Parker Hauser COMPAX 02XXM Series, Руководство пользователя

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COMPAX CANopen
2
1 C o n t e n t
1 Content .................................................................. 2
2 Device assignment ............................................... 3
3 General................................................................... 4
4 Bus Wiring ............................................................. 4
Design.............................................................................4
4.2
CAN-Bus components ..........................................5
4.3 Device Settings......................................................5
4.3.1 Node ID (Device address)............................5
4.3.2 Baud rate .....................................................5
4.4 Bus setting via front panel ...................................6
4.5 Data types ..............................................................7
4.5.1 Integer..........................................................7
4.5.2 Unsigned......................................................7
5 Object types .......................................................... 8
6 Object list............................................................... 9
6.1 Overview of communication-specific objects ....9
6.2 General objects ...................................................10
6.2.1 Device type ................................................10
6.2.2 Error register ..............................................10
6.2.3 Number of PDOs........................................11
6.2.4 COB-ID SYNC............................................11
6.2.5 Communication cycle period......................11
6.2.6 Synchronization window length..................12
6.2.7 Device name ..............................................12
6.2.8 Hardware version .......................................12
6.2.9 Software version ........................................12
6.2.10 Node number (address, node ID) ..............13
6.3 Node guarding (node guarding).........................14
6.3.1 COB-ID for node guarding (node
guarding)....................................................14
6.3.2 Guard period (node guarding)....................14
6.3.3 Lifetime factor (node guarding) ..................14
6.4 Emergency ...........................................................15
6.4.1 COB-ID EMCY ...........................................15
6.4.2 Emergency message .................................15
6.5 Boot-up object .....................................................15
6.6 Service data objects............................................16
6.6.1 Number of SDOs........................................16
6.6.2 Server SDO1 parameters...........................16
6.6.3 Server SDO2 parameters...........................17
6.7 Transmission of process data to COMPAX .....18
6.7.1 Communication parameters for receiving
PDO1 (R-PDO1) ........................................18
6.7.2 Communication parameters for receiving
PDO2 (R-PDO2) ........................................19
6.7.3 Mapping-Parameter receiving PDO1 (R-
PDO1) ........................................................20
6.7.4 R-PDO control............................................21
6.7.5 Mapping parameter for receiving PDO2
(R-PDO2) .................................................. 22
6.8 Reading process data from COMPAX............... 23
6.8.1 Communication parameters for
transmission PDO1 (T-PDO1)................... 23
6.8.2 Communication parameters for
transmission PDO2 (T-PDO2)................... 24
6.8.3 Mapping parameters for transmission
PDO1 (T-PDO1) ........................................ 25
6.8.4 Mapping parameters for transmission
PDO2 (T-PDO2) ........................................ 26
6.9 Control................................................................. 27
6.9.1 Selection code operating mode................. 27
6.9.2 Operating mode display ............................ 27
6.9.3 Control byte ............................................... 28
6.9.4 Status byte ................................................ 28
6.9.5 COMPAX control word .............................. 29
6.9.6 CPX_ZSW ................................................. 30
6.9.7 Control word .............................................. 30
6.9.8 Status word ............................................... 31
6.9.9 Pop-up message processing..................... 31
6.9.10 Control commands .................................... 32
6.9.11 COMPAX commands ................................ 33
6.9.12 COMPAX parameters................................ 33
6.10 Diagnostics ......................................................... 34
6.10.1 Status S6................................................... 34
6.10.2 Status S9................................................... 34
6.10.3 Status S10................................................. 34
6.10.4 Status S11................................................. 35
6.10.5 Status S16_S17 ........................................ 35
6.10.6 Status S23_S26 ........................................ 35
6.10.7 Status S30................................................. 36
6.10.8 Error .......................................................... 37
6.11 Torque, power, voltage ...................................... 38
6.11.1 Maximum permissible motor torque .......... 38
6.11.2 Motor rated torque..................................... 38
6.11.3 Torque actual value................................... 38
6.11.4 Status S5................................................... 39
6.11.5 Motor nominal current ............................... 39
6.11.6 Intermediate circuit voltage ....................... 39
6.11.7 Status S7_S8 ............................................ 40
6.12 Positioning .......................................................... 41
6.12.1 Position target ........................................... 41
6.12.2 Position actual value ................................. 41
6.12.3 Status S2................................................... 42
6.12.4 Status S12................................................. 42
6.12.5 Real zero ................................................... 42
6.12.6 Limits......................................................... 43
6.12.7 Positioning window.................................... 43
6.12.8 Lag error window....................................... 43
6.12.9 Status S3................................................... 44
6.12.10 Polarity ...................................................... 44
6.12.11 Reference movement selection................. 44
6.12.12 Traverse rate and set point position
default ....................................................... 45
6.13 Speed................................................................... 46