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4th edition, 9-11-2018

7000.05050, 4th edition, 9-11-2018

7000.05050

CANopen protocol description

17

3.4

PDO (Process Data Object)

PDOs are CAN messages with up to 8 bytes user data. PDOs contain process data for con-
trolling and monitoring the behaviour of the device. The drive makes the distinction 
between receipt PDOs and transmission PDOs.

Receipt PDOs (RxPDO): are received by a drive and typically contain control data

Transmission PDOs (TxPDO): are sent by a drive and typically contain monitoring data

PDOs are evaluated or transmitted only when the device is in the NMT 

Operational

 state 

(see chap. 3.8, p. 27).

The transmission of PDOs can be triggered in various different ways. The behaviour can be 
set for each PDO via the transmission type parameter of the communication parameters in 
the object dictionary:

Tab. 4:

Types of PDO transmissions

As delivered the system is configured with the node number 1. The COB-IDs are pre-set 
correspondingly:

RxPDO: 201h, 301h, 401h and 501h

TxPDO: 181h, 281h, 381h and 481h

EMCY: 81 h

RxSDO: 581 h

TxSDO: 601 h

If the node number is changed from 255 (unconfigured CANopen node) to a value 
>127 using the LSS protocol, the COB-IDs which depend on this node number are auto-
matically adjusted.

Transmission Type

Description

Event-driven

Event-driven RxPDOs are processed immediately on receipt.
Event-driven TxPDOs are sent when the statusword of the device is contained and has 
been changed.

Remote request (RTR)

Data are sent in response to a request message.

Synchronised

Data are sent after receipt of a SYNC object (see chap. 3.7, p. 26).

Содержание MC 5004

Страница 1: ...WE CREATE MOTION Communications Manual MC 5010 MC 5005 MC 5004 MCS EN ...

Страница 2: ...aber GmbH Co KG cannot accept any liability for any errors in this document or for the consequences of such errors Equally no liability can be accepted for direct or consequential damages resulting from improper use of the equipment The relevant regulations regarding safety engineering and interference suppression as well as the requirements specified in this document are to be noted and followed ...

Страница 3: ... 3 1 Introduction 14 3 2 Communication services 15 3 3 Identifier distribution 16 3 4 PDO Process Data Object 17 3 4 1 PDO configuration 18 3 4 2 PDO mapping in the standard configuration status as delivered 18 3 4 3 Dealing with mapping errors 20 3 4 4 Dummy Mappings 20 3 5 SDO Service Data Object 21 3 5 1 Expedited transfer 21 3 5 2 SDO error description 23 3 6 Emergency object error message 24 ...

Страница 4: ...cution of the trace function 39 4 2 Trace logger 39 5 Communications settings 40 5 1 Setting via the CAN network 40 5 1 1 Setting the node number 40 5 1 2 Setting the baud rate 41 5 1 3 Automatic adjustment of the COB IDs 41 5 2 Setting the node number via the object dictionary 42 6 Parameter description 43 6 1 Communication objects to CiA 301 43 6 2 Manufacturer specific objects 51 ...

Страница 5: ...FAULHABER products additional information from the following manuals is useful These manuals can be downloaded in pdf format from the web page www faulhaber com manuals 1 3 Using this document Read the document carefully before undertaking configuration Retain the document throughout the entire working life of the product Keep the document accessible to the operating personnel at all times Pass th...

Страница 6: ... Lower High Byte LLB Lower Low Byte LSB Least Significant Byte LSS Layer Setting Service MSB Most Significant Byte NMT CANopen network management OD Object Dictionary PDO Process Data Object PP Profile Position PV Profile Velocity ro read only RTR Remote Request rw read write RxPDO Receive Process Data Object PDO received from the drive SDO Service Data Object PLC Programmable Logic Controller Sxx...

Страница 7: ...markers NOTICE Risk of damage Measures for avoidance Pre requirement for a requested action 1 First step for a requested action Result of a step 2 Second step of a requested action Result of an action Request for a single step action Instructions for understanding or optimising the operational procedures ...

Страница 8: ...side or by the drive side Application part The application part contains drive functions corresponding to CiA 402 The drive functions read parameters from the object dictionary obtain the setpoints from the object dictionary and return actual values The parameters from the object dictionary determine the behav iour of the drive Index Assignment of the objects 0x1000 to 0x1FFF Communication objects...

Страница 9: ... recommend that the first commissioning of a FAULHABER drive is performed using FAULHABER Motion Manager software The FAULHABER Motion Manager permits simple access to the settings and parameters of the connected motor controller The graphical user interface allows configurations to be read changed and reloaded Individual commands or complete parameter sets and pro gram sequences can be input and ...

Страница 10: ...ap 6 1 p 43 When the motor is switched on the parameters are loaded automatically from the non volatile memory into the volatile memory RAM Fig 3 Saving and restoring parameters The following parameters can be loaded using the Restore command see chap 6 1 p 43 Factory settings Parameters saved using the Save command 2 4 1 Saving parameters The current parameter settings can be saved in the interna...

Страница 11: ...is there is a saved data area for parameters which often must be modified to cater for variations in the load situation App1 App2 Speed controller and filter Position controller When the drive is next switched on the saved parameters are loaded automatically If it is desired that the values currently loaded remain available after a Restore these must be saved to the PC using a suitable program suc...

Страница 12: ...l 128 100 pre control 0x02 Velocity feed forward delay U8 rw Setpoint delay 0 undelayed activation 1 Activation delayed by one sampling Index Subindex Name Type Attr Meaning 0x6060 0x00 Modes of operation S8 rw Select the operating mode 4 ATC 3 AVC 2 APC 1 Voltage Mode 0 Controller not activated 1 PP 3 PV 6 Homing 8 CSP 9 CSV 10 CST 0x6081 0x00 Profile Velocity U32 rw Profile velocity in user defi...

Страница 13: ...te the Save signature to the subindex 05 of the object 0x1010 The current data are saved as the application parameter dataset 2 Activate an application Reload Application Parameters 1 Write the Load signature to the subindex 05 of the object 0x1011 Current data from the application parameter set 1 are activated directly Reload Application Parameters 2 Write the Load signature to the subindex 06 of...

Страница 14: ...speed is 1 MBit s CAN standardisation The CiA defines the following aspects in CiA 301 communications structure Control and monitoring functions CANopen device profiles have been defined for a wide range of device classes such as CiA 402 for drives CiA 401 for input and output devices Structure of a CANopen telegram A CANopen telegram has an 11 bit identifier and can contain up to 8 bytes of user ...

Страница 15: ...eters within a node Each SDO access reads or writes exactly one parameter An SDO can only address one node in a network see chap 3 5 p 21 PDO Process Data Object The PDO is used to access real time data A PDO can use a CAN message to access multiple drive parameters concurrently The parameters sent or received in a PDO can be freely configured see chap 3 4 p 17 SYNC object SYNC objects are used to...

Страница 16: ...nt of the PDOs is pre set to the PDO set for servo drive as specified in CiA 402 V3 but can be changed by the user dynamic PDO mapping Object Function code binary Resulting COB ID Object index for communica tion setting NMT 0000 0 SYNC 0001 128 80 h 1005 h EMERGENCY 0001 129 81h to 255 FFh 1014 h PDO1 tx 0011 385 181h to 511 1FFh 1800 h PDO1 rx 0100 513 201h to 639 27Fh 1400 h PDO2 tx 0101 641 281...

Страница 17: ...he behaviour can be set for each PDO via the transmission type parameter of the communication parameters in the object dictionary Tab 4 Types of PDO transmissions As delivered the system is configured with the node number 1 The COB IDs are pre set correspondingly RxPDO 201h 301h 401h and 501h TxPDO 181h 281h 381h and 481h EMCY 81 h RxSDO 581 h TxSDO 601 h If the node number is changed from 255 unc...

Страница 18: ... object index 0x6040 in the object diction ary The bit distribution is described in the documentation for the drive functions TxPDO1 Statusword The TxPDO1 contains the 16 bit statusword to CiA 402 The statusword indicates the status of the drive unit an and points to the object index 0x6041 in the object dictionary The bit distribution is described in the documentation for the drive functions Tran...

Страница 19: ... statusword and the 32 bit value of the actual speed object 0x606C RxPDO4 Controlword target torque The RxPDO4 contains the 16 bit controlword and the 16 bit value of the target torque object 0x6071 for Cyclic Torque Mode CST TxPDO4 Statusword torque actual value The RxPDO4 contains the 16 bit statusword and the 16 bit value of the actual torque object 0x6077 for Cyclic Torque mode CST 11 bit iden...

Страница 20: ... on one of the data types that is used can be entered in the PDO mapping table Example An RxPDO contains the target positions for two axes Mapping for the node that should respond to the first target position 0x160x 00 2 0x160x 01 0x607A0020 0x160x 02 0x00040020 Mapping for the node that should respond to the second target position 0x160x 00 2 0x160x 01 0x00040020 0x160x 02 0x607A0020 SDO error Me...

Страница 21: ...t to Server Upload Request Server to Client Upload Response The command specifier CS 0x4x specifies the number of valid data bytes in D0 to D3 and the transfer code The command specifier is coded as follows CS 0x4F 1 data byte in D0 CS 0x4B 2 data bytes in D0 to D1 CS 0x47 3 data bytes in D0 to D2 CS 0x43 4 data bytes in D0 to D3 Byte0 Byte 1 to 2 Byte 3 Byte 4 to 7 Command specifier 16 bit index ...

Страница 22: ...x22 no specification of the number of data bytes Server to Client Download Response Abort in the event of SDO errors SDO abort Client to Server SDO abort Server to Client 11 bit identifier 8 bytes user data 0x600 1536d node ID CS 0x2x Index LB Index HB Subindex LLB D0 LHB D1 HLB D2 HHB D3 11 bit identifier 8 bytes user data 0x580 1407d node ID 0x60 Index LB Index HB Subindex 0 0 0 0 11 bit identif...

Страница 23: ...Object not present in the object dictionary 0x06 0x04 0x0041 Object cannot be mapped in a PDO 0x06 0x04 0x0042 Number and or length of the mapped objects exceed the PDO length 0x06 0x04 0x0043 General parameter incompatibility 0x06 0x04 0x0047 General internal incompatibility error in the device 0x06 0x07 0x0010 Data type or parameter length do not match or are unknown 0x06 0x07 0x0012 Data types ...

Страница 24: ...ency messages providing the respective error is included in the emergency mask for the FAULHABER error register Tab 13 Tab 9 Emergency error codes 11 bit identi fier 8 bytes user data 0x80 128d node ID Error0 LB Error1 HB Error Reg FE0 LB FE1 HB 0 0 0 Emergency message FAULHABER error register 0x2320 Error register 0x1001 Error Code Designation Error mask 0x2321 Bit Designation Bit Designation 0x0...

Страница 25: ...cific error 0x7400 Computation circuit Module fault 0x0100 8 ModuleError 7 Manufacturer specific error 0x8110 0x8130 0x8140 0x8310 CAN overrun CAN guarding failed CAN recovered from bus stop RS232 overrun 0x0800 11 ComError 4 Communications error 0x84F0 Deviation error veloc ity controller 0x0001 0 SpeedDeviationError 5 Drive specific error 0x84FF Max Speed Error 0x2000 13 DynamicError 7 Manufactu...

Страница 26: ...PDOs Synchronous RxPDO The command transmitted with the PDO is not executed until a SYNC object is received The transmission types 1 to 240 of an RxPDO are identical to transmission type 0 Synchronous TxPDO The synchronous TxPDOs with the current data are sent immediately after a SYNC object is received Fig 6 TxPDO with SYNC chart 11 bit identifier 0 bytes of user data 0x80 no user data In order t...

Страница 27: ...ly in the Pre Operational state and it sends a boot up message Start remote node indication 0x01 1d This starts the device and enables transmission of PDOs Enter Pre operational state indication 0x80 128d Stops the transmission of PDOs SDOs are still active Stop remote node indication 0x02 2d The drive is set to the stopped status SDO and PDO are switched off Start Rem ote Node indication Stop Rem...

Страница 28: ...ee Tab 11 Node ID Node address 0 all nodes Reset node indication 0x81 129d Performs a reset All objects are reset to Power On standards Reset communication indica tion 0x82 130d Performs a reset of the communications functions FAULHABER Motion Controllers are equipped with a standard configuration for all objects Once commissioning is complete the application specific settings can be saved directl...

Страница 29: ... A boot up message signals the end of the initialisation phase of a module after it has been switched on A boot up message is a CAN message with one data byte byte 0 0x00 on the identifier of the node guarding message 0x700 node ID 3 8 2 Monitoring functions 11 bit identifier 1 byte of user data 0x700 1792d node ID 0x00 Only one monitoring function node guarding or heartbeat can be used at one tim...

Страница 30: ...arding telegram s Status s 0x04 4d Stopped s 0x05 5d Operational s 0x7F 127d Pre operational If a node life time 0 is set objects 0x100C and 0x100D and no node guarding request is made by the master within the set node life time a node guarding error is set The response to a node guarding error is set by the FAULHABER error register object 0x2321 see Tab 14 The default is to send the emergency mes...

Страница 31: ...nsumer time no heartbeat message is received from the heartbeat producers that are being monitored the Motion Control ler responds with the behaviour specified in the FAULHABER error register object 0x2320 see Tab 12 Fig 9 Chart of the heartbeat protocol r Reserved Always 0 s Status s 0x00 0d Boot up s 0x04 4d Stopped s 0x05 5d Operational s 0x7F 127d Pre operational indication indication indicati...

Страница 32: ...ered in the object 0x1016 The heartbeat consumer time must always be longer than the producer heartbeat time of the master If within the set heartbeat consumer time the Motion Controller receives no heartbeat message from the master a heartbeat event is triggered The response to a heartbeat event is determined by the FAULHABER error register error mask object 0x2321 see Tab 12 The default is to se...

Страница 33: ...t 6 CAN in error passive mode is set in the FAULHABER error register The emergency message 0x000 is sent and the error retracted once the drive is restored to the Error Active state Recovered from bus stop If the CAN module of the drive receives a valid message whilst set to the Bus Off state the emergency message 0x8140 is sent The emergency message reports that the Bus Off state has been exited ...

Страница 34: ...r register Error bit Error message Description 0x0001 SpeedDeviationError Speed deviation too great 0x0002 FollowingError Following error 0x0004 OverVoltageError Overvoltage detected 0x0008 UnderVoltageError Undervoltage detected 0x0010 TempWarning Temperature exceeds that at which a warning is output 0x0020 TempError Temperature exceeds that at which an error message is output 0x0040 EncoderError...

Страница 35: ... Name Type Attr Default value Meaning 0x2321 0x00 Number of Entries U8 ro 6 Number of object entries 0x01 Emergency Mask U16 rw 0x00FF Errors for which an error message is sent 0x02 Fault Mask U16 rw 0x0000 Errors for which the state machine of the drive switches into Fault Reaction Active state 0x03 Error Out Mask U16 rw 0x00FF Errors for which the error output pin is set 0x04 Disable Voltage Mas...

Страница 36: ...ap 4 1 2 p 38 4 1 1 Trace settings The object 0x2370 is available for configuration of the trace recorder The data sources to be recorded the buffer size the resolution and the trigger conditions can be set here Tab 15 Trace Configuration 0x2370 The FAULHABER Motion Manager provides a user friendly means of setting and evalu ating the trace functions Index Subindex Name Type Attr Default value Mea...

Страница 37: ...et multiple times the sample time Delay 0 Negative delays can be performed up to the length of the buffer Recording ends at the point in the ring buffer where the recording for the current trigger would have had to start This ensures that the values recorded before the trigger are retained Trigger Mode 0x2370 04 The trigger type and the type of the data sources are determined by the object 0x2370 ...

Страница 38: ...hecked If bit 0 and bit 1 are set status 3 recording is completed and the contents of the buffer can be read using the objects 0x2371 02 to 0x2371 05 via Segmented SDO Upload Protokoll Index Subindex Name Type Attr Default value Meaning 0x2371 0x00 Number of Entries U8 ro 5 Number of object entries 0x01 Trace State U16 ro 0 Trigger status 0x02 Trace Value of Channel 1 Vis string ro Signal buffer c...

Страница 39: ...0 04 This completes the settings for the trace recorder 7 Test the trigger status 2371 01 at the value 3 8 Read the recorded content of the buffer 2371 02 to 05 4 2 Trace logger The trace logger uses the PDO communication service transmit data from the controller Any TxPDO can be used as the trace PDO Prior to use the PDO must be loaded with the desired parameters using the PDO mapping method see ...

Страница 40: ...d switched to configuration mode in order to set the node number and Baud rate FAULHABER drives of the range MC V3 0 require the following input Vendor ID 327 Product code 48 Revision number 1 0 Serial number See the product sticker As well as the setting of the node number and Baud rate the LSS protocol also supports the reading of the LSS addresses of units that are connected and the reading of ...

Страница 41: ...baud rate detection is active it takes cor respondingly longer to boot up the system A fixed baud rate in accordance with Tab 19 can be set by inputting the index 0 to 8 Tab 19 Bit timing parameters 5 1 3 Automatic adjustment of the COB IDs If the node number is changed from 255 unconfigured CANopen node to a valid node number the COB IDs for the Receive and Transmit PDOs RxPDO TxPDO and for Emerg...

Страница 42: ...aud rate index and node number The object 0x2400 01 can be used to read the current setting of the baud rate AutoBaud or fixed baud rate A change of the node number via the object 0x2400 03 is acknowledged with the last node number The changed node number is not loaded until a Save command has been executed for the application parameters followed by a Reset command Index Subindex Name Type Attr De...

Страница 43: ...s described in chap 3 6 p 24 Writing a 0 to the subindex 0 clears down the error log COB ID SYNC Manufacturer s Device Name The segmented SDO record must be read to determine the manufacturer s device name Index Subindex Name Type Attr Default value Meaning 0x1000 0x00 Device Type U32 ro 0x00420192 Indication of the device type Index Subindex Name Type Attr Default value Meaning 0x1001 0x00 Error ...

Страница 44: ... Index Subindex Name Type Attr Default value Meaning 0x1009 0x00 Manufacturer s Hardware Version Vis string const Hardware version Index Subindex Name Type Attr Default value Meaning 0x100A 0x00 Manufacturer s Software Version Vis string const Software version Index Subindex Name Type Attr Default value Meaning 0x100C 0x00 Guard Time U16 rw 0 Monitoring time for node guarding Index Subindex Name T...

Страница 45: ...ab 24 Load signature Signature ISO 8 859 ASCII hex MSB e 65 h v 76 h a 61 h LSB s 73 h Index Subindex Name Type Attr Default value Meaning 0x1011 0x00 Number of entries U8 ro 6 Number of object entries 0x01 Restore all default parameters U32 rw 1 Restore all factory settings 0x02 Restore comm default parameters U32 rw 1 Restore all factory settings for communi cations parameters 0x0000 to 0x1FFF 0...

Страница 46: ... nications error to be changed Index Subindex Name Type Attr Default value Meaning 0x1014 0x00 COB ID EMCY U32 rw 0x80 node ID CAN object identifier of the emergency object Index Subindex Name Type Attr Default value Meaning 0x1016 0x00 Number of entries U8 ro 1 Number of object entries 0x01 Consumer Heart beat Time U32 rw 0 Heartbeat monitoring time Index Subindex Name Type Attr Default value Mea...

Страница 47: ...ber of entries U8 ro 2 Number of object entries 0x01 COB ID Used by RxPDO2 U32 rw 0x300 node ID CAN object identifier for the server RxP DO2 0x02 Transmission Type U8 rw 255 asynchr Type of PDO transmission Index Subindex Name Type Attr Default value Meaning 0x1402 0x00 Number of entries U8 ro 2 Number of object entries 0x01 COB ID Used by RxPDO3 U32 rw 0x400 node ID CAN object identifier for the ...

Страница 48: ...PDO3 Mapping Entry 1 U32 rw 0x60400010 Pointer to the 16 bit Controlword 0x6040 0x02 RxPDO3 Mapping Entry 2 U32 rw 0x60FF0020 Pointer to the 32 bit Target Velocity 0x60FF 0x03 RxPDO3 Mapping Entry 3 U32 rw 0 0x04 RxPDO3 Mapping Entry 4 U32 rw 0 Index Subindex Name Type Attr Default value Meaning 0x1603 0x00 Number of Mapped Objects U8 ro 2 Number of mapped objects 0x01 RxPDO4 Mapping Entry 1 U32 r...

Страница 49: ...ex Name Type Attr Default value Meaning 0x1803 0x00 Number of entries U8 ro 2 Number of object entries 0x01 COB ID Used by TxPDO4 U32 rw 0x480 node ID CAN object identifier of the TxPDO4 0x02 Transmission Type U8 rw 255 asynchr Type of PDO transmission Index Subindex Name Type Attr Default value Meaning 0x1A00 0x00 Number of Mapped Objects U8 rw 1 Number of mapped objects 0x01 TxPDO1 Mapping Entry...

Страница 50: ...PDO3 Mapping Entry 2 U32 rw 0x606C0020 Pointer to the 32 bit Velocity Actual Value 0x606C 0x03 TxPDO3 Mapping Entry 3 U32 rw 0 0x04 TxPDO3 Mapping Entry 4 U32 rw 0 Index Subindex Name Type Attr Default value Meaning 0x1A03 0x00 Number of Mapped Objects U8 rw 2 Number of mapped objects 0x01 TxPDO4 Mapping Entry 1 U32 rw 0x60410010 Pointer to the 32 bit Position Actual value 0x6064 0x02 TxPDO4 Mappi...

Страница 51: ...n Active state 0x03 Error Out Mask U16 rw 0x00FF Errors for which the error output pin is set 0x04 Disable Voltage Mask U16 ro 0x0000 Errors which switch off the drive not configurable 0x05 Disable Voltage User Mask U16 rw 0x0000 Errors which switch off the drive config urable 0x06 Quick Stop Mask U16 rw 0x0000 Errors for which the state machine of the drive switches into Quick Stop Active state I...

Страница 52: ...x04 Trace Value of Channel 3 Vis string ro Signal buffer channel 3 0x05 Trace Value of Channel 4 Vis string ro Signal buffer channel 4 Index Subindex Name Type Attr Default value Meaning 0x2400 0x00 Number of Entries U8 ro 8 Number of object entries 0x01 CAN Rate U8 rw 9 Index of the CAN baud rate according to Tab 19 0x03 Node ID U8 rw 1 Node number 0x04 Communication Settings U32 rw 0 Bit mask fo...

Страница 53: ... edition 9 11 2018 Dr Fritz Faulhaber GmbH Co KG DR FRITZ FAULHABER GMBH CO KG Antriebssysteme Daimlerstraße 23 25 71101 Schönaich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de www faulhaber com ...

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