see object

The 3 TX PDOs are sent once upon startup (START-NMT) and then according to the conditions
described above.

Note: LEMCOM does not support any remote transmit requests (RTR) for PDOs.

8.4

PDO mapping

Mapping of RX PDO:

1 object mapped: 2000h subindex 0

– size 32 bits. Vacuum/blowing control.

Mapping of TX PDOs 1 and 2:

8 objects mapped per PDO:
- PDO1: 2020h subindex 1 to 8
- Eight 8-bit objects containing the vacuum values of the modules at addresses #0 to #7
- PDO size: 64 bits

- PDO2: 2020h subindex 9 to 16
- Eight 8-bit objects containing the vacuum values of the modules at addresses #8 to #15
- PDO size: 64 bits

Mapping of TX PDO 3:

- PDO3: 2001h subindex 0
- One 16-

bit object containing the statuses of the “part gripped” signals of all modules on the island

- PDO size: 16 bits

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Содержание LEMCOM 60

Страница 1: ...USER MANUAL 1155UM0068 Rev A 09 2016 COVAL SAS ZA Les Petits Champs 26120 Mont lier France Tel 33 0 4 75 59 91 91 www coval com...

Страница 2: ...product Identifying hazards and useful comments on how to avoid them DANGER Danger that may lead to death or serious injuries WARNING Danger that may result in minor injuries property damage or produ...

Страница 3: ...ng the node address using an SDO command 16 6 2 Setting the baud rate using an SDO command 17 6 3 Restoring factory settings 17 7 Communication objects 18 8 Messaging 19 8 1 Information available via...

Страница 4: ...ion 36 12 19 4000h Supply voltage process value 37 12 20 3000h Module restart 37 12 21 3010h Add Remove a module 37 12 22 3012h Restore factory settings 39 12 23 2100h Set threshold L1 40 12 24 2101h...

Страница 5: ...on and diagnosis of a CANopen LEMCOM island Users This manual is exclusively intended for users having prior experience with installing commissioning configuring and diagnosing automated systems Infor...

Страница 6: ...LEMCOM CANopen User manual General overview of LEMCOM COVAL LMCOP EN A 1155UM0068 5 49 2 GENERAL OVERVIEW OF LEMCOM...

Страница 7: ...LEMCOM CANopen User manual General overview of LEMCOM COVAL LMCOP EN A 1155UM0068 6 49...

Страница 8: ...LEMCOM CANopen User manual General overview of LEMCOM COVAL LMCOP EN A 1155UM0068 7 49...

Страница 9: ...cepts STAND ALONE MASTER MODULE ISLAND OF SECONDARY MODULE STAND ALONE SECONDARY MODULE Figure 1 Master secondary island concept An island consists of 1 master module and 1 to 15 secondary modules Com...

Страница 10: ...wing conditions L2 h2 L1 i e the control range must be higher than the part gripped threshold h1 L1 i e the hysteresis h1 must be lower than the part gripped threshold h2 L2 i e the hysteresis h2 must...

Страница 11: ...GB4 island 3 1 CAN ports A CAN interface is integrated in the LEMCOM model W2 and features two CAN ports on the front of the module Figure 3 Wiring instructions M8 CAN bus ports M8 1 BR 2 WH 3 BU 4 BK...

Страница 12: ...e rear connector of the island s last secondary module and the 24 V power cable It guarantees reliable exchanges on the local CAN bus integrated 120 ohm terminal resistor and separates local bus lines...

Страница 13: ...If NC valve Gv G1 If NO valve Gv OFF vacuum generation Otherwise ON G2 Handling ON Part gripped vacuum level L1 threshold Otherwise OFF G3 CANopen CANopen RUN indicator R1 CANopen CANopen ERROR indic...

Страница 14: ...Indicator lights for overall module status 4 2 CAN RUN and CAN ERR indicator lights The RUN G3 and ERR R1 indicator lights operate according to the DR 303 3 recommendations of the CiA These LEDs are u...

Страница 15: ...fault has been detected ON CAN controller is in BUS OFF state Table 5 CAN ERR indicator light 4 3 Network Status NS indicator light The NS LED indicates the status of the communication on the local b...

Страница 16: ...e LEMCOM Manager PC software available for download from the COVAL web site All the diagnostic data such as cycle counters instant vacuum level grip signal product reference firmware version power sup...

Страница 17: ...avoid collisions on the CANopen network resulting from duplicate addresses perform the recommended steps below using a point to point connection between the LEMCOM module and the CAN bus master e g P...

Страница 18: ...3002h subindex 00h with the value corresponding to the desired baud rate CANBDR CAN ID 600h ID Command 2Fh Object L 02h Object H 30h Subindex 00h Byte 0 CANBDR Byte 1 00h Byte 2 00h Byte 3 00h The ba...

Страница 19: ...e factor Unsigned8 rw 1014h VAR COB ID emergency Unsigned32 rw 1016h ARRAY Consumer heartbeat time Unsigned32 rw 1017h VAR Producer heartbeat time Unsigned16 rw 1018h RECORD Identity object Vendor ID...

Страница 20: ...ta in relation to the previous vacuum value The TX PDO 3 is sent each time the part gripped signal state changes on at least one module on the island see object 2001h The 3 TX PDOs are sent once upon...

Страница 21: ...de L 00h Emergency code H 00h Error register contents 00h Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Additional information Emergency messages are transmitted over the CAN bus but they do not need to be confi...

Страница 22: ...g duration ms Duration of automatic blowing configurable from 100 to 9999 ms ASC Vacuum control system Air Saving Control Compressed air saving function from 60 to 99 The control threshold is set by p...

Страница 23: ...counter Unsigned32 ro 2012h ARRAY External vacuum cycle counter Unsigned32 ro 2013h ARRAY Gripping cycle counter Unsigned32 ro 2014h ARRAY Part lost counter Unsigned32 ro 2015h ARRAY Control system a...

Страница 24: ...R DIAG ECO parameter ASC monitoring Unsigned16 rw 2106h ARRAY Max number of bounces DIAG ECO Unsigned8 rw 2107h ARRAY DIAG ECO assessment time Unsigned16 rw 2108h VAR Automatic blowing Unsigned16 rw 2...

Страница 25: ...blowing active on relevant module Bit set to 0 vacuum or blowing inactive on relevant module Byte 3 Vacuum control on modules at addresses 0 to 7 0 master 1 to 7 secondaries Byte 3 X X X X X X X X 7...

Страница 26: ...l exceeds threshold L1 according to the following principle Figure 9 How the part gripped signal of a LEMCOM module works Client master server LEMCOM CAN ID 600h ID 620h Command 40h Object L 01h Objec...

Страница 27: ...x is used to define the module to query from 1 to 16 Subindex 0x01 request for vacuum process value on master module address 0 Subindex 0x02 request for vacuum process value on secondary module at add...

Страница 28: ...l of a LEMCOM module works Client master server LEMCOM CAN ID 600h ID 620h Command 40h Object L 02h Object H 20h Subindex 00h Byte 0 00h Byte 1 00h Byte 2 00h Byte 3 00h The reply is as follows Server...

Страница 29: ...e vacuum control is active Client master server LEMCOM CAN ID 600h ID 620h Command 40h Object L 03h Object H 20h Subindex 00h Byte 0 00h Byte 1 00h Byte 2 00h Byte 3 00h The reply is as follows Server...

Страница 30: ...ault porous surface of product handled deteriorated suction cup Client master server LEMCOM CAN ID 600h ID 620h Command 40h Object L 04h Object H 20h Subindex 00h Byte 0 00h Byte 1 00h Byte 2 00h Byte...

Страница 31: ...is as follows Server LEMCOM Client master CAN ID 580h ID 5A0h Command 43h Object L 10h Object H 20h Subindex Module no 1 Byte 0 00h Byte 1 00h Byte 2 00h Byte 3 00h The number of blowing cycles is pro...

Страница 32: ...owing SDO command Client master server LEMCOM CAN ID 600h ID 620h Command 40h Object L 12h Object H 20h Subindex Module no 1 Byte 0 00h Byte 1 00h Byte 2 00h Byte 3 00h The subindex is used to define...

Страница 33: ...Object H 20h Subindex Module no 1 Byte 0 00h Byte 1 00h Byte 2 00h Byte 3 00h The number of part gripping cycles is provided in hexadecimal format by the following Byte 3 Byte 2 Byte 1 Byte 0 12 11 20...

Страница 34: ...00h Byte 2 00h Byte 3 00h The number of ASC cycles is provided in hexadecimal format by the following Byte 3 Byte 2 Byte 1 Byte 0 12 13 2016h Control fault counter The number of cycles interrupted sub...

Страница 35: ...00h Byte 2 00h Byte 3 00h The number of faults is provided in hexadecimal format by the following Byte 3 Byte 2 Byte 1 Byte 0 12 15 2018h Communication fault counter client bus The number of communic...

Страница 36: ...econdary module at address 15 The reply is as follows Server LEMCOM Client master CAN ID 580h ID 5A0h Command 43h Object L 19h Object H 20h Subindex Module no 1 Byte 0 00h Byte 1 00h Byte 2 00h Byte 3...

Страница 37: ...1 Hexadecimal 3Fh 40h Binary 0 0 1 1 1 1 1 1 0 1 0 0 0 0 0 0 Module address 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 The modules present on the bus are thus 0 master 1 2 3 4 5 and 14 12 18 3020h Softwar...

Страница 38: ...restart All of an island s modules can be restarted using the following command CAN ID 600h ID 620h Command 2Fh Object L 00h Object H 30h Subindex 00h Byte 0 01h Byte 1 00h Byte 2 00h Byte 3 00h All o...

Страница 39: ...dress both modules will now have the same address Make sure all addresses are unique on the COVAL bus to ensure proper operation of communications Adding a module An address may need to be assigned to...

Страница 40: ...ne the module to reset Byte 0 0x00 Reset parameters of master module address 0 Byte 0 0x01 Reset parameters of secondary module at address 1 Byte 0 0x0F Reset parameters of secondary module at address...

Страница 41: ...value must range from 0 to 99 00h to 63h Default values o L1 35 for a LEMC60X configuration o L1 65 for a LEMC90X configuration PARAMETERS L1 h1 L2 h2 For further details on how the thresholds and th...

Страница 42: ...define the value of L2 to be written THRESHOLD L2 The L2 threshold value must range from 0 to 99 00h to 63h Default values o L2 45 for a LEMC60X configuration o L2 75 for a LEMC90X configuration 12 2...

Страница 43: ...x x x Module address 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 12 28 2105h DIAG ECO parameter ASC monitoring Object 2105h is used to activate deactivate the monitoring function of the ASC control system...

Страница 44: ...ddress 15 Byte 0 is used to define the value of MAX_BOUNCES MAXIMUM NUMBER OF BOUNCES The maximum number of bounces must range from 1 to 10 01h to 0Ah Default value MAX_BOUNCES 2 12 30 2107h DIAG ECO...

Страница 45: ...te 1 Byte 0 Byte 0 Byte 1 Automatic blowing option x x x x x x x x x x x x x x x x Module address 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 12 32 2109h Duration of automatic blowing Object 2109h is used t...

Страница 46: ...h CONTROL FAULT LED flashing upon control fault continuous suction otherwise OFF BL 5 04h MAINTENANCE AFTER 30 MILLION CYCLES LED ON if Vacuum Cycles 30 MCycles otherwise OFF Table 16 State of blue cu...

Страница 47: ...um command inactive blowing command active MD4 03h Vacuum and blowing commands inactive MD5 04h Vacuum inactive then blowing for 2 s followed by vacuum and blowing inactive Table 17 Valve status in ca...

Страница 48: ...open NODE ID must be unique on the CAN network and must range from 1 to 127 01h to 7Fh Default value NODE ID 32 20h 12 36 3002h Baud rate As described in section Setting the baud rate using an SDO com...

Страница 49: ...g level is defined using the following command CAN ID 600h ID 620h Command 2Fh Object L 00h Object H 31h Subindex 00h Byte 0 TL PDO Byte 1 00h Byte 2 00h Byte 3 00h The value of the Transmission Level...

Страница 50: ...a LEMCOM module works 27 14 LIST OF TABLES Table 1 Meaning of indicator lights 12 Table 2 Indicator lights for overall module status 13 Table 3 States of the CAN RUN and CAN ERR LEDs 13 Table 4 CAN RU...

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