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3 Protocol description

15-04-2016 13 7000.05052

3

Protocol description

3.1

Introduction

Entries in the object dictionary can be written or read using the protocol services.

The services defined for the RS232 and USB interfaces are based on the CANopen services,
but tailored to the characteristics of the RS232 interface.

In CiA 301, the CiA (CAN in Automation) defines the following aspects:



Communications structure



Control and monitoring functions

The CiA 402 CANopen defines the drive device profiles for a range of device classes.

Simultaneous access to the drive both from the RS232 side and also from the USB
interface is supported. Messages received via either interface are stored in a common
wait queue and are processed sequentially (FIFO). The drive issues the acknowledgement
to the same interface.

Each request from the host is concluded with an acknowledgement by the drive. The
maximum number of requests buffered in the drive is limited. If no further requests
can be added to the buffered queue, an appropriate message is sent and the request
is discarded.

Telegram structure

A binary protocol with messages of variable length is used for communication via the USB
and RS232 interfaces.

Tab. 1: Schematic structure of a USB/RS232 telegram

Byte

Name

Meaning

1st byte

SOF

Character (S) as Start of Frame

2nd byte

User data length

Telegram length without SOF/EOF (packet length)

3rd byte

Node number

Node number of the slave (0 = Broadcast)

4th: byte

Command code

See

5th – Nth byte

Data

Data area (length = packet length – 4)

(N+1). byte

CRC

CRC8 with polynomial 0xD5 over byte 2–N

(N+2). byte

EOF

Character (E) as End of Frame

Telegram errors (e. g. CRC error, wrong length, invalid command codes) are not reported
back. The node number of the message that is received, especially in the event of CRC
errors, cannot be determined unambiguously. The telegram remains unanswered and
after the time-out the master must send the request again.

The characters SOF and EOF are no longer shown in the following description. Only the
byte in between are shown, so byte 1 is actually the 2nd byte. Bytes in the overall
telegram frame.

Frame length

The length of the overall frame incl. the SOF and EOF is the user data 2 bytes.
The user data length is limited to 62 bytes.

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Содержание MC 5010

Страница 1: ...WE CREATE MOTION EN Communications Manual MC 5010 MC 5005 MC 5004 MCS RS232...

Страница 2: ...een prepared with care Dr Fritz Faulhaber 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...

Страница 3: ...3 FAULHABER Motion Manager 11 2 4 Saving and restoring parameters 11 2 4 1 Saving parameters 12 2 4 2 Restoring settings 12 3 Protocol description 13 3 1 Introduction 13 3 2 Communication services 15...

Страница 4: ...ace settings 31 4 1 2 Reading the trace buffer 33 4 1 3 Typical execution of the trace function 34 4 2 Trace logger 35 5 Communications settings 36 6 Troubleshooting 37 7 Parameter description 38 7 1...

Страница 5: ...tion of FAULHABER products additional information from the following manuals is useful Manual Description Motion Manager 6 Instruction manual for FAULHABER Motion Manager PC software Quick start descr...

Страница 6: ...st Out HB High Byte HHB Higher High Byte HLB Higher Low Byte LB Low Byte LHB Lower High Byte LLB Lower Low Byte LSB Least Significant Byte LSS Layer Setting Service MOSFET Metal Oxide Semiconductor Fi...

Страница 7: ...damage to equipment Measures for avoidance Instructions for understanding or optimising the operations Pre requirement for a requested action Request for a single step action 1 First step of a reques...

Страница 8: ...er 0x1000 to 0x6FFF and an 8 bit sub index 0x00 to 0xFF Index Assignment of the objects 0x1000 to 0x1FFF Communication objects 0x2000 to 0x5FFF Manufacturer specific objects 0x6000 to 0x6FFF Objects o...

Страница 9: ...interface 2 2 1 1 Operation of an individual Motion Controller 1 Establish a connection with a host interface typically a PC or PLC Connect the Tx data cable on the host side with the Rx pin of the dr...

Страница 10: ...n via the USB interface The USB interface can be used for the connection to with the Motion Manager The appropriate driver is installed automatically with the Motion Manager A USB cable with mini USB...

Страница 11: ...oller to the connected motor by selecting the respective FAULHABER motor Control setting wizard Supports the user in optimising the control parameters The software can be downloaded free of charge fro...

Страница 12: ...st saved parameter settings can be loaded from the internal EEPROM at any time completely or for specific ranges RESTORE see Tab 45 p 40 1 Write the Load signature to the sub index 01 to 06 of the obj...

Страница 13: ...message is sent and the request is discarded Telegram structure A binary protocol with messages of variable length is used for communication via the USB and RS232 interfaces Tab 1 Schematic structure...

Страница 14: ...O block upload request response acknowledge 0x0A SDO Block Read End End of the segmented SDO block upload request acknowledge 0x0B SDO Block Write Init Initialisation of the segmented SDO block downlo...

Страница 15: ...Direct write access to the controlword of the drive Direct read access to the statusword of the drive Communication service for signalling error states by a message EMCY transmitted by the drive in t...

Страница 16: ...fer 3 3 1 1 Read the object dictionary Entries in the object dictionary can be read using the SDO read Telegrams are always acknowledged Tab 3 Request Byte Contents Description 1 7 User data length 7...

Страница 17: ...object entry LB 5 Index HB Index of the object entry HB 6 Sub index Sub index of the object entry 7 N Value New value for the specified object entry N 1 CRC Check sum Tab 6 Response Byte Contents Desc...

Страница 18: ...ription 1 7 User data length 7 bytes 2 Node number Node number 3 0x08 Command SDO Block Read Init 4 Index LB Index of the object entry LB 5 Index HB Index of the object entry HB 6 Sub index Sub index...

Страница 19: ...umber Node number 3 0x09 Command SDO Block Read Upload 4 CRC Check sum Tab 10 Response SDO Block Upload Slave to Master Byte Contents Description 1 Length User data length 5 bytes 2 Node number Node n...

Страница 20: ...Acknowledge SDO Block Upload End Master to Slave Byte Contents Description 1 5 User data length 5 bytes 2 Node number Node number 3 0x0A Command SDO Block Read End 4 Ack Sequ Last sequential number r...

Страница 21: ...te Init 4 Index LB Index of the object entry LB 5 Index HB Index of the object entry HB 6 Sub index Sub index of the object entry 7 Data length LB Overall length of the data to be transmitted in bytes...

Страница 22: ...nt max 57 bytes N 1 CRC Check sum Tab 17 Response SDO Block Download Slave to Master Byte Contents Description 1 Length User data length 5 bytes 2 Node number Node number 3 0x0C Command SDO Block Writ...

Страница 23: ...ed see chap 3 3 3 p 23 Tab 20 Response Byte Contents Description 1 7 User data length 7 bytes 2 Node number Node number 3 0x03 Command SDO Error 4 Index LB Index of the object entry LB 5 Index HB Inde...

Страница 24: ...alid or unknown 0x06 0x01 0x0000 Access to this object is not supported 0x06 0x01 0x0001 Attempt to read a write only parameter 0x06 0x01 0x0002 Attempt to write to a read only parameter 0x06 0x02 0x0...

Страница 25: ...ontents of object 0x2320 8 Manuf Spec Error1 Faulhaber error register HB 9 Manuf Spec Error2 Reserved 0 10 Manuf Spec Error3 Reserved 0 11 Manuf Spec Error4 Reserved 0 12 CRC Check sum Assignment of u...

Страница 26: ...Measurement circuit Current measurement 0x0200 9 Current measurement error 7 Manufacturer specific error 0x7300 Sensor fault encoder 0x0040 6 Encoder error 7 Manufacturer specific error 0x7400 Computa...

Страница 27: ...00 0x00 0x00 0x00 3 5 Device control 3 5 1 Boot up message Immediately after the initialisation phase the Motion Controller sends a boot up message A boot up message signals the end of the initialisat...

Страница 28: ...e used for this Tab 31 Receive statusword object 0x6041 00 in the object dictionary Byte Contents Description 1 6 User data length 6 bytes 2 Node number Node number 3 0x05 Command Statusword 4 Statusw...

Страница 29: ...ted 0x0008 Undervoltage error Undervoltage detected 0x0010 Temperature warning Temperature exceeds that at which a warning is output 0x0020 Temperature error Temperature exceeds that at which an error...

Страница 30: ...the machine error condition 03 Error Out mask U16 rw 0x0000 Errors that set the error output 04 Disable voltage mask U16 ro 0x0024 05 Disable voltage user mask U16 rw 0x0000 06 Quick stop mask U16 rw...

Страница 31: ...x2371 is available in the OD for this purpose see chap 4 1 2 p 33 4 1 1 Trace settings The object 0x2370 is available for configuration of the trace recorder The data sources to be recorded the buffer...

Страница 32: ...e of the sample time set in object 0x2370 06 Delay 0 Recording is started at a time defined as the set multiple times the sample time Delay 0 Negative delays can be performed up to the length of the b...

Страница 33: ...ource 3 05 Value source 4 U8 ro 0 Value of source 4 The user data length of the individual data sources is dependent on the data length of the parameter to be transmitted according to the OD entry and...

Страница 34: ...s to be recorded 2370 01 07 to 0A 3 Set the recording length 2370 05 4 If necessary Set the sampling rate 2370 06 5 Set the threshold value 2370 02 for the trigger 6 Set the flank for the trigger and...

Страница 35: ...scription 1 4 User data length 4 bytes 2 Node number Node number 3 0x06 Command Trace Log 4 CRC Check sum Tab 40 Response Byte Contents Description 1 Length User data length 5 bytes 2 Node number Node...

Страница 36: ...objects in the object dictionary Tab 42 Baud rate index and node number Index Subindex Name Typ e Attr Default value Meaning 0x2400 00 Number of entries U8 ro 3 Number of object entries 02 RS232 Baud...

Страница 37: ...6 Troubleshooting 15 04 2016 37 7000 05052 6 Troubleshooting If despite the device being used properly nevertheless unexpected malfunctions occur please contact your responsible support partner...

Страница 38: ...ister contains the a record of the most recent errors in bit coded form This parameter can be mapped in a PDO Predefined Error Field error log Index Subindex Name Type Attr Default value Meaning 0x100...

Страница 39: ...umber of object entries 01 Save all parameters U32 rw 1 Saves all parameters 02 Save communication parameters U32 rw 1 Save the communication parameters object dictionary entries 0x0000 to 0x1FFF 03 S...

Страница 40: ...factory settings for application parameters from 0x2000 04 Restore factory application parameters U32 rw 1 Restore the user s last saved settings for application parameters from 0x2000 05 Restore para...

Страница 41: ...er U16 ro FAULHABER error register The FAULHABER error register contains the most recent errors in bit coded form The errors can be masked by selection of the desired types of error via the error mask...

Страница 42: ...ded 08 Source 2 U32 rw 0 2nd parameter to be recorded 09 Source 3 U32 rw 0 3rd parameter to be recorded 0A Source 4 U32 rw 0 4th parameter to be recorded Trace buffer Index Subindex Name Type Attr Def...

Страница 43: ...15 04 2016 Dr Fritz Faulhaber GmbH Co KG DR FRITZ FAULHABER GMBH CO KG Antriebssysteme Daimlerstra e 23 25 71101 Sch naich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de www faul...

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