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Chapter 2 – Communication Profile

CD1-k – CANopen Communication Profile

Chapter 2 – Communication Profile

2.1 - COMMUNICATION OBJECTS

2.1.1 - CAN TELEGRAM

SOM COB-ID RT

CTRL Data segment

CRC ACK EOM

SOM :

Start Of Message

COB-ID :

COB-Identifier of 11 bits

RTR :

Remote Transmission Request

CTRL: Control

field

Data :

up to 8 bytes

CRC :

Cyclic Redundancy Check

ACK :

Acknowledge

EOM :

End Of Message

2.1.2 - DEFAULT COB-ID

The COB-ID is of 11 bits. Node-ID (bits 0 - 6) is the drive address from 1 to 127.

10 9 8 7 6 5 4 3 2 1 0

Function Code

NODE-ID

Default COB-ID for the CD1-k drive:

Broadcast objects of the pre-defined connection set:

Object

Function Code

Resulting COB-ID

Communication Parameter at Index

NMT 0000 0

SYNC

0001

128 (80h)

1005h, 1006h, 1007h

Peer-to-peer objects of the pre-defined connection set:

Object

Function Code

Resulting COB-ID

Communication Parameter at Index

EMERGENCY

0001

129 (81h) - 255 (FFh)

1014h

PDO1 (TX)

0011

385 (181h) - 511 (1FFh)

1800h

PDO1 (RX)

0100

513 (201h) - 639 (27Fh)

1400h

PDO2 (TX)

0101

641 (281h) - 767 (2FFh)

1801h

PDO2 (RX)

0110

769 (301h) - 895 (37Fh)

1401h

PDO3 (TX)

0111

897 (381h) - 1023 (3FFh)

1802h

PDO3 (RX)

1000

1025 (401h) - 1151 (47Fh)

1402h

SDO (TX)

1011

1409 (581h) - 1535 (5FFh)

1200h

SDO (RX)

1100

1537 (601h) - 1663 (67Fh)

1200h

TX = Transmit from drive to master

RX = Receive by drive from master

Содержание XtrapulsCD1-k

Страница 1: ...CD1 k 1 CANopen Communication Profile XtrapulsCD1 k CANopen Drive ...

Страница 2: ... without notice INFRANOR October 2014 All rights reserved Issue 2 10 1 ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates...

Страница 3: ...Ch Guard Time 17 2 3 1 7 Object 100Dh Life Time factor 17 2 3 1 8 Object 1010h Store Parameters 17 2 3 1 9 Object 1018h Identity Object 18 2 3 2 Sync Object 18 2 3 2 1 Object 1005h COB ID Sync message 18 2 3 2 2 Object 1006h Communication Cycle Period 18 2 3 2 3 Object 3006h Communication Cycle Period adjustment 19 2 3 2 4 Object 1007h Synchronous Window Length 20 2 3 3 SDO Objects 20 2 3 3 1 Obje...

Страница 4: ...ion 38 3 4 4 3 Object 3080h Encoder Input Selection 39 3 4 4 4 Object 308Fh Encoder Input Resolution 39 3 4 4 5 Object 3090h Encoder Pulse Interpolation 39 3 4 4 6 Object 3091h Encoder Zero Mark Pitch 40 3 4 4 7 Object 3070h Motor Feedback Selection 40 3 4 4 8 Object 3098h Motor Feedback Programming 41 3 4 4 9 Object 306Ah Second Sensor Feedback 41 3 4 4 10 Object 306Ch Second Sensor Scaling facto...

Страница 5: ...Velocity 60 3 9 2 10 Object 604Fh Ramp Function 60 3 9 2 11 Object 60F9h Velocity Control Parameter Set 61 3 9 2 12 Object 30F9h Integrator low frequency limit 62 3 9 2 13 Object 30FBh Regulator Gains Scaling 63 3 9 2 14 Object 3422h Time Interval for speed measurement 63 3 9 2 15 Object 30F5h Speed Following Error Limit 63 3 10 PROFILE TORQUE MODE 63 3 10 1 Object Dictionary Entries 63 3 10 2 Obj...

Страница 6: ...ture Time Filter 83 3 13 7 5 Object 3382h Capture Position Filter 84 3 13 7 6 Object 3383h Capture 1 Position 85 3 13 7 7 Object 3384h Capture 2 Position 85 3 13 7 8 Object 3385h Single Shot Capture Command trigger 85 3 13 7 9 Object 3386h Single Shot Capture Status 86 3 13 7 10 Object 3387h Single Shot Capture 1 Position 86 3 13 7 11 Object 3388h Single Shot Capture 2 Position 86 3 13 8 TPDO3 Con...

Страница 7: ...SITION MODE 101 PROFILE VELOCITY MODE 101 PROFILE TORQUE MODE 102 MANUFACTURER SPECIFIC 102 APPENDIX 2 QUICK START 105 A2 1 OVERVIEW 105 A2 2 INSTALLATION 105 A2 2 1 Wiring 105 A2 2 2 Powering 105 A2 2 3 Commissioning 105 A2 3 OPERATION 106 A2 3 1 Start communication NMT 106 A2 3 2 Setting communication parameters SDO 106 A2 3 3 Start Synchronisation SYNC 106 A2 3 4 Exchange data PDOs 107 A2 3 5 S...

Страница 8: ...tion layer for CAN as specified by CiA COB Communication Object is a CAN message Data must be sent accross a CAN network inside a COB COB ID COB Identifier Each CAN message has a single identifier There are 2032 different identifiers in a CAN network NMT Network Management One of the services of the application layer It performs initialisation configuration and error handling in a CAN network PDO ...

Страница 9: ... the possibility to execute a positioning with pre set parameters such as target position profile speed and acceleration Interpolated Position Mode In this mode the drive interpolates the continuous position reference from a coordinator controller This mode provides the possibility for multiaxis synchronisation Profile Velocity Mode This is the simple speed mode with speed reference from a host co...

Страница 10: ...ult COB ID for the CD1 k drive Broadcast objects of the pre defined connection set Object Function Code Resulting COB ID Communication Parameter at Index NMT 0000 0 SYNC 0001 128 80h 1005h 1006h 1007h Peer to peer objects of the pre defined connection set Object Function Code Resulting COB ID Communication Parameter at Index EMERGENCY 0001 129 81h 255 FFh 1014h PDO1 TX 0011 385 181h 511 1FFh 1800h...

Страница 11: ...ddresses all NMT slaves 2 1 4 SYNCHRONISATION OBJECT SYNC The SYNC object is a broadcast message sent by the master This message provides a network clock The period is specified by the communication cycle period object 1006h The Infranor servo drives use this SYNC message to synchronize their clock At least 180 ms are necessary for the servo drive to start the synchronisation CS Node ID 0 1 2 NMT ...

Страница 12: ... synchronous asynchronous RTR only 1 TPDO1 TPDO2 TPDO3 2 240 TPDO3 253 TPDO1 TPDO2 TPDO3 TPDO1 TPDO2 TPDO3 254 TPDO3 255 TPDO1 Transmission types 1 240 are synchronous transmissions with regard to the SYNC messages A value between 1 and 240 means that the PDO is synchronously and cyclically transferred The transmission type indicates the number of SYNC which is necessary to trigger PDO transmissio...

Страница 13: ...nteger32 0005h unsigned8 0006h unsigned16 or 0007h unsigned32 These objects can be used to map a PDO as a dummy object but cannot be accessed via SDO see DS 301 9 5 3 Data type entry specification 2 1 6 SERVICE DATA OBJECT SDO The SDO is a communication channel with 2 basic characteristics Client Server relationship Object Dictionary Client Server This is a relationship between a single client and...

Страница 14: ...t_Offset Software Not erasable 13 Motor Temperature Software 500 µs 0 1 3 warning 14 Init_400V Software Not erasable 15 Overcurrent Software 62 5 µs 0 1 3 16 power Hardware 0 see below 17 power Hardware 0 see below 18 power Hardware 0 see below 19 IGBT Hardware 0 s c ASIPM PWM Error Alim ASIPM T ASIPM Over I 20 Power Supply Undervoltage Hardware 0 not stored 21 Resolver Encoder Cable Interruption ...

Страница 15: ...perational_State indication 5 8 Stop_Remote_Node indication 9 10 11 Reset_Node indication 12 13 14 Reset_Communication indication Minimum Boot Up consists of one CAN telegram a broadcast Start_Remote_Note message 2 2 2 INITIALISATION PROCEDURE Initialisation Pre operational NMT SDO Sync Emcy Operational NMT SDO Sync Emcy PDO Stop NMT 1 2 3 4 5 7 11 10 9 6 8 14 13 12 Power On Configuration of all d...

Страница 16: ...ion 02 Servo Drive 2 3 1 2 Object 1001h Error Register Index 1001h Name Error Register Object Code VAR Data Type Unsigned8 Access ro PDO Mapping No Default Value 0 Bit Number Description 0 Generic Error 2 3 1 3 Object 1008h Manufacturer Device Name Index 1008h Name Manufacturer Device Name Object Code VAR Data Type Visible String Access ro PDO Mapping No Default Value CD1 k for CD1 k drive 2 3 1 4...

Страница 17: ...This object supports the saving of parameters in a non volatile memory By read access the device provides information about its saving capacities Sub index 0 largest sub index that is supported Sub index 1 refers to all parameters that can be stored in the device In order to avoid storage of parameters by mistake storage is only executed when a specific signature is written to the appropriate sub ...

Страница 18: ...efault Value 00000080h This object defines the COB ID of the synchronisation object SYNC The new COB ID takes immediately effect if it is not changed in NMT Operation State Otherwise a reset_communication message is necessary 2 3 2 2 Object 1006h Communication Cycle Period Index 1006h Name Communication Cycle Period Object Code VAR Data Type Unsigned32 Access rw PDO Mapping No Unit µs Value Range ...

Страница 19: ...ub index 0 The maximum permissible jitter is T 2 The accuracy of the SYNC period must be better than 0 3 If the last condition cannot be fulfilled because the average value of the real communication cycle period given by the host controller differs too much from the theoretical value defined in the object 1006 sub index 0 the object 3006 sub index 1 allows to modify the Cycle period adjustment lim...

Страница 20: ...CTS 2 3 3 1 Object 1200h Server SDO Parameter Index 1200h Name Server SDO parameter Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description COB ID Client Server rx Data Type Unsigned32 Access ro PDO Mapping No Default Value 600h Node ID Sub Index 2 Description COB ID Client Server rx Data Type Unsigned32 Access ro PDO Mapping No Default Value 580h Node ID For the CD1 k it...

Страница 21: ...DO Mapping No Default Value 200h Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253 2 3 5 2 Object 1401h 2nd Receive PDO Communication Parameter Index 1401h Name 2nd Receive PDO Communication Parameter RPDO2 Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description COB ID Data Type Unsigned32 Access rw PDO Mappin...

Страница 22: ... No Default Value 400h Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 2 3 5 4 Object 1600h 1st Receive PDO Mapping Index 1600h Name 1st Receive PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Index ...

Страница 23: ...e 1 Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 60FF0020h target velocity 2 3 5 6 Object 1602h 3rd Receive PDO Mapping Index 1602h Name 3rd Receive PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Index 1 ...

Страница 24: ...g No Default Value 180h Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 253 2 3 5 8 Object 1801h 2nd Transmit PDO Parameter Index 1801h Name 2nd Transmit PDO Communication Parameter TPDO2 Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description COB ID Data Type Unsigned32 Access rw PDO Mapping No Default Value 28...

Страница 25: ... No Default Value 380h Node ID Sub Index 2 Description Transmission Type Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 2 3 5 10 Object 1A00h 1st Transmit PDO Mapping Index 1A00h Name 1st Transmit PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Ind...

Страница 26: ...lue 1 Sub Index 1 Description 1st mapped object Data Type Unsigned32 Access rw PDO Mapping No Default Value 606C0020h velocity value 2 3 5 12 Object 1A02h 3rd Transmit PDO Mapping Index 1A02h Name 3rd Transmit PDO Mapping Object Code RECORD Number of Elements 0 4 Value Description Sub Index 0 Description number of mapped objects Data Type Unsigned8 Access rw PDO Mapping No Default Value 1 Sub Inde...

Страница 27: ... 402 3 1 2 TRANSMIT PDO PDO No Mapping Object Index Mapping Object Name Comment 1 6041h Status Word shows status 2 606Ch Velocity value actual velocity 3 6064h Actual Position actual position The TPDO1 and TPDO2 are remotely request while the TPDO3 is cyclic and synchronous 3 2 COMMON ENTRIES IN THE OBJECT DICTIONARY 3 2 1 OBJECT DICTIONARY ENTRIES Index Object Name Type Attr 6402 VAR Motor Type U...

Страница 28: ...s This parameter defines the number of motor pole pairs per revolution of a rotating motor Data Type Unsigned16 Access rw PDO Mapping No Unit Value Range 1 to 32 Default Value eeprom Write Condition Drive disabled Sub Index 3 Description Phase order corresponds to the phase order U V W of the motor connection Data Type Unsigned16 Access rw PDO Mapping No Value Range 0 1 Default Value eeprom Write ...

Страница 29: ...iption Hall Effect Sensors Offset Data Type Unsigned16 Access rw PDO Mapping No Unit Default Value eeprom HES Offset encoder feedback Bit number Description 0 14 Absolute value of the offset 0 to 7FFFh 0 to 360 electrical degree 15 Sign of the offset encoder wiring direct or reverse This parameter is only valid for 60 HES or 120 HES encoder feedback configuration see object 3080h This parameter va...

Страница 30: ...D1 k 3 BD2 k 02 CD1 k Data Type Unsigned16 Access ro PDO Mapping No Default Value 0002 Sub Index 2 Description Drive Option Code Data Type Unsigned16 Access ro PDO Mapping No Default Value 0000 Sub Index 3 Description Drive Voltage Data Type Unsigned16 Access ro PDO Mapping No Unit V Sub Index 4 Description Drive Current Rating Data Type Unsigned16 Access ro PDO Mapping No Unit 3 13 A the read val...

Страница 31: ...bject 60FDh Digital Inputs Index 60FDh Name Digital Inputs Object Code VAR Data Type Unsigned32 Access ro PDO Mapping Possible Value Bit Number Description 0 Negative Limit Switch 1 Positive Limit Switch 2 Home Switch 3 Inhibit 16 Positive Limit Switch Input Digital Input 0 17 Negative Limit Switch Input Digital Input 1 18 INHIBIT 19 INDEX Digital Input 3 20 CAPTURE Digital Input 4 21 LOW SPEED Di...

Страница 32: ... Class all Access rw PDO Mapping No Default Value 0 Bit Meaning 0 Amplifier error flag on Digital Output 0 1 Amplifier error flag on Digital Output 1 2 Amplifier error flag on Digital Output 2 3 Amplifier error flag on Digital Output 3 4 Digital cam 1 status on Digital Output 0 5 Digital cam 2 status on Digital Output 1 6 Digital cam 3 status on Digital Output 2 7 Digital cam 4 status on Digital O...

Страница 33: ...Name Type Attr 6040 VAR Control Word Unsigned16 rw 6041 VAR Status Word Unsigned16 ro 605A VAR Quick Stop Option Code Integer16 rw 6060 VAR Mode of Operation Integer8 wo 6061 VAR Mode of Operation Display Integer8 ro Power Disabled Fault Power enabled Not Ready to Switch On Switch On Disabled 1 0 Ready to Switch On 2 7 Switch On 3 6 Operation Enable 4 5 Fault Reaction Active Start Fault 14 13 15 Q...

Страница 34: ...owing bit patterns in the control word Command Bit of the control_word bit 7 Fault Reset bit 3 Enable Operation bit 2 Quick Stop bit 1 Disable Voltage bit 0 Switch On Transition Shutdown X X 1 1 0 2 6 8 Switch On X X 1 1 1 3 Disable Voltage X X X 0 X 7 9 10 12 Quick Stop X X 0 1 X 7 10 11 Disable Operation X 0 1 1 1 5 Enable Operation X 1 1 1 1 4 16 Fault Reset X X X X 15 Bit 4 5 6 are operation m...

Страница 35: ...t Reached 12 Operation Mode Specific 13 Operation Mode Specific 14 Manufacturer Specific Low Speed Mode 15 Manufacturer Specific Drive Busy Device Status Bit Meaning State Bit 6 Switch On Disable Bit 5 Quick Stop Bit 3 Fault Bit 2 Operation Enable Bit 1 Switched On Bit 0 Ready to Switch On Not Ready to Switch On 0 X 0 0 0 0 Switch On Disabled 1 X 0 0 0 0 Ready to Switch On 0 1 0 0 0 1 Switched On ...

Страница 36: ...ined in object 3301h 3 3 3 4 Object 6060h Mode of Operation This parameter changes the operation mode of the drive Index 6060h Name Mode of Operation Object Code VAR Data Type integer8 Object Class all Access wo PDO Mapping Possible Mode of Operation Action 1 Profile Position Mode 3 Profile Velocity Mode 4 Torque Profile Mode 6 Homing Mode 7 Interpolated Position Mode The actual mode is reflected ...

Страница 37: ...ive position loop if a secondary position sensor is mounted on the motor load The Second Sensor Feedback Selection object 306A is set according to the position control loop structure position feedback from the motor sensor or position feedback from the load sensor The Second Position Sensor input can also be used for an electronic gearing application or for a stepper motor emulation application Th...

Страница 38: ...easing position value and the positive limit switch is stopping the backward movement decreasing position value 3 4 4 2 Object 608Fh Position Resolution Index 608Fh Name Position Resolution Object Code ARRAY Number of Elements 2 Value Description Sub Index 1 Description Revolution Increments Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit inc Value Range 190h 3D0900h Default Va...

Страница 39: ... COS encoder with HIPERFACE protocol 9 Absolute linear SIN COS encoder with HIPERFACE protocol F Pulse and Direction input configuration for stepper emulation 3 4 4 4 Object 308Fh Encoder Input Resolution Number of encoder pulses per motor revolution rotating motor or per motor pole pairs linear motor for a TTL type of encoder Number of encoder signal periods per motor revolution rotating motor or...

Страница 40: ...motor feedback Value Description 0 No encoder counting protection 1 to 14 Encoder counting protection active checks the number of encoder pulses between two successive Zero Mark signals Used for rotating or linear motors 15 Encoder counting protection active controls the encoder position value for the Zero Mark signal activation Used for applications with only one Zero Mark signal over the motor t...

Страница 41: ...cription 0 Position feedback for position loop 0 motor sensor feedback resolver or encoder according to object 3070 1 secondary sensor feedback encoder or resolver according to object 3070 3 4 4 10 Object 306Ch Second Sensor Scaling factor This parameter allows to increase the position resolution value on the second sensor The Revolution increments value object 608F sub index 1 for an encoder seco...

Страница 42: ...le position mode The start position is the current position The positioning begins with the rising edge of bit 4 of the control word new set point Bit 6 of control word indicates if the target position is absolute 0 or relative 1 movement Index 607Ah Name Target Position Object Code VAR Data Type Integer32 Object Class pc pp eg Access rw PDO Mapping possible Unit Inc Revolution increments object 6...

Страница 43: ...ty value when the target position is reached When the motor must stop at the target position End velocity 0 Index 6082h Name End Velocity Object Code VAR Data Type Unsigned32 Object Class pp Access rw PDO Mapping Possible Unit inc s Value Range Default Value 0 3 5 2 5 Object 6083h Profile Acceleration Index 6083h Name Profile Acceleration Object Code VAR Data Type Unsigned32 Object Class pp eg Acc...

Страница 44: ... is therefore parabolic 3 5 2 8 Object 607Dh Software Position Limit The software position limits are only active for a linear axis see object 3360 The operation mode of the software position limits is selected by object 3361 Index 607Dh Name Software Position Limit Object Code ARRAY Number of Elements 2 Value Description Sub Index 1 Description Min Position Limit Data Type Integer32 Object Class ...

Страница 45: ...ounter reaches the Position Modulo value it is reset at 0 The motor runs only in the positive direction for an absolute displacement within the Position Modulo value for example from position 90 to position 10 with a position modulo 100 the displacement of the motor is 20 in the forward direction If the value of this object is set at 0 the modulo function is not activated Index 307Fh Name Position...

Страница 46: ...le type 0 or S curve motion profile type 1 Change setpoint immediately Bit change_set_immediately 1 Bit change_set_immediately 0 time Speed Profile Velocity Profile Acceleration Profile Deceleration Target Position Current Position new set point set point acknowledgement new set point set point acknowledgement ...

Страница 47: ...it Unsigned16 rw 3 6 2 OBJECT DESCRIPTION 3 6 2 1 Object 607Ch Homing Offset The Home Offset defines the position feedback value when the motor reaches the homing position Index 607Ch Name Home Offset Object Code VAR Data Type Integer32 Object Class hm Access rw PDO Mapping No Unit Inc Revolution increments object 608F sub index 1 Value Range 231 231 1 Default Value 0 3 6 2 2 Object 6098h Homing M...

Страница 48: ... Interior Negative Initial Move Reverse direction on Negative Limit Switch 13 Home Switch Negative Side Interior Negative Initial Move Reverse direction on Negative Limit Switch 14 Home Switch Negative Side Exterior Negative Initial Move Reverse direction on Negative Limit Switch 17 Negative Limit Switch Methods 17 to 30 are similar to methods 1 to 14 without index pulse 18 Positive Limit Switch 1...

Страница 49: ...h Sub Index 2 Description Speed during search of zero Object Class hm Access rw PDO Mapping No Unit inc s Default Value 0000000Ah 3 6 2 4 Object 609Ah Homing Acceleration Index 609Ah Name Homing Acceleration Object Code VAR Data Type Unsigned32 Object Class hm Access rw PDO Mapping No Unit inc s2 Default Value 00010000h 3 6 2 5 Object 309Bh Zero Shift The Zero Shift parameter defines the shift of ...

Страница 50: ...ass hm Access rw PDO Mapping No Unit Conversion 0 to 3FFFh 0 to 100 Default Value 400h 3 6 3 FUNCTIONAL DESCRIPTION The Homing Current Limit parameter defines the limit of current in the motor during the homing procedure When the mechanical limit is reached the current in the motor increases up to this limit and the motor speed is 0 This position will be taken as the homing position An offset valu...

Страница 51: ...tion Actual Value Object Code VAR Data Type Integer32 Object Class all Access ro PDO Mapping Possible Unit Inc Revolution increments object 608F sub index 1 Value Range 231 231 1 The CD1 k does not support different types of position unit but only increments Object 6064h Position Actual Value has thus the same unit as 6063h 3 7 2 3 Object 3067h Position Loop Deadband Index 3067h Name Position Loop...

Страница 52: ...PDO Mapping No Value Range 0 7FFFh Default Value eeprom 3 7 2 6 Object 3033h Position Following Error Detection Mode Index 3033h Name Position Following Error Detection Mode 1 Relative to the dynamic model 0 Absolute Object Code VAR Data Type Unsigned16 Object Class pp ip hm eg Access rw PDO Mapping No Value Range 0 1 Default Value eeprom If the following error detection mode is set at 0 the posit...

Страница 53: ...on servo loop is adjusted to get the motor position continuously lagging the reference position positioning applications without overshoot with a large position following error value any small anomaly in the servo drive behaviour can be detected 3 7 2 7 Object 3214h Position Error Index 3214h Name Position Error Position Error is the difference between position reference and position feedback Obje...

Страница 54: ...vative Gain FD Derivative Gain filter Scale Regulator Gains Scaling Index 60FBh Name Position Control Parameter Set Object Code RECORD Number of Elements 4 Value Description Sub Index 1 Description Proportional Position Gain Defines the proportional gain that acts upon the position error KP1 Data Type Unsigned16 Object Class pp ip hm eg Access rw PDO Mapping No Value Range 0 FFFFh Default Value ee...

Страница 55: ... allows to reduce the following error during the motor acceleration and deceleration phases Data Type Unsigned16 Object Class pp ip hm eg Access rw PDO Mapping No Value Range 0 FFFFh Default Value eeprom 3 8 INTERPOLATED POSITION MODE The interpolated position mode is used to control several axes in coordination The trajectory must be generated by the host controller and the elementary set point i...

Страница 56: ... Submode Select Description 0 Linear interpolation 1 PV cubic interpolation 2 P3 cubic interpolation 3 8 2 2 Object 60C1h Interpolation Data Record Index 60C1h Name Interpolation data record Object Code RECORD Number of Elements 2 Value Description Sub Index 1 Description First parameter of ip function Data Type Integer32 Object Class ip Access rw PDO Mapping Possible Sub Index 2 Description Secon...

Страница 57: ...elocity at this point not the average velocity 3 8 2 3 Object 60C4h Interpolation Data Configuration Index 60C4h Name Interpolation Data Configuration Object Code RECORD Number of Elements 6 Value Description Sub Index 1 Description Max Buffer Size Data Type Unsigned32 Object Class ip Access ro PDO Mapping No Default Value 2 Sub Index 2 Description Actual Size Data Type Unsigned32 Object Class ip ...

Страница 58: ... Sensor Actual Value Integer32 ro 606A VAR Sensor Selection Code Integer16 ro 606B VAR Velocity Demand Value Integer32 ro 606C VAR Velocity Actual Value Integer32 ro 606D VAR Velocity Window Unsigned 16 rw 606E VAR Velocity Window Time Unsigned 16 rw 606F VAR Velocity Threshold Unsigned 16 rw 6070 VAR Velocity Threshold Time Unsigned 16 rw 60FF VAR Target Velocity Integer32 rw 604F VAR Ramp Functi...

Страница 59: ...al Value Object Code VAR Data Type Integer32 Object Class all Access ro PDO Mapping Possible Unit inc s 3 9 2 5 Object 606Dh Velocity window Index 606Dh Name Velocity window When the difference between the Target and the Actual velocity value is within the Velocity window longer than the Velocity window time the target velocity is considered as reached bit 10 of status word Target Reached is set I...

Страница 60: ... 3 9 2 8 Object 6070h Velocity threshold time Index 6070h Name Velocity threshold time Object Code VAR Data Type Unsigned 16 Object Class pv Access rw PDO Mapping No Unit ms Default Value 0 3 9 2 9 Object 60FFh Target Velocity Index 60FFh Name Target Velocity Object Code VAR Data Type Integer32 Object Class pv Access rw PDO Mapping Possible Unit inc s Default Value 0 3 9 2 10 Object 604Fh Ramp Fun...

Страница 61: ... Default Value eeprom Sub Index 3 Description Integral 2 Speed Gain This gain is used only in PI speed regulator It is the same one as the proportional position gain Data Type Unsigned16 Object Class pp ip hm pv eg Access rw PDO Mapping No Value Range 0 FFFFh Default Value eeprom Sub Index 4 Description Damping Gain This gain is used for getting the maximum servo loop stiffness Data Type Unsigned1...

Страница 62: ... the first order filter that acts upon the derivative gain Data Type Unsigned16 Object Class pp ip hm pv eg Access rw PDO Mapping No Conversion 1 1000 for getting the time constant in ms Value Range 0 2710h Default Value eeprom 3 9 2 12 Object 30F9h Integrator low frequency limit Index 30F9h Description Integrator low frequency limit Defines the low frequency value from where the controller integr...

Страница 63: ...tability because of the larger speed measurement delay For a TTL encoder feedback The speed measurement resolution value can be calculated according to the following formula Speed resolution rpm 15000 Encoder feedback resolution object 308Fh Time interval ms Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Range 0 to 2 Defaut Value eeprom 3 9 2 15 Object 30F5h Speed F...

Страница 64: ...t Value 1000h 3 10 2 3 Object 6088h Torque profile type This parameter is not used by Infranor Servo Drives but only for compliance Index 6088h Name Torque profile type Object Code VAR Data Type Integer16 Object Class tq Access ro PDO Mapping No Default Value 0 3 10 2 4 Object 60F6h Torque Control Parameter Set This object defines the parameters of the current loops Index 60F6h Name Torque Control...

Страница 65: ...Object 6078h Filtered current monitor This object is the filtered motor current monitor This monitor is calculated with vector transformation This means that the current monitor is correct only if the motor position is correct no motor sensor error Index 6078h Name Filtered Current Monitor Object Code VAR Data Type Integer16 Object Class all Access ro PDO Mapping Possible Unit per thousand of ampl...

Страница 66: ...ord Pulse following OK is set at 1 At this moment the motor position is locked in phase and frequency with the pulse train The polarity of the motor speed is given by the logic state of the Direction input When bit 4 of the control word Enable pulse following is set at 0 while the motor is running the motor speed is ramping to 0 according to the ramp function object 604F Bit 12 of the status word ...

Страница 67: ... position offset value can be added to the second sensor position value In this case the motor displacement of the position offset value will be triggered by a rising edge of bit 5 of the control word Start offset profile The total motor displacement during the position offset profile execution is equal to the second sensor displacement plus the position offset value as shown below 3 12 2 PARAMETE...

Страница 68: ...pensation Unsigned32 wo Position Control Function 3210 VAR Raw Position Integer32 ro 3211 VAR Internal Position Offset Integer32 rw 3212 VAR Motor Position Integer32 ro 3213 VAR Second Sensor Position Integer32 ro 3360 VAR Axis Type Rotative Linear Unsigned8 rw 3361 VAR Software position limit operation Unsigned8 rw 3350 VAR Absolute 16 bit mode Unsigned8 rw 3217 VAR Position reference error flag ...

Страница 69: ...procedure Unsigned32 wo 3 13 2 ERROR AND STOP FUNCTION 3 13 2 1 Object 3020h Drive Error Code Index 3020h Name Drive Error Code Object Code VAR Data Type Unsigned32 Object Class all Access ro See section 2 1 7 for the meaning of this object 3 13 2 2 Object 3021h Warning Code Index 3021h Name Warning Code Object Code VAR Data Type Unsigned16 Object Class all Access ro Bit Meaning 1 I2 t warning 3 P...

Страница 70: ...pe Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0041h 3 13 2 5 Object 3300h Stop 1 Parameter With stop 1 the motor is slowed down in position mode with a slow down ramp There are 2 values for the stop 1 ramp one value when the motor is moving in the positive direction and one value when the motor is moving in the negative direction This gives the possibility to optimise the s...

Страница 71: ...nit inc s2 Default Value 0003D090h 3 13 2 6 Object 3301h Stop 3 Parameter Index 3301h Name Stop 3 Parameter Object Code VAR Data Type Unsigned16 Object Class pp ip hm pv eg Access rw Unit Percentage of amplifier rating 3FFFh 100 Default Value 3FFFh With stop 3 the motor is slowed down in velocity loop with a current limitation 3 13 2 7 Object 305Ah Inhibit Stop Option Code Index 305Ah Name Inhibit...

Страница 72: ...tion 3 13 2 9 Object 3310h Low Speed Threshold The Low Speed Threshold defines the maximum speed authorized in low speed mode LOW SPEED Input is activated If the motor speed is higher a LowSpeed error will occur and the motor will be slowed down with the defined stop Index 3310h Name Low Speed Threshold Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit inc s 3 13 ...

Страница 73: ...perature at which a warning will be notified The threshold value is defined below Threshold 40958 5 x Rst 1 2 Rst Rst is the equivalent resistance in k of this temperature value 3 13 2 11 Object 3321h Motor Temperature Sensor Monitor Index 3321h Name Motor Temperature Sensor Monitor Object Code VAR Data Type Unsigned16 Object Class all Access ro PDO Mapping possible The returned value gives an ima...

Страница 74: ...ata Type Integer16 Object Class all Access ro PDO Mapping Possible Unit Percentage of amplifier rating 3FFFh 100 3 13 3 4 Object 30D5h I t Monitor This object is used for the calculation of the motor RMS current value integrated during the last 4 seconds Index 30D5h Name I t Monitor Object Code VAR Data Type Integer16 Object Class all Access ro PDO Mapping Possible Unit Percentage of amplifier rat...

Страница 75: ...DEX 4 INPUT4 CAPTURE 5 INPUT5 LOW SPEED 3 13 4 2 Object 30C1h Analog input 1 voltage Index 30C1h Name Analog input 1 voltage Object Code VAR Data Type Integer16 Object Class all Access ro PDO Mapping possible Conversion 7FFF corresponds to 10V Note The analog inputs 1 and 2 must be selected by the 3 jumpers OUT IN SEL located in the amplifier connector board see CD1 k manual 3 13 4 3 Object 30C2h ...

Страница 76: ... CAN bus see object 60FFh or from the Analog input 1 voltage value 10 V for maximum speed The torque set point in the Profile torque mode can be selected either from the CAN bus see object 6071h or from the Analog input 1 voltage value 10 V for maximum current Index 30C0h Name Analog input 1 set point selection Object Code VAR Data Type Unsigned16 Object Class pv pt Access rw PDO Mapping No Defaul...

Страница 77: ...following calculation can be made Res1 Pos1 Offset1 modulo Revolution_increments Res2 Pos2 modulo Revolution_increments The motor shifts when the drive is out of logic supply Motor_Shift Res2 Res1 modulo Revolution_increments In the example above where the Revolution_increments 4096 this substraction must be done only with 12 bits and a sign extension in order to get the result on 32 bits The resu...

Страница 78: ...tion increments object 608F sub index 1 Default Value 0 3 13 5 3 Object 3212h Motor Position Index 3212h Name Motor Position This is the value of the position sensor on the motor resolver or encoder Object Code VAR Data Type Integer32 Object Class All Access ro PDO Mapping Possible Unit Inc Revolution increments object 608F sub index 1 3 13 5 4 Object 3213h Second Sensor Position Index 3213h Name ...

Страница 79: ...ut of limit in control word which authorizes to move the motor or change the axis type to rotary Software position limit operation in the locked mode When the motor reaches the software position limit it starts braking The slow down current limit is defined in object 3302h When the 0 speed is reached the motor remains enabled at standstill To move out of the limit the controller must generate a di...

Страница 80: ...On Off The timing sequence and the timing of the brake can be defined by objects 3304h and 3305h 3 13 6 1 Object 3304h Amplifier Reaction Delay Index 3304h Name Amplifier Reaction Delay Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Unit ms Default Value 0 This parameter defines the delay between the servo control by the control word and the effective servo loop out...

Страница 81: ...trol_Word xx07h Brake Cmd Status_Word Servo xx21h T_drive T_brake xx23h xx27h xx40h Switch On xx0Fh xx00h xx06h xx23h xx21h xx07h xx06h xx40h Switch On Switch On Disabled xx00h T_brake Servo On Servo Off Brake Off Brake On Switch On Disabled Ready To Switch On Ready To Switch On Operation Enable ...

Страница 82: ...064 Resolver object 3213 4 Encoder Resolver Resolver object 6064 Encoder object 3212 3 13 7 1 Object 3389h Capture Input Selection Index 3389h Name Capture Input Selection Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 10h Bit Meaning 0 3 Capture 1 input selection 0 CAPTURE input 1 INDEX input 4 7 Capture 2 input selection 0 CAPTURE input 1 INDEX input...

Страница 83: ...not clear bits 0 and 1 If object 3384h is mapped in a PDO3 triggered by SYNC event or PDO1 triggered by changed value then bits 2 and 3 are cleared as soon as the captured position value is transmitted by the PDO Reading object 3384h by SDO does not clear bits 2 and 3 Bits 4 and 5 are status of the capture signal after filtering see object 3382h below These status before filtering are monitored in...

Страница 84: ...capture position filter If the difference of position between rising and falling edges is less than the threshold then the signal is the following Index 3382h Name Capture Position Filter Object Code VAR Data Type Unsigned32 Object Class all Access rw PDO Mapping No Unit Inc Revolution increments object 608F sub index 1 Value Range 0 00007FFFh Default Value 0 Moved distance less than threshold Inp...

Страница 85: ...ject Class all Access ro PDO Mapping Possible 16 bit LSW Unit inc 3 13 7 8 Object 3385h Single Shot Capture Command trigger This parameter allows to enable a single shot position capture by setting the corresponding bit to 1 The single shot position capture to be enabled must be previously selected in the capture configuration object 3380h When a single shot position capture has been performed the...

Страница 86: ...of input 2 has occurred 3 Single shot capture at falling edge of input 2 has occurred 4 Capture 1 signal 5 Capture 2 signal 8 Limit Switch 9 Limit Switch 10 INHIBIT 11 INDEX 12 CAPTURE 13 LOW SPEED 3 13 7 10 Object 3387h Single Shot Capture 1 Position This object returns the position latched by input 1 at rising or and falling edge as defined in the single shot capture command object 3385h Index 3...

Страница 87: ...ct 33A0h TPDO3 Count Index 33A0h Name TPDO3 Count Object Code VAR Data Type Unsigned8 Object Class all Access rw PDO Mapping Possible Default Value 00h 3 13 8 2 Object 33A1h TPDO3 Control Index 33A1h Name TPDO3 Control Object Code VAR Data Type Unsigned8 Object Class All Access rw PDO Mapping No Default Value 00h 3 13 9 PHASING FUNCTION 3 13 9 1 Object 3410h Auto phasing procedure Writing to this ...

Страница 88: ...Signature MSB LSB ASCII l a c m hex 6Ch 61h 63h 6Dh 3 13 10 AUTO TUNING FUNCTION 3 13 10 1 Object 3421h Auto tuning Time Interval Selection Mode Index 3421h Name Auto tuning Time Interval Selection Mode Object Code VAR Data Type Unsigned16 Object Class ip pp hm pv Access rw PDO Mapping No Value Range 0 1 0 manual setting of Time Interval Speed Measurement parameter 1 automatic setting of Time Inte...

Страница 89: ...tandard filter Medium Bandwidth 2 Standard filter High Bandwidth 3 Anti resonance filter Low Bandwidth 4 Anti resonance filter Medium Bandwidth 5 Anti resonance filter High Bandwidth 6 High stiffness filter Low Bandwidth 7 High stiffness filter Medium Bandwidth 8 High stiffness filter High Bandwidth Sub Index 2 Description Start auto tuning procedure Data Type Unsigned32 Object Class all Access wo...

Страница 90: ... up to 25000 Encoder Output Resolution ppr 512 to 16384 512 to 8192 512 to 4096 512 to 2048 512 to 1024 The resolution value defined in the Encoder output resolution parameter can be divided by 2 4 or 8 by the Encoder output division ratio parameter Sub Index 2 Description Encoder Output Division Ratio Encoder Division Ratio 1 2 3480h Encoder Output Resolution Encoder Feedback Resolution x Encoder...

Страница 91: ...a Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value 0 Value Description 0 Encoder Output disabled on the CD1 k X3 connector 1 Encoder Output enabled on the CD1 k X3 connector At the CD1 k amplifier power up the encoder output is always disabled Remarks The TTL encoder input lines and the encoder output lines are located at the same pins number on the CD1 k X3 connector So whe...

Страница 92: ...rque Compensation Object Code VAR Data Type Unsigned16 Object Class all Access rw PDO Mapping No Default Value eeprom Bit Number Description 8 Cogging Torque Compensation 0 Cogging Torque Compensation disabled 1 Cogging Torque Compensation enabled 3 13 12 2 Object 3492h Cogging torque acquisition procedure Writing to this object will execute the cogging torque acquisition procedure For more inform...

Страница 93: ...er corresponds to a digital cam A value 1 allows to enable the corresponding cam Sub Index 2 Description Cam Polarity Register Data Type Unsigned16 Object Class all Access rw PDO Mapping No Defaut Value 0000h Each bit 0 to 9 of the Cam Polarity Register allows to set the polarity of the cam output Normal polarity polarity bit 0 sets the cam output with value 1 when the cam is active Sub Index 3 De...

Страница 94: ...1 1 Integer32 all rw No Cam 1 Position 2 2 Integer32 all rw No Cam 2 Position 1 3 Integer32 all rw No Cam 2 Position 2 4 Integer32 all rw No Cam 3 Position 1 5 Integer32 all rw No Cam 3 Position 2 6 Integer32 all rw No Cam 4 Position 1 7 Integer32 all rw No Cam 4 Position 2 8 Integer32 all rw No Cam 5 Position 1 9 Integer32 all rw No Cam 5 Position 2 10 Integer32 all rw No Cam 6 Position 1 11 Inte...

Страница 95: ...n Index 3216h Name Encoder Position Object Code ARRAY Number of Elements 3 Value Description Sub Index 1 Description Encoder Increments per Revolution Data Type Unsigned32 Object Class all Access ro PDO Mapping No Unit inc Value Range 200h 1000 0000h Default Value 0 This parameter defines the number of increments for one encoder revolution in the absolute position channel for a rotary absolute enc...

Страница 96: ...xecuted when a specific signature is written to this object If the signature is razp the procedure sets at 0 the encoder absolute position value The absolute position offset value is calculated accordingly For an absolute rotary encoder this operation must be executed out of the operation travel range in order to avoid absolute position roll over Signature MSB LSB ASCII p z a r hex 70h 7Ah 61h 72h...

Страница 97: ...ata Type Unsigned32 Object Class Access wo PDO Mapping No Writing to this object will execute the SinCos inputs error compensation procedure compensation of the offsets and amplitude gap between the Sin and Cos signals This procedure is only necessary for low resolution encoders number of Sin and Cos periods per revolution less than 128 or a SinCos tracks motor feedback sensor This operation allow...

Страница 98: ...h Node_Id No 2 COB ID server client Unsigned32 ro 00000580h Node_Id No 1400 1st Receive PDO Parameter RECORD 0 Number of supported entries Unsigned8 ro 02h No 1 COB ID Unsigned32 rw 00000200h Node_Id No 2 transmission type Unsigned8 rw FDh No 1401 2nd Receive PDO Parameter RECORD 0 Number of supported entries Unsigned8 ro 02h No 1 COB ID Unsigned32 rw 00000300h Node_Id No 2 transmission type Unsig...

Страница 99: ... Number of supported entries Unsigned8 rw 01h No 1 1st object to be mapped Unsigned32 rw 60640020h No 2 2nd object to be mapped Unsigned32 rw 00000000h No 3 3rd object to be mapped Unsigned32 rw 00000000h No 4 4th object to be mapped Unsigned32 rw 00000000h No COMMON ENTRIES IN THE OBJECT DICTIONARY Index Sub Index Name Type Attr Default Value PDO 6402 0 Motor Type Unsigned16 ro 0003h No 6410 Moto...

Страница 100: ...w 0000h No 306C 0 Second Sensor Scaling factor Unsigned16 rw 1 No PROFILE POSITION MODE Index Sub Index Name Type Attr Default Value PDO 607A 0 Target Position Integer32 rw 00000000h Possible 6080 0 Max Motor Speed Unsigned16 rw eeprom No 6081 0 Profile Velocity Unsigned32 rw 00001000h Possible 6082 0 End Velocity Unsigned32 rw 0 Possible 6083 0 Profile Acceleration Unsigned32 rw 00010000h No 6084...

Страница 101: ...No 1 Max Buffer Size unsigned32 ro 2 No 2 Actual Size unsigned32 ro 2 No 3 Buffer Organization unsigned8 ro 00h No 4 Buffer Position unsigned16 rw 00h No 5 Size of Data Record unsigned8 wo No 6 Buffer Clear unsigned8 wo No PROFILE VELOCITY MODE Index Sub Index Name Type Attr Default Value PDO 6069 0 Velocity Sensor Actual Value integer32 ro No 606A 0 Sensor Selection Code Integer16 ro 0000h No 606...

Страница 102: ...rw 0003h No 306A 0 Second Sensor Feedback Unsigned16 rw 0000h No 306C 0 Second Sensor Scaling factor Unsigned16 rw 1 No 30D0 0 Current Offset Integer16 rw 0000h Possible 30D1 0 Current Limitation Integer16 rw 3FFFh Possible 30D4 0 Current Monitor Integer16 ro Possible 30D5 0 I t Monitor Integer16 ro Possible 30E0 0 Voltage Monitor Integer16 ro Possible 30FD 0 Digital Inputs Configuration Unsigned1...

Страница 103: ...t operation Unsigned8 rw 00h No 3380 0 Capture Configuration Unsigned16 rw No 3381 0 Capture Status Unsigned16 ro 0000h Possible Unsigned8 Unsigned16 3382 0 Capture Position Filter Unsigned32 rw 00000000h No 3383 0 Capture 1 Position Integer32 ro Possible Integer16 Integer32 3384 0 Capture 2 Position Integer32 ro Possible Integer16 Integer32 3385 0 Single shot Capture Command Unsigned8 rw 00h Poss...

Страница 104: ... No 3 Encoder Output Deadband Unsigned16 rw eeprom No 4 Encoder Output Zero Pulse Shift Unsigned16 rw eeprom No 5 Enable Disable Encoder Output Unsigned16 rw 0000h No 6 Encoder Output Programming Procedure Unsigned16 wo 1 No 3491 0 Enable Disable cogging torque compensation Unsigned16 rw eeprom No 3492 0 Cogging torque acquisition procedure Unsigned32 wo Signature 61676F63h No 3496 0 SinCos inputs...

Страница 105: ...D input must be connected to 24 V A2 2 2 POWERING Always switch on the 24 Volt supply 5 s before the power supply otherwise an error will be displayed which cannot be cleared It is important to wait at least 30 s between switching off and on again the drive A2 2 3 COMMISSIONING The CD1 k drives commissioning is made by means of the PC software VDSetup After launching VDSetup the user must disable ...

Страница 106: ... parameters to be set are Communication cycle period object 1006 sub index 0 this object defines the duty cycle of the controller This value is entered in µs and must be a multiple of 500 For example 4000 for a cycle period of 4 ms Synchronous window length object 1007 sub index 0 this object defines the synchronous window µs in which the drive can take the demand value via RPDO3 Generally it can ...

Страница 107: ...x06h x221h Ready To Switch On drive is disabled xx0Fh x227h Operation Enable drive is enabled The Ready To Switch On state is mandatory as the drive cannot change from Switch On Disabled directly to Operation Enable If there is an error the drive will switch to Fault Reaction Active and then to Fault state To exit the Fault state the controller must send a rising edge of bit 7 in the control word ...

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