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CanOpen protocol

Positioning module UVE8112, IMD10

Ca

Ov

The main part of the communication is handled via the communications objects SDO (Service Data
Object) and PDO (Process Data Object).

Each CanOpen participant has a reserve of variables and parameters that are arranged in an object
directory with defined addresses and that can be read or written via the network.

A CanOpen participant can be subdivided into three functional blocks:

Communication Object

directory

Application

nOpen protocol

erview

The communication in CanOpen networks is based upon CAN data packages the content (max. 8
bytes) and target address of which are used by the CanOpen protocol.

Sending and receiving of

communication objects.

SDO, PDO, SYNC, etc.

Administration of communications

parameters.

Interface to internal variables and

parameters.

Application programme, e.g.

control of a drive, I/O

administration.

Implementation of the device

profile.

Apart from the two objects for the data transfer, there are still further communications objects, e.g. for
the synchronisation or error messages. All in all, the following CanOpen objects are supported:

Communications object

Short description

SDO

Universal communications channel
objects c

for the reading and writing of all

ontained in an objects directory. Slower than PDO since the

object address has always also to be transferred and since a feedback via
a second SDO has to be realised.

PDO

Co

of process data. Fast transfer,

sin

protocol overhead.

mmunications channel for the exchange
ce the data are sent without

EMCY

ror messages.

Emergency object for the transfer of er

SYNC

Th

nchronous operation of several bus

e synchronisation object allows a sy

participants.

NODE GUARDING

Monitoring of the bus participants through the exchange of cyclical
messages.

NMT OBJECT

Control of the basic states of all bus participants.

The following figure tries to display the communication with a CanOpen device via SDO or PDO.

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Содержание IMD1

Страница 1: ...DC servo positioning module with CanOpen interface UVE8112 IMD10 www isel com ...

Страница 2: ...d for the correctness of the data contained in this manual Isel Germany AG ompany reserves the right to make changes to the contents hereof without prior notice Telephone 49 0 6659 981 0 Fax 49 0 6659 981 776 Email automation isel com If you have any suggestions for improvements and hints as regards errors don t hesitate to contact us Company isel Germany AG 2009 All rights reserved W s N c Manufa...

Страница 3: ...IMD10 17 Connectors 17 Frame connector X1 Connection of the operating voltage 24 V 80 V motor and brake 17 Frame connector X2 15 pin Sub D Connection of the encoder limit switch and brake 17 Frame connector X3 20 pin system connection 18 Frame connector X4 RJ45 RS 232 and CAN IN 18 Frame connector X5 RJ45 CAN OUT 18 Jumper settings 19 Wiring of the inputs and outputs 20 Digital inputs limit switch...

Страница 4: ...and 34 The Firmware Update via Bootstrap Loader command 34 Commands of the View menu 35 The Tool Bar command 35 The Status Bar command 35 The Serial Interface command 35 The CAN Monitor command 35 The Drive Status command 35 The Language command 35 Commands of the menu 35 The Help Topics command 35 The Info command 35 Programme user interface 36 Tool bar 36 Status bar 36 Drive status 37 Monitor wi...

Страница 5: ...ct 76 Monitoring Guarding 76 Object Directory 78 Communications parameter 78 General communications parameters 78 PDO Mapping parameters 82 Device profile parameters 87 Device control 87 Mode of operation 89 Current control 90 Profile Velocity Mode velocity control with ramp profile 91 Profile Position Mode position control with ramp profile 92 Interpolated Position Mode Position control with inte...

Страница 6: ...olution Inputs for limit and reference switches Digital current velocity and position control with high cycle times of 100 244 and 488 µs in the mode of operation CAN bus current control with a cycle time of up to 70 µs possible see Current Controller dialogue box on page 49 and Position Controller dialogue box on page 59 Brake control Gantry operation or synchronous control of 2 modules Monitorin...

Страница 7: ... storage from 25 o C to 55 o C and at 70 o C for maximum 24 hours Maximum height of installation about 1000m above sea level Maximum humidity 50 at 40 o C 90 at 20 o C Vertical mounting position with appropriate distance each other to allow adequate air circulation Shielded motor cable with maximum lenght of 25m and minimal thickness of 1 5mm Protection in power supply Positioning module UVE8112 I...

Страница 8: ... interface In High Speed Submode the CAN baud rate of the module is determined by the object Can Baud Rate 2001 see object directory manufacturer specific objects object Can Baud Rate Under Setting Object directory Manufacturer specific objects 2001 Can Baud Rate 03 New High Speed Submode of DCSetup you can change the CAN baud rate of the moduel double click on the object After switch off and swit...

Страница 9: ... input Current control analogue input Velocity control analogue input The active mode of operation of the drive module is defined through the settings of the DIP switch on the front side and through the Modes of operation parameter Modes of Operation 6060h See Mode of operation on page 89 When the module is switched on the DIP switch is queried at first The switch S8 defines whether the Mode of op...

Страница 10: ...g this the maximum brightness corresponds to the peak current In case of a fault Fault state the two digit error code of the current fault is given via a blinking code 1st digit number of blinking impulses of both status LEDs 2nd digit number of blink impulses of LED STS2 See EMCY on page 74 for the description of the error code In case of a missing enabling signal all three LEDs STS1 STS2 and CAN...

Страница 11: ... current in the negative and positive direction Concerning this the maximum brightness corresponds to the peak current In case of a fault Fault state the two digit error code of the current fault is given via a blink code 1st digit number of blink impulses of both state LEDs 2nd digit number of blink impulses of LED STS2 See EMCY on page 74 for the description of the error code In case of a missin...

Страница 12: ... 4 Input 2 Input 1 24 V GND 6 Input 4 Input 3 Output 3 8 CAN Low CAN High CAN GND 10 Analogue GND Analogue input Analogue input 12 Encoder voltage 5 V Encoder GND 14 Encoder Z Encoder B Encoder A 16 Encoder Z Encoder B Encoder A 20 VSS_W Processor section 18 30 V 22 VSS_M Power section 40 95 V 24 Motor output A 26 Motor output B 28 30 GND_W Processor section 32 GND_M Power section Sub D9 plug for ...

Страница 13: ...via jumpers are required Only for the loading process of a new software version by means of the bootstrap loader the corresponding jumper has to be connected See also The Firmware Update via Bootstrap Loader command on page 34 Processor Bootstrap jumper NMI Reset 5V Gnd P1 0 P1 1 P1 2 P1 3 Frame connector DIP switch 13 ...

Страница 14: ...d to shunt the limit switch in the safety circuit It is set during the reference run on the limit switch Output 3 is used for the brake control The way in which the brake is controlled can be defined by means of the software 24V Output 1 2 2 1 3 BS P30 S OT 223 10K A K 1N4002 S MD 1 2 3 4 GND 24V T LP 124 10K Analogue input The analogue input is preset for a voltage level in the area of 10 V 10 V ...

Страница 15: ...urrent amounts to 100 mA VCC VCC 3 5 13 11 4 9 10 15 14 7 6 1 2 12 Y 1 Y 2 Y 3 Y 4 En1 B4 A4 B3 A3 B2 A2 B1 A1 En2 L T C489 S OL16 120 120 2K2 2K2 2K2 2K2 2K2 2K2 120 Encoder A Encoder B Encoder Z Encoder A Encoder B Encoder Z 5V Encoder Encoder GND VCC CAN The structure of the Can network is to be realised so as to guarantee that a 120 ohm terminating resistor is provided on both sides The drive ...

Страница 16: ...For the CAN wiring it is recommended to use twisted shielded cables with a characteristic impedance of 108 to 132 ohms In case of very small network extensions it may be possible to dispense with the connection of the reference potential CAN ground not recommended 16 ...

Страница 17: ... motor and brake Pin Signal 1 GND_M power section 2 VSS_M power section 40 95 V 3 motor output A 4 motor output B 5 ground 6 brake 7 GND_24V Frame connector X2 15 pin Sub D Connection of the encoder limit switch and brake Pin Signal 1 not connected 2 encoder voltage 5 V 3 encoder Z 4 encoder B 5 encoder A 6 24 V 7 limit switch 1 8 GND_24V 9 not connected 10 encoder GND 11 encoder Z 12 encoder B 13...

Страница 18: ...nitoring channel 2 input 3 analogue input 4 digital GND 5 Enable input 6 Ready In input 7 Homing output 8 limit switch chain input In 9 24 V 10 GND_24 V 11 Stop 1 OUT standstill monitoring channel 1 output 12 Stop 2 OUT standstill monitoring channel 2 output 13 analogue input 14 analogue GND 15 Enable input 16 Ready Out output 17 Homing output 18 limit switch chain output Out 19 24 V 20 GND_24 V F...

Страница 19: ... version by means of the bootstrap loader the bootstrap jumper has to be connected See also The Firmware Update via Bootstrap Loader command on page 34 Every drive module comprises a 120 ohm terminating resistor which is activated through the connection of the terminating resistor jumper See also Wiring of the inputs and outputs CAN on page Bootstrap jumper Terminating resistor jumper 19 ...

Страница 20: ... module and is only set if the module software works correctly monitoring through internal watchdog timer The design as a potential free contact makes it possible to easily link several Ready outputs This sum signal can be processed e g in the safety circuit 1 2 4 1 2 3 24V REL1 REL1 Ready In Ready Out Digital Homing output The Homing output can be used to shunt the limit switch in the safety circ...

Страница 21: ...s is are activated the contact is open In the safety circuit this signal can be used to monitor the limit switch GND_24V GND_24V 4 1 2 3 2 3 4 1 REL1 REL1 REL2 REL2 Limit switch 1 Limit switch 2 Limit switch chain In Limit switch chain Out Analogue input The analogue input is preset for a voltage level in the area of 10 V 10 V The signal can either be connected to the positive input or to the inve...

Страница 22: ...urrent amounts to 100 mA VCC VCC 3 5 13 11 4 9 10 15 14 7 6 1 2 12 Y 1 Y 2 Y 3 Y 4 En1 B4 A4 B3 A3 B2 A2 B1 A1 En2 L T C489 S OL16 120 120 2K2 2K2 2K2 2K2 2K2 2K2 120 Encoder A Encoder B Encoder Z Encoder A Encoder B Encoder Z 5V Encoder Encoder GND VCC CAN The structure of the Can network is to be realised so as to guarantee that a 120 ohm terminating resistor is provided on both sides The drive ...

Страница 23: ...For the CAN wiring it is recommended to use twisted shielded cables with a characteristic impedance of 108 to 132 ohms In case of very small network extensions it may be possible to dispense with the connection of the reference potential CAN ground not recommended 23 ...

Страница 24: ... parity bit parts of this protocol are used i e the SDO transfer the emergency message and the boot up message In case of the SDO telegrams of a length of up to 8 bytes are exchanged between two participants see SDO description on page 70 These 8 bytes are transferred in hexadecimal format as ASCII characters framed by an identifier and a checksum Each message is terminated with a carriage return ...

Страница 25: ...g process Conversion of the data bytes into ASCII signs e g 0x3F 3 and F 0x33 and 0x46 Checksum Byte1 Byte2 Byte_n mod 256 or Division remainder of Byte1 Byte2 Byte_n 256 In the following example 2 is used to show why a checksum of 0x10 hexadecimal number is created C 2F 60 60 00 01 10 CR The control character C and Carriage Return CR are not taken into account for the calculation Checksum 0x2F 0x...

Страница 26: ...efore the machine is assembled These parameters are stored as usual in the UVE8112 module On the basis of the control and motion parameters of the master and slave axis the ISEL CNC control determines the optimum motion behaviour for the gantry axis during the initialisation phase By means of the CANSET programme it can be stipulated if an axis is in the gantry operation or not and which axis is t...

Страница 27: ...ceive ID Data ID Data 602 2B 40 60 00 06 00 00 00 582 60 40 60 00 00 00 00 00 602 2B 40 60 00 07 00 00 00 582 60 40 60 00 00 00 00 00 602 2B 40 60 00 0F 00 00 00 582 60 40 60 00 00 00 00 00 The Profile acceleration 6083h parameter is used to set the desired acceleration e g 100000 0x000186A0 Send Receive ID Data ID Data 602 23 83 60 00 A0 86 01 00 582 60 83 60 00 00 00 00 00 Set the Target velocit...

Страница 28: ...n Enable status Send Receive Data ASCII characters Data C 2B 40 60 00 06 00 2F CR B 60 40 60 00 00 CR C 2B 40 60 00 07 00 2E CR B 60 40 60 00 00 CR C 2B 40 60 00 0F 00 26 CR B 60 40 60 00 00 CR The Profile acceleration 6083h parameter is used to set the desired acceleration e g 100000 0x000186A0 Send Receive Data ASCII characters Data C 23 83 60 00 A0 86 01 00 D3 CR B 60 83 60 00 BD CR Set the Pro...

Страница 29: ...a ASCII characters Data C 40 41 60 00 1F CR B 4B 41 60 00 27 12 DB CR Example 3 Communication Analogue input Baud rate Can 1 Mbit s RS232 57600 baud Node address 3 Mode of operation Velocity control with analogue input 10 V Set the control range by configuring the maximum speed with the help of the DcSetup programme Activate the Operation Enable status via the enabling signal dig input 4 Velocity ...

Страница 30: ...Fault Encoder Track Z 9 0x8100 0x0002 21 CAN error 10 0x7308 22 Deviation of position between the master and the slave is greater than the maximum admissible value 11 0x8120 23 Node guarding failed 12 0x5441 24 Negative limit switch active 13 0x5442 25 Positive limit switch active 14 0x5444 26 No enabling signal 16 0x7309 28 Fault in the slave axis 17 0x730A 29 Fault in the master axis 18 0x6010 3...

Страница 31: ...x in which you can name your set of parameters If you would like to rename an existing document or move it to a different directory you can also choose the Save As command Shortcuts Tool bar Keyboard CTRL S The mme opens e Save As dialogue box in order for you to enter the name for your set of parameters The enu in order to open the last four files ou closed For this open the number of the file to...

Страница 32: ... current para Shortcuts T The active connection to the drive module i e all parameters are read and written via CAN Active Connection CAN command By means of this command you can configure the DcSetup programme so that the CAN bus is to be used as the Shortcuts Tool bar The s of this command you can configure the DcSetup programme so that the serial interface is as the active connection to the dri...

Страница 33: ...t values saved Commands of the Settings menu The Object Directory command ss the Object Directory dialogue box Via the object directory you can access all drive module parameters The parameters here are sorted according to an index and racteristics Use this command in order to acce displayed with their CanOpen cha Shortcuts Tool bar Commands of the Tools menu The Extended Functions command Passwor...

Страница 34: ...into the drive module if there is no install the bootstrap jumper on the module see Jumper setting on page 0 After the module is switched on again the update process can be launched After a successful update this jumper has to be removed again Existing parameter values of the drive module are overwritten with default values Use this command in order to load a new firmware DCCON HEX with the new pr...

Страница 35: ...for certain menu commands The Status Bar command Use this command in order to show or hide the status bar The status bar gives information on the programme or the selected menu This command switches on or off the monitor window all characters of the active serial connection that were sent or received are displayed CAN Monito This comm sent and received are displayed that are tr module according to...

Страница 36: ... interface as active connection Indicates the operating state of the module Launches the commissioning wizard Shows all setting dialogue boxes as tabs Displays a tree diagram with all module parameters objects Launches the direct help Status bar The status bar gives information on the programme and on the opened interfaces and shows the current state of the connection to the drive module Informati...

Страница 37: ...nge via this dialogue box or the Control word is thus not possible With the help of the View Drive status command the window can be faded in or out If the window is faded out the status query is interrupted Monitor window for serial interface object 6040h A light green LED indicates the current s state Characters sent Characters received Entry field for sending data Sends characters in the entry f...

Страница 38: ...AN message received In this window CAN data are shown which are exchanged between the DcSetup programme and the The setting of the node number for the connection with the desired module can be realised via the Connection CAN settings menu command selected drive module For the communication the CANOpen SDO protocol is used 38 ...

Страница 39: ...epancies the system asks in which direction the adjustment is to be carried out i e if the set of parameters of the module is to be copied into the setting programme or vice versa In this way it is e g possible to load a finished set of parameters from a file into the module The loaded parameters can then be permanently stored in the module e g via the Object Directory dialogue box For the activat...

Страница 40: ...with the UVE8112 IMD10 module Only the serial interface is concerned If you nevertheless want to use DCSetup with the CAN bus you have to activate the Declaration mode In this case you can observe the different parameters via the Settings Object Directory menu The writing of the parameters however is not possible The use of the DCSetup programme in the Step by step commissioning mode or in the Ran...

Страница 41: ...ration are run through in a predefined order Thus the highest level of security is ensured and uncontrolled movements of the axis e g due to wrongly connected encoder lines and non adapted control parameters can be avoided to a large extent The execution of the next step often depends on the successful completion of the current step During the first start of the programme a simplified menu bar is ...

Страница 42: ...e realised via the OK button or via the Object Directory dialogue box of the Settings Object Directory main menu The commissioning via this option is reasonable if one wants to make a quick change or detail improvements In cases in which the drive module can move because of its own weight even if the system is dead a new commissioning shall also be carried out with the help of this option For this...

Страница 43: ... Connection dialogue box Here you can select the active connection and adjust the corresponding settings Afterwards the online mode can be activated During the step by step commissioning the online mode is automatically launched with the Next button 43 ...

Страница 44: ...P switch was not used to set the analogue reference input current or velocity control preset In case of the step by step commissioning the number of the following setting dialogue boxes depends on the mode of operation chosen here The changing of the operational status is only possible in case of the Commissioning in a random order See Modes of operation on page 9 44 ...

Страница 45: ...input and the internal current feedback all static deviations from the zero point internal or external are adjusted The offset calibration is realised automatically the drive module and launched via the corresponding button The voltage on the reference input in shall correspond to the zero value and the motor must not rotate 45 ...

Страница 46: ...This setting possibility serves to eliminate small zero point deviations and voltage fluctuations on the analogue input The digitalised voltage value is set to zero in the set area around the zero point This parameter has only an effect on modes of operation with analogue input 46 ...

Страница 47: ... manual control mode has to be chosen In this mode the application software has to operate the output or brake itself In the automatic mode the brake is activated automatically if the final stage is dead The motor can no longer move freely If the final stage is activated the brake is switched off Then the motor can be moved All settings must in any case be controlled with the help of the Test butt...

Страница 48: ... maximum admissible current The I t switch off time indicates how long the peak current may flow without interruptions until it is limited to the rated current In case of a smaller exceeding of the rated current the time up to the limitation increases quadratically For the current controller only the peak current is of importance I e 100 target current value peak current If the peak current is cha...

Страница 49: ... of the test signal can be set The path of the actual current is recorded internally and then queried and displayed by the DcSetup programme see Figure For the setting of the controller it has to be made sure that the target value dotted line is achieved and maintained The selection of the Short scan time option causes a quicker clocking of the current controller A faster current control is very u...

Страница 50: ...VE8112 IMD10 On the basis of the actual current display the jump response of the controller can be assessed Only if the target value is complied with the set current values for the rated and peak current correspond to the actual currents 50 ...

Страница 51: ...connection is carried out internally in the drive module At first it is tested if a certain number of impulses e g 100 is exceeded at standstill about 1 sec This could be caused by an open connection or faults Afterwards the motor is moved in one direction until a preset number of impulses 1 000 Inc is achieved or until a preset time 100 ms has been exceeded A pause of about 2 seconds is to make s...

Страница 52: ...n are always derived from the position unit as Unit Sec or Unit Sec In the example above a linear axis with a spindle pitch of 10 mm rev without transmission is required The position is to be given in the µm unit Thus the units for the speed and acceleration would be µm sec or µm sec respectively If a rotary axis is used it is reasonable to use a unit of angular measurement Here one can choose bet...

Страница 53: ...ure the distance of the two points and input the distance in µm in the edit field Distance of points on the axis The feed constant is calculated automatically while putting the measured distance into the edit field Correct the calculated feed constant if necessary With OK you can assume the feed constant into the dialogue box transmission 53 ...

Страница 54: ...ime of the D proportion scan time of the controller x 1 td This value should only be set greater than 0 in case of heavy axes An increase of the td value by one corresponds to a duplication of the kd value Actually the velocity controller is a position controller with the function to count the target position with a constant rate This rate corresponds to the actual target velocity Due to this prin...

Страница 55: ...tion It might be possible to increase kp further Then the Hard limit option can be activated in order to achieve a higher acceleration The requirements for the controller can differ considerably from application to application A smooth course of the actual speed with a small following see Figure e g is a good compromise for many application purposes deviation between the target and the actual posi...

Страница 56: ...DcSetup programme Positioning module UVE8112 IMD10 Direction dialogue box Every axis linear axis rotary axis driven with the positioning module should have a defined axis direction 56 ...

Страница 57: ...ntrolled Note If the axis direction is changed the limit switch inputs of the positive and negative limit switch are also inverted he maximum acceleration is the limitation for the acceleration of all motion functions with a ramp otor back and forth At the same time the build up T profile velocity mode profile position mode I e the acceleration cannot become greater than this value even if a diffe...

Страница 58: ...ried out automatically Here it is however necessary to define a motion sector since the axis might cover a long way during the acceleration to the maximum speed and the subsequent braking and may not drive into the mechanical stop See Acceleration dialogue box on page 57 In order to determine this motion area at least one limit point has to be set in which the axis is driven to the corresponding s...

Страница 59: ... feed forward always leads to better dynamics but also to an following as does an I proportion unequal to zero Normally the default values for the I proportion and the feed forward should be applied For the test of the settings a test signal is again available consisting of three impulses with different signs The ramp slope can be chosen between the previously determined maximum acceleration and a...

Страница 60: ...ve to be stored with Apply before every switch over to the position controller y Load default values y Set test acceleration to maximum acceleration and control the course of speed y Increase kp until a considerable following can be noticed y Increase and or td and adapt kp if necessary in order to smoothen the course of speed Test different target speeds Normally td should be set equal to 0 as a ...

Страница 61: ...c parameter for the dynamism of an axis This parameter is T not used within the positioning module A superordinate CNC control such as the ISEL control can read this parameter and use it for the optimisation of the sequence of motions The kv factor is to be determined experimentally by selecting the kv_value radio button 61 ...

Страница 62: ...the accelerating and braking processes In return the acceleration and braking process takes longer accordingly The jerk value can be read in and used by the CNC control Within the final power stage this parameter is not used The CNC control of ISEL uses this parameter Concerning the axis type the axis can either be set as a linear or as rotary axis The CNC control of ISEL uses this parameter for t...

Страница 63: ... the Settings Object Directory menu Too large an following limitation value can lead to a permanent vibration during interpolation Too small a value restricts the motion speed of the axis It is recommendable to test the set value Aft th the axis can be interrupted by the The positioning module disposes of four digital inputs for two limit switches a reference switch and an enabling signal see Digi...

Страница 64: ...Drive into the switch speed in one direction until the switch indicated becomes active Afterwards the axis s wi off again Finally the axis is brought to a defined distance reference distance from the switching oint This is then the zero point of the axis The reference acceleration should amount to about 1 10 alogue box on page 57 in order to go easy on the slowly move th the Drive out of the switc...

Страница 65: ...Directory chapter on page 78 Only users experienced in CanOpen standards may use this dialogue box in order to set parameters All other users shall realise the setting of parameters via the Commissioning dialogue box see Commands of the Commissioning menu on page 33 The tree view on the left side is subdivided into Communication DS301 Device Profile DS402 and Manufacturer Specific Objects On the r...

Страница 66: ...DcSetup programme Positioning module UVE8112 IMD10 66 ...

Страница 67: ...e stored parameter settings are d the programme also works if no executable software exists in t mo It is recommendable in any case to safe the set a DCF file before carrying out an update T rogram e wh ch is be loa d into he m This file must be selected via a corresponding d process he software of th driv modul is stor in a rewritable Flash memory Thus the programme can pa th gr e o b t of parame...

Страница 68: ...ministration Implementation of the device profile Apart from the two objects for the data transfer there are still further communications objects e g for the synchronisation or error messages All in all the following CanOpen objects are supported Communications object Short description SDO Universal communications channel objects c for the reading and writing of all ontained in an objects director...

Страница 69: ...s and data of the control CAN CANOpen Control level CANOpen control e g PC CANOpen participant e g I O module Or CANOpen participant g Drive e node adress 17 SDO Index S in Flags r w ub dex Data max 4 bytes Index 60 Sub index 0 Variable for target position 7A Object Directory e g target position 607A object 32 bit PDO PDO mapping Table Object X Target position Ject Ob Read or write write CAN line ...

Страница 70: ... e g if an o t of the first byte of an SDO Command Specifier controls the communication and defines ata bytes can be given in the Command Specifier it is however also defined by the data type of the object to be transferred Basically there are two different types of an SDO transfer parameters with a length of 1 4 bytes are transferred with an SDO telegram Expedited Transfer data with a length of m...

Страница 71: ... code Th SD transfer can b rupted by a rticip can be indicated by the drive module SDO interrup Meaning 0x05030000 Toggle Bit was not changed 0x05040000 SDO protocol timeout exceeded 0x05040001 Command specifier invalid or unknown 0x06010001 Read access to write only object 0x06010002 Write access to read only object 0x06020000 Object not existing in the object directory 0x 00 m e 0604 41 Mapping ...

Страница 72: ...e object directory default arran t of the s in the Receive PDO2 of the drive module is illustrated The mapping can be changed or extended at all times For all PDOs of the module it is s to Byte 0 ient O A Process objects with address information The recipient several recipi of the objects in this Can frame due to the Mapping table for this PDO in its obje table is either preset firmly or written b...

Страница 73: ...sfer of PDOs can be tri by an internal event e g change of a status or an internal timer by the query o a a rem uest RT Can object by t receipt o essage Furthermore two types of transfer are distinguished synchronous transfer Synchronous asynchronous transfer Asynchr onous PDOs can be transferred at SYNC SYNC SYNC SYNC SYNC Time Synchronous Asynchronous f nchronous PD n again iv i pes Cyclic PDOs ...

Страница 74: ...sages are triggered by internal errors in the device and sent with a high priority to the an bus A superordinate control can thus react very quickly to an abnormal behaviour of individual omponents he emergency message is characterised by the identifier 0x80 node number h cy object 8 d tes are red for the error description The structure of an emergency message looks as follows the PDO transfer The...

Страница 75: ...econd l nodes only are used CS ID 0x000 NMT Master NMT Slave 2 data bytes NMT Object NMT command 0 All nodes receive the NMT 1 127 command NMT Slave Recipient Node ID dic d receives the NMT com Only the in ated no e mand Com nd S of the NM CS Meaning ma code C T object 0x0 e th ratio stat 1 Start Remote Nod Activate e Ope nal e 0x02 Stop Remote Node Activate the Stopped state 0x80 Enter Pre Operat...

Страница 76: ...ct X X Bo o ot up bject X N N M obj o ua T de G ects inc rding X X X B After a successful initialisation the module sends a boot up object which notifies the NMT master of e ct th ila as achieved the Pre Operational state The boot up object e e i rdi d ins a ta e with the fi oot Up object th fa at the node is ava ble and h us s th dentifier of the gua ng object an conta da byt rm value 0 0x700 e I...

Страница 77: ... an a toggle se t b or if the NMT state oes not ma th te at Th gu ing for a node is tivated with first es th object by the mast ca onl e switched off again through a res t of th de Th NM slave monitors the incoming que ies of ma r and switch s to the fault state if the te gram for the life time period fail to appe r 0x700 Node ID NMT Master NMT Slave 0x700 Node ID 1 data byte RTR toggle bit Bit7 0...

Страница 78: ...on DS 01 0 In the fo all parameter are lis ice type 1000 00 Device type ed 32 92 Unsign RO N 0x000201 Device type The device type indicates which device profile is used and which kind of device this is e g servo Error register Index Sub Name Type Attrib Map ult lue Meaning drive 02h Bit 0 15 device profile 402 192h Defa va 1001 00 Error register 0 Unsigned 8 RO Y 0x0 Error register The or a r ica ...

Страница 79: ...index 0 contains the number of registered errors Eac ew error is saved the preceding e rors a ov downwards in the list The iting of an 0 on the sub index 0 d letes err emory The bit long error entrie consist of th erro byte and additional informa ion e upper 2 bytes MEC Additional information Error code Upper 16 bits Lower 16 bits C e efault alue OB ID Sync messag Index Sub Name Type Attrib Map D ...

Страница 80: ...ee Monitoring Guarding on page 76 Life time factor Index Sub Name Type Attrib Map Default value Meaning 100D 00 Life time factor Unsigned 8 RW N 3 See below Life time factor x guard time time until the module switches to the fault state if guard telegrams fail to appear Stor Ind Meaning e parameters e Sub Name Type Attrib Map Default value x 101 Store parameters 0 Store parameters RECORD 1010 00 N...

Страница 81: ... 1 all parameters are set to their default valu the signature on sub index 2 only communications parameter with default value High resolution time stamp ex Sub e D value ing the ASCII code 0 es By writing s are loaded F ind Ind Nam Type Attrib Map efault Mean 1013 00 High resolution time stamp Unsigned 32 R 0 High resolution time stamp µs W Y Synchronisation of the interpolation cycle in o Error m...

Страница 82: ...pag co orts 4 Rec d 4 Transmit y possibl with variable issible in C ping of up to The iden All other param type of tran mapping can b fer and the ma procedure 1400 R_PDO1 parameters RECORD Comm parameters 1400 00 Number of entries Unsigned 8 CONST N 2 Number of entries 1400 01 COB ID Unsigned 32 RO N 0x200 Node no Identifier of the RxPDO1 140 er type of the PDO 0 02 Transmission type Unsigned 8 RW...

Страница 83: ...00000000 Mapping of the 4 th object Receive PDO2 mapping parameters Ind Meaning ex Sub Name Type Attrib Map Default value 1601 R_ PDO2 mapping RECORD Mapping parameters 1601 00 No of obj in PDO Unsigned 8 RW N 2 Number of objects 1601 01 Mapping for 1st obj ed 32 10 the 1 st object Unsign RW N 0x604000 Mapping of 1601 02 Mapping for 2nd obj Unsigned 32 RW N 008 Mapping of the 2 nd object 0x60600 1...

Страница 84: ...8 CONST N 2 Number of entries 1800 01 COB ID Unsigned 32 RO N 0x180 Node no Identifier of the TxPDO1 1800 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO 180 for TxPDO1 in 100 µs 0 03 Inhibit time Unsigned 16 RW N 50 Minimal sending interval 1800 04 Compatibility entry Unsigned 8 RW N 0 No function 1800 05 Event timer Unsigned 16 RW N 0 Timer for cyclic sending unit 1 ms Transmit P...

Страница 85: ... 00 Number of entries ed 8 ntries Unsign CONST N 2 Number of e 1803 01 COB ID Unsigned 32 RO N Node Identifier of the TxPDO4 0x480 no 1803 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO 1803 03 Inhibit Time Unsigned 16 RW N 50 Minimal sending interval for TxPDO4 in 100 µs 1803 04 Compatibility entry Unsigned 8 RW N 0 No function 1803 05 Event timer ed 16 cyclic sending Unsign RW N...

Страница 86: ...smit PDO 1A02 00 No of obj in PDO Unsigned 8 RW N 2 Number of objects 1A02 01 Mapping for 1st obj Unsigned 32 RW N 0x60410010 Mapping of the 1 st object 1A02 02 Mapping for 2nd obj Unsigned 32 RW N 0x60640020 Mapping of the 2 nd object 1A02 03 Mapping for 3rd obj Unsigned 32 RW N 0x00000000 Mapping of the 3 rd object 1A02 04 Mapping for 4th obj Unsigned 32 RW N 0x00000000 Mapping of the 4 th objec...

Страница 87: ...witched On Enable Quick Stop Activ Fa action Active Fault Ready to Operation ult Re 0x7 0x6 0x6 0x0 0xF 0x7 Fault Reset 0x2 0x6 0x0 0x0 0x0 Er d ror occurre Control word Bit 0 3 w 0x60 Po Dis er abled 0x0F 0x2F 0x21 0x23 0x27 0x07 0x20 0x20 Status word 2 3 5 6 Bit 0 1 Fault reset Control word Bit 7 Power Enabled 0 1 es N Switch On initialisation Switch On Disabled Initialisation completed final st...

Страница 88: ...ontrol de of ro i Mode o opera de Interpolation Mod 0 3 Contro t ach l of the sta e m ine 4 A set of sition art referenc de pply new po St e run Release of interpolation mo 5 T ediat es v he set of position imm becom ely alid 6 0 absolute ve 1 relati 7 Reset fault 8 Stop Braking w Interrupt positioning nterrupt refer ith normal ramp motion vector is maintained run I ence 9 10 Not used 11 Cancel po...

Страница 89: ...ror durin reference r ing error g Follow un 14 Motion active Motion active Buffer full 15 SYNC or buffer empty Interpolation stopped missing Mode of operation The setting of the mode of op is real t 6 t Th er can only be written The query of the active mode of operation is carried out via the 6061h object The following modes of operation can be set in the module via these parameters eration ised v...

Страница 90: ...motor current During the 6073 00 Maximum current gned 16 RW N 12000 Maximum output current A Unsi in m T maximum current can ount to values betw Rated current Type Attrib Map Default Meaning he am een 1 000 and 25 000 mA Index Sub Name value 6075 00 Motor s rated current Unsigned 32 RW N Rated current in mA 3000 The is r the rent a twe 0 to 000 mA Map va adm sible settings fo rated cur re be en 10...

Страница 91: ...given acceleration or braked until the new target speed value is achieved In the tatus word Bit10 Target Reached is set if the actual velocity remains in the Velocity Window for indow Time Target v b p ult e The objects given portan e veloci contr l mode o eration Fu Th tw parameters Targe velocity a d Ac rat define speed profile which is S the Velocity W elocity Index Sub Name Type Attri Ma Defa ...

Страница 92: ...ned 16 RW N 50 Proportional amplification 60F9 02 ki Unsigned 16 RW N 5 Integral amplification 60F9 03 kd Unsigned 16 RW N 1000 Differential amplification 60F proportion in units of the controller scan time 9 04 td Unsigned 8 RW N 0 Scan time of the D 60F9 05 e_limit 16 RW N 400 Following limitation Unsigned 60F9 nsigned 8 RW N 0 Method of the following limitation 06 hard_limit U For the setting o...

Страница 93: ...ty is identical to the segment velocity Endgeschwindigkeit Segmentgeschw 1 Data Data Data New Setpoint New Setpoint New Setpoint Setpoint A Setpoint A Setpoint Ac c c Target reached Target reached Target reached Statusword Bit 12 Statusword Bit 12 Statusword Bit 12 oint Acknowledge oint Acknowledge oint Acknowledge Statusword Bit 10 Statusword Bit 10 Statusword Bit 10 Target reached Target reached...

Страница 94: ...ing 6063 00 Actual Position Incr 32 ition value in increments Signed RO Y 0 Actual pos Actu Ind e Type Attrib Map Default value Meaning al position user defined units ex Sub Nam 6064 00 Actual position user defined units Signed 32 RO Y 0 Actual position value in user defined units Following error Position window Index Sub Name Type Attrib Map Default value Meaning 606 window monitoring of the foll...

Страница 95: ...gned 8 RW N 0 factor Feed forward The parameterisation of the position controller can be carried out by means of the DcSetup time intervals Sync time The drive generates target values for its p o get position value is achieved in linear at the e e time programme See Position Controller dialogue box on page 59 Interpolated Position Mode Position control with interpolation The interpolation principl...

Страница 96: ... Interpola Interpolation absolute value target position in user defined unit Interpolation interval b p t Index Sub Name Type Attri Ma Defaul value Meaning 60C2 Interpolation time period RECORD Interpolation cycle in µs 60C2 00 Number of entries Unsigned 8 CONST N 2 Number of entries 60C2 01 ip time units Unsigned 16 RW N 3000 r the Scan time fo interpolation 60C2 02 ip time index Interger 8 RW N ...

Страница 97: ...g reference run Reference run method Index Sub Nam Type Attrib Map Default value Meaning e 6098 00 Homing method Signed 8 RW N 17 Type of reference run The f a ted Reference run method Dir Reference point for zero position ollowing possibilities c n be selec ection Target 1 negative limit switch Next index signal after the limit switch during the moving out of the limit switch 2 pos Next index sig...

Страница 98: ...it switch If a limit switch of the axis is triggered the drive module switches to the f cannot be released until the limit switch is active The Moving out of a limit switch mode of opera en designed in order to move the axis out limit switch see Mode of operation on page t with the activation of this of operation it can be used for the shunt this axis Afterwards the module can be switched to the O...

Страница 99: ...other ob cts a cording t formula de Th par eters dim dex and uni dex d t a t t on factors but only an present the righ e g for all length and velocity data Index Su value 6089 00 Position notation index Signed 8 RW Y Index for positioning unit 0 By means of the units index the unit to be used can be set The following values can be chosen n ind eaning U its ex M 0 Not specified 3 Milli metre 6 Micr...

Страница 100: ...er of entries Unsigned 8 CONST N 2 Number of entries 6091 01 Motor revolutions 2 Revolutions at the transmission input Unsigned 3 RW N 1 6091 02 Shaft revolutions Unsigned 32 RW N 1 Revolutions at the transmission output If a transmission exists between the motor and the drive axis the transmission ratio factor can be set th bje F or rd b p lue in is o ct eed f wa constant Index Sub Name Type Attr...

Страница 101: ...ration internally restricts all acceleration and braking ramps in the modes of n Profile Velocity Mode and Profile Position Mode even if the acceleration parameter Axis direction operatio 6083h has a greater value Index Sub Name Type Attrib Map Default value Meaning 607E 00 Polarity Unsigned 8 RW N 0x00 Axis direction 0x00 positive 0xC0 negative The Axis direction parameter makes it possible to in...

Страница 102: ...0F7 00 Number of entries Unsigned 8 CONST N 1 Number of Entries 60F7 01 Limit sw disable current itch active Unsigned 8 RW N 0 Behaviour of the current in case of an activated limit switch N lly e c ff dwa a lim wit is activated object Limit switch shunt the safety circuit can be shunted in order to be able to switch on the current again The motor can then be moved in both directions There are how...

Страница 103: ...ration for the control of the brake 6510 08 Init value of digital outputs Unsigned 8 RW N 0x00 Initialisation values of the digital outputs 6510 09 Invert digital outputs Unsigned 8 RW N 0x01 Evaluation of the digital outputs high low active 6510 0A Unsigned 8 RO N 0x00 Hardware Type Dummy 6510 0B Standstill Tolerance Window 2 N still supervision Unsigned 3 RW 10000 Position tolerance of the stand...

Страница 104: ...is to be evaluated low actively or high actively This parameter is blocked for the automatic mode Invert Digital Outputs Meaning 0 Output 3 is high active i e no signal inversion Value 0 or 1 to Bit 0 from the object 0x60FE Æ value 0 or 1 at output 3 Bit 0 1 Output 3 is low active i e signal inversion Value 0 or 1 to Bit 0 from the object 0x60FE Æ value 1 or 0 at output 3 The different parameters ...

Страница 105: ...in 1 03 New High Speed Unsigned 8 RW Submode 0 New Baud Rate Code High Speed Submode With a double click on the objet 2001 03 New High Speed Subm he accordant DIP switch have to be set see Chapter DIP switch in The following baud rate code is used in the object Can Baud Rate CAN Bus Baud Rate ode you can change the baud rate T Description of the drive module Baud Rate Code 0 1000 kBit s 1 800 kBit...

Страница 106: ...ication mode Unsigned 8 RO N 0 Æ Wrong password 1 Æ Correct password 2042 03 New password Unsigned 32 WO N New password The Password object offers the possibility to protect the set parameters from unauthorised changes It has to be taken into account that the protection mechanism does not work on the UVE 8112 level An application software has to use the possibilities offered by this object in orde...

Страница 107: ...if applicable Currently up to 2 gantry axes are allowed per machine The CAN node ID of the slave axes are stored in the Slave minimal node ID and Slave maximal node ID for the monitoring of errors The Slave Error object is only used by one master axis If the related slave axis is faulty this object is set in the master In a slave axis this object is of no importance During the gantry the slave axi...

Страница 108: ... Sub Type Attrib Map Default value Meaning Name 2051 00 Fau Fault reset or reset lt reset Unsigned 8 WO N The writing of a 1 releases a fault reset alternatively to control word Bit7 0 1 The writing of a 2 releases a complete reset of the module Error byte Index Sub Name Type Attrib Map Default value Meaning 2052 00 Error byte Unsigned 8 RO Y Display of the current error code In this parameter the...

Страница 109: ...dices 2 and 3 the current offset va 32 times the internal A D converter resolution 11 bi Attrib ent of the internal A D converter The writing of a t For this the module has to be in the Switched 1 on the sub index 1 starts the automatic adju On or Operation Enable state lues can be queried These are given in units of t 1023 1023 It is also possible to directly write the offset values Actual motor ...

Страница 110: ...n Unsigned 16 RW N 500 Duration of the test signal 2091 02 Test input velocity Signed 32 RW N 10000 Amplitude of the test signal target velocity Incr s 1 2091 03 Test input acceleration Unsigned 32 RW N 10000000 Ramp slope of the test signal Incr s 2091 04 Max Move Length Signed 32 RW N 50000 Maximal Move Length inc 1 Attention If the Configure test input object index 20A0 and sub index 01 amounts...

Страница 111: ...rol 2 Test signal velocity control 3 Test signal position control 4 Encoder test positive direction 5 Encoder test negative direction 6 Determine maximum velocity 7 Velocity control with ramp profile 8 Following error 9 Speed amplification factor kv Trace Data Index Sub Name Type Attrib Map Default value Meaning 2081 00 Trace data Domain RO N Data field for internal registrations of courses of cur...

Страница 112: ...ct descriptions from the EDS file but also offer an additional entry i e the current value of the object At the beginning of the file general data on the device and the CanOpen characteristics are given Then the object descriptions are given which have the following structure e g Reference run velocity object 6099B hB sub index 1 File entry Meaning 6099sub1 Index and sub index ParameterName Speed ...

Страница 113: ...Positioning module UVE8112 IMD10 Appendix 113 Appendix UVE8112 package dimensions ...

Страница 114: ...Appendix Positioning module UVE8112 IMD10 114 IMD10 package dimensions ...

Страница 115: ...s objects and current value of the objects EDS file Electronic Data Sheet File Descriptions of the module s objects PDO Process Data Object Can message with a defined identifier which contains one or more objects without address information SDO Service Data Object Communication channel between two CanOpen participants ...

Страница 116: ...puts 19 Digital outputs 13 19 20 101 DIP switch 7 Drive status 34 36 E EDS file 111 Emergency 73 Enabling signal 8 Encoder 50 Encoder resolution 51 Error code 70 73 Error memory 78 F Fault 86 Fault state 29 File 30 Firmware update 32 33 66 Forward feed constant 51 Forward feed factor 59 Frame connector 11 16 G Guarding 75 H Hard limit 54 I Interface 34 Interpolation 94 J Jumper 22 K kd differentia...

Страница 117: ...ential 15 22 Reference run 63 95 97 RS232 23 31 36 RS232 interface 7 RS422 specification 14 21 S SDO 69 81 Set of parameters 38 Short scan time 48 Speed 57 State machine 86 Status diagram 9 10 74 86 Status word 87 Store parameters 79 Switched On 86 SYNC 73 94 Synchronous PDOs 72 T td scan time 53 Terminating resistor 14 21 Toothed belt feed forward 59 Toothed belt forward feed 48 Transmission rati...

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