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COMPAX CANopen

4

3 G e n e r a l

CANopen provides for the use of two types of communication with different characteristics:

!

Real-time data are transmitted with the process data objects (PDO).

!

Parameters- and programs are transmitted via the service data objects (SDO).

The communication channels of CANopen are configured using specific communication objects.
A device profile with manufacturer-specific objects (commands) was defined for access to COMPAX. These objects can:

!

be addressed as service data objects

!

and partly mapped to process data objects for cyclical access.

CANopen for COMPAX

The CANopen interface enhances the flexibility of the
Compact Servo-Controllers COMPAX-M and COMPAX-S.
You have access to all normal COMPAX functions such as:

!

Changing parameters.

!

Presetting commands.

!

Reading and writing control inputs and outputs.

!

Writing to record storage.

!

Reading status.

CANopen Hardware

The module (option CAN-Bus) contains the PCA82C200T
BasicCAN stand-alone controller by Philips. It supports the
CAN protocol in specification 1.2. The physical data cables
are accessed by the Si9200 CAN transceiver by TEMIC in
accordance with the CIA standard according to ISO/DIS
11898.

4 B u s W i r i n g

CAN-Bus connector assignment

COMPAX-S:

X5 (pins) / X7 (socket)

NMD:

X6 (pins) / X7 (sockets)

COMPAX -

GND

X7/3

X7/6

X7/7

X7/2

X5(6)/3

X5(6)/7

X5(6)/2

COMPAX S (NMD)

CAN - GND

CAN-L

CAN-H

CAN - GND

CAN-L

CAN-H

CAN - GND

COMPAX -

GND

X5(6)/6

CAN - GND

CAN - GND and COMPAX - GND are electrically separated.

4.1 Design

RS 485

POWER SUPPL Y

Ξ 6

Ξ 7

Ξ 8

Ρ ε α δ ψ

Ερρορ

ΡΣ 485

ΙΝ

Ο ΥΤ

Χοντρολ

DIGITA L

S tatu s

Nu mb er

X6

X8

X10

-

+

E nter

R ea dy

Error

RS 232

Inp ut

Ou tpu t

Te st

Control

X9

X11

V alue

COMPAX-M

SSK13/..

C

O

M

PAX

-

S

Σ τ ατ υ σ

Ν υ µ β ε ρ

Ξ 6

Ξ 8

Ξ 10

−+

Εντερ

Ρε αδ ψ

Ερρορ

ΡΣ 23 2

Ινπυτ

Ο υ τ πυ τ

Τ ε σ τ

Χοντρολ

Ξ 9

Ξ 11

ς α λυ ε

Σ τ ατ υ σ

Ν υ µ β ε ρ

Ξ 6

Ξ 8

Ξ 10

−+

Εντερ

Ρε αδ ψ

Ερρορ

ΡΣ 23 2

Ινπυτ

Ο υ τ πυ τ

Τ ε σ τ

Χοντρολ

Ξ 9

Ξ 11

ς α λυ ε

S i e m e n s S P S

S i e m e n s S P S

S i e m e n s S P S

S i e m e n s S P S

X1

X2

24 V

GND

ERDE

RS 485

RS 485

E1
E2
E3
E4
E5
E6
E7
E8
E9
E10
E11

A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11

E12
E13
E14
E15
E16
E17
E18
E19
E20
E21
E22

A12
A13
A14
A15
A16
A17
A18
A19
A20
A21
A22

SPS

COMPAX-S+Option

∆ΙΓΙΤΑΛ

Στ ατυ σ Νυ µβε ρ

Ξ6

Ξ8

Ξ10

−

+

Εντ ερ

Ρε α δψ

Ερρορ

ΡΣ232

Ινπυτ

Ου τπυτ

Τε στ

Χοντρολ

Ξ9

Ξ11

ςα λυε

COMPAX-M

∆ΙΓΙΤΑΛ

Στ ατυ σ Νυ µβε ρ

Ξ6

Ξ8

Ξ10

−

+

Εντ ερ

Ρε α δψ

Ερρορ

ΡΣ232

Ινπυτ

Ου τπυτ

Τε στ

Χοντρολ

Ξ9

Ξ11

ςα λυε

COMPAX-M

∆ΙΓΙΤΑΛ

Στ ατυ σ Νυ µβε ρ

Ξ6

Ξ8

Ξ10

−

+

Εντ ερ

Ρε α δψ

Ερρορ

ΡΣ232

Ινπυτ

Ου τπυτ

Τε στ

Χοντρολ

Ξ9

Ξ11

ςα λυε

COMPAX-M

C

O

M

PAX

-

S

NMD

COMPAX-S+Option

COMPAX-M+Option

Within a system assembly consisting of COMPAX-M
and network module, the Profibus signals are
transmitted over the existing ribbon cable connection.

F8

F8

F8

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3
4
5
6
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Содержание Hauser COMPAX 02XXM Series

Страница 1: ...version V3 0 W e a u t o m a t e m o t i o n DIN EN ISO 9001 C E R T I F I E D Q U A L I T Y S Y S T E M Reg Nr 36 38 Main Office Parker Hannifin GmbH EMD HAUSER P O Box 77607 1720 Robert Bosch Str 2...

Страница 2: ...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 transmiss...

Страница 3: ...TPOSA 64 6 17 2 WAITPOSR 64 6 18 COMPAX XX70 commands 65 6 18 1 Cam commands 65 6 18 2 Setting and reading cam memory indicator 65 6 18 3 Read and write cam memory 65 7 Device Profile DSP 402 66 8 CAN...

Страница 4: ...tion 1 2 The physical data cables are accessed by the Si9200 CAN transceiver by TEMIC in accordance with the CIA standard according to ISO DIS 11898 4 B u s W i r i n g CAN Bus connector assignment CO...

Страница 5: ...n connection UNC4 40 plug shell with screwed plug shell with screwed 9pol Sub D socket board connection UNC4 40 1 5 6 9 The connection of pin 1 and pin 3 is not required for the CAN bus neither is the...

Страница 6: ...nter A Enter B A B Enter Enter choice of operation modes Meaning C parameters Meaning Range COMPAX parameters Active on C01 Node ID Address 1 127 P194 Power on C02 Baud rate symbolic setting in accord...

Страница 7: ...nication object 4 4 1 Integer Integer values are signed quantities Type Value range Length Integer8 128 127 1 Byte Integer16 32 768 32 767 2 Byte Integer32 2 147 483 647 2 147 483 647 2 147 483 648 0x...

Страница 8: ...COMPAX max 8 bytes R PDO1 0100b 513 639 201h 27Fh 1400h Assignment via index 1600h Receive process data object R PDO2 0110b 769 895 301h 37Fh 1401h Assignment via index 1601h COMPAX max 8 bytes T SDO...

Страница 9: ...umber of SDOs 1014 COB ID EMCY Setting of service data objects 1200 Server SDO1 parameter 1201 Server SDO2 parameter Setting of process data objects reading of COMPAX 1400 Communication parameters for...

Страница 10: ...type Unsigned32 Access rights constant PDO mapping no 6 2 2 Error register The error register contains 8 bits each one for a special error class If an error occurs at the device only bit 0 is set COMP...

Страница 11: ...000 2 Number of asynchronous PDOs 0x00020002 Data Description MSB Number of receiving PDOs Number of transmission PDOs 0002 0002 6 2 4 COB ID SYNC This object contains the COB ID of the SYNC message I...

Страница 12: ...e PDO mapping no Data Description Unit s 6 2 7 Device name This object contains the device name Object Description Index 0x1008 Standard COMPAX Length Min Object code Elements Max Data type Visible st...

Страница 13: ...he node number address node ID is the module number of the device It may only be assigned once per network Object Description Index 0x100B Standard 0x00000020 Length 4 Min 0x00000001 Object code Varia...

Страница 14: ...Elements Max 0xFFFFFFFF Data type Unsigned32 Access rights read write PDO mapping no 6 3 2 Guard period node guarding The node guarding period node guarding is the interval in ms at which the device i...

Страница 15: ...ge P193 2 autom position reached message P193 4 autom comparator switch points report The emergency telegram is constructed as follows Byte 0 1 2 3 4 5 6 7 Contents Emergency Error Code Error Register...

Страница 16: ...object describes the SDO1 parameters for which the device is server Object Description Index 0x1200 Standard Length Min Object code Array Elements 3 Max Data type Access rights read PDO mapping no Num...

Страница 17: ...1 000 Standard 0x02 Length 1 Min 0x02 Object code Elements Max 0x03 Data type Unsigned8 Access rights read PDO mapping no COB ID Client Server R SDO1 receiving data COMPAX Index subindex 0x1201 001 St...

Страница 18: ...andard Length Min Object code Array Elements 4 Max Data type Access rights PDO mapping no Number of entries Index subindex 0x1400 000 Standard 0x03 Length 1 Min 0x02 Object code Elements Max 0x04 Data...

Страница 19: ...ss rights PDO mapping no Number of entries Index subindex 0x1401 000 Standard 0x03 Length 1 Min 0x00 Object code Elements Max 0xFF Data type Unsigned8 Access rights read PDO mapping no COB ID R PDO2 I...

Страница 20: ...tandard 0x01 Length 1 Min 0x00 Object code Elements Max 0x05 Data type Unsigned8 Access rights read write PDO mapping no PDO mapping entry of the first object links MSB R PDO1 0x6040 Index of control...

Страница 21: ...ject can be used to influence the internal processing of the received process output data R PDOs A bit is allocated to each communication object which can be mapped to a R PDO If the corresponding bit...

Страница 22: ...ject Description Index 0x1601 Standard Length Min Object code Array Elements 5 Max Data type Access rights PDO mapping no Number of entries Index subindex 0x1601 000 Standard 0x00 Length 1 Min 0x00 Ob...

Страница 23: ...x Data type Access rights PDO mapping no Number of entries Index subindex 0x1800 000 Standard 0x03 Length 1 Min 0x02 Object code Elements Max 0xFF Data type Unsigned8 Access rights read write PDO mapp...

Страница 24: ...ghts PDO mapping no Number of entries Index subindex 0x1801 000 Standard 0x03 Length 1 Min 0x02 Object code Elements Max 0x04 Data type Unsigned8 Access rights read write PDO mapping no COB ID T PDO2...

Страница 25: ...0000 Object code Elements Max 0xFFFFFFFF Data type Unsigned32 Access rights read write PDO mapping no PDO mapping entry T PDO1 Index subindex 0x1A00 002 Standard Length 4 Min 0x00000000 Object code El...

Страница 26: ...n Object code Array Elements 5 Max Data type Access rights PDO mapping no Number of entries Index subindex 0x1A01 000 Standard 0x00 Length 1 Min 0x00 Object code Elements Max 0x05 Data type Unsigned8...

Страница 27: ...all PDO mapping no Data Description Selection code Operation mode Selection code Operation mode 2 Reset mode 1 Target position input 1 Continuous mode 3 Speed input 2 6 9 2 Operating mode display Thi...

Страница 28: ...ew start 1 Record select 23 the machine zero point is approached 0 Record select 20 The Quit command is not accepted with P190 22 Device Profile DSP402 error confirmation in accordance with the status...

Страница 29: ...machine zero MZ P221 Bit 1 0 SHIFT P221 Bit 0 The Quit command is not accepted with P190 22 Device Profile DSP 402 error confirmation in accordance with the status diagram on page 66 402 The partial s...

Страница 30: ...a byte Bit Assignment 1 7 2 7 2 6 0 0 OUTPUT A0 x after OUTPUT A0 0 1 6 RUN 0 off or turned off in the event of an error 0 1 1 0 after OUTPUT A0 1 after OUTPUT A0 2 1 5 reserved 2 5 Idle after stop 1...

Страница 31: ...riable Max 0xFFFF Data type Unsigned16 Access rights read PDO mapping yes Data Description Bit Assignment Bit Assignment 15 SPM 7 Warning 14 Idle after stop 6 Switch on disabled 13 MN was reached 5 Ra...

Страница 32: ...eached 1 8 0 6 9 10 Control commands Compax commands not requiring any additional values The required commands are activated by reading in the relevant command number Object Description Index 0x2004 S...

Страница 33: ...er of the command string 20 20 character of the command string 6 9 12 COMPAX parameters Entering or reading COMPAX parameters in binary format The corresponding parameter is selected using the Sub ind...

Страница 34: ...rees Celsius Resolution 1 0 1 C 6 10 2 Status S9 Number of axis motion cycles Object Description Index 0x2013 Symbol S9 Length 4 Min 0x00000000 Object code Variable Max 0xFFFFFFFF Data type Unsigned32...

Страница 35: ...ion Bit Assignment 7 0 Status bits Sub index Assignment Sub index Assignment 1 Status bits1 2 Status bits 2 The meaning of the status bits can be found in the COMPAX M S user guide 6 10 6 Status S23_S...

Страница 36: ...urring error If the error number of the current error 0 there is no error Object Description Index 0x2018 Symbol S30 Length 1 Min 0 Object code Array Elements 2 Max 0xFF Data type Unsigned8 Access rig...

Страница 37: ...lowed 8400h E24 Speed is invalid 8600h E25 Position is invalid 6300h E26 END command missing for REPEAT 6320h E27 Parameter cannot be written to 1000h E28 6320h E29 Motor values missing 5500h E30 Hard...

Страница 38: ...ted torque Rated torque motor This value can be found on the rating plate of the motor Object Description Index 0x6076 Symbol NENNMOMENT Length 4 Min 0x00000000 Object code Variable Max 0xFFFFFFFF Dat...

Страница 39: ...ing plate of the motor Object Description Index 0x6075 Symbol NENNSTROM Length 4 Min 0 Object code Variable Max 0xFFFFFFFF Data type Unsigned32 Access rights read write PDO mapping no Data Description...

Страница 40: ...uit voltage Object Description Index 0x2012 Symbol S7_S8 Length 2 Min 0x0000 Object code Array Elements 2 Max 0xFFFF Data type Unsigned16 Access rights read PDO mapping no Data Description Unit Volt R...

Страница 41: ...value see also with R PDO control bit 15 page 21 This is done using the following bits Control word byte 2 bit 4 new set point and Status word byte 1 bit 4 acknowledge record point Function New set po...

Страница 42: ...ect Description Index 0x2022 Symbol S12 Length 4 Min 0x80000000 Object code Variable Max 0x7FFFFFFF Data type Integer32 Access rights read PDO mapping no Data Description Unit mm or inch Resolution 1...

Страница 43: ...t see page 7 under Integer Limits outside 2 147 483 2 147 483 units cannot be depicted 6 12 7 Positioning window The positioning window is situated symetrically around the position target Once the pos...

Страница 44: ...ype Unsigned8 Access rights read write PDO mapping no Data Description Bit 7 Assignment Bit 7 Assignment 1 Reversal of direction motor left 0 default motor right The other bits are irrelevant for COMP...

Страница 45: ...bject Description Index 0x2023 Symbol POSRXSPEEDY Length 6 Min Object code Variable Max Data type Octet String Access rights write PDO mapping yes Data Description Data byte Assignment Data byte Assig...

Страница 46: ...ghts read write PDO mapping yes Data Description Unit Resolution 1 1 64 6400 100 6 13 2 Override Reduce traverse speed Software emulation of an external potentiometer on the override input X11 6 Objec...

Страница 47: ...ge 1 600 000 Resolution 1 0 001 6 13 5 Speed step profiling with acceleration Each speed step profiling can have a maximum of 8 speed steps The position value is given as a relative measurement It is...

Страница 48: ...ections of rotation Object Description Index 0x607F Symbol GESCHW_MAX Length 4 Min 0x80000000 Object code Variable Max 0x7FFFFFFF Data type Unsigned32 Access rights read write PDO mapping no Data Desc...

Страница 49: ...l GESCHW_IST Length 4 Min 0x80000000 Object code Variable Max 0x7FFFFFFF Data type Integer32 Access rights read PDO mapping no Data Description Unit Resolution 1 0 001 6 13 11 Reference run speed Spee...

Страница 50: ...de Ramp shape 1 square 2 without jerk 0 linear 6 14 2 Acceleration Time specification for the acceleration process Also the time setting for the deceleration process as long as the object ACCEL NEG or...

Страница 51: ...s activated or after an emergency stop The time specification applies to nominal speed 100 t SPEED 100 RAMPE_NOTS a Object Description Index 0x6085 Symbol RAMPE_NOTS Length 4 Min 0x00000000 Object cod...

Страница 52: ...code Elements Max 0x01 Data type Unsigned8 Access rights read PDO mapping no INPUT_WORD Index 0x6100 001 Symbol INPUT_WORD Length 2 Min 0x0000 Object code Elements Max 0xFFFF Data type Unsigned16 Acce...

Страница 53: ...to be set or reset to default Each output which is to be influenced via this object must be explicitly released for this purpose by means of P223 P224 The output thereby loses any status information...

Страница 54: ...eby loses any status information which was assigned to it OUTPUT MASK directly reads describes the parameters P223 LSB and P224 MSB Object Description Index 0x2041 Symbol OUTPUT_MASK Length 2 Min 0x00...

Страница 55: ...be set for a positioning process The corresponding output is selected using the Sub index Sub index output no Object Description Index 0x2043 Symbol POSROUTPUTP Length 4 Min 0x80000000 Object code Arr...

Страница 56: ...ry format The record number is determined with the Sub index Sub index record No Object Description Index 0x2050 Symbol Nx Length 20 Min Object code Array Elements 250 Max Data type Octet String Acces...

Страница 57: ...er 0xC1 POSA Variable 0xCB LOOP Variable 0xCC ACCEL Variable 0xCD SETM Variable 0xD1 SETS Variable 0xD2 POSR Variable 0xD3 SPEED Variable 0x4D REPEAT Variable 0xD7 WAIT Variable Sorted by command Code...

Страница 58: ...tion of Comparison Operators A comparison operator consists of 1 byte Comparison operator Symbols Code Equal 0x3D Less than 0x3C Greater than 0x3E Equal to less than 0xBC Equal to greater than 0xBE Do...

Страница 59: ...1D2 O1D3 O1D4 O1D5 O1D6 Vglop O2Type O2D1 O2D2 O2D3 O2D4 O2D5 O2D6 0x47 n MSB n LSB IF Operand1 Comparison operator Operand2 GOSUB n 0x4A O1Type O1D1 O1D2 O1D3 O1D4 O1D5 O1D6 Vglop O2Type O2D1 O2D2 O2...

Страница 60: ...40 V10 POSA Variable WAIT Variable 0x1C No H Nr L 0x00 0x00 0x00 0x00 0x7D No H Nr L POSR Value OUTPUT Ax y 0x52 NL NM NH VL VM VH 0x4F x MSB x LSB y POSR Parameter OUTPUT Ax y 0x72 No H Nr L 0x00 0x0...

Страница 61: ...O2D4 O2D5 O2D6 Key No H High byte of the parameter variable number Nr L Low byte of the parameter variable number MSB High byte of an integer value LSB Low byte of an integer value NL Low byte of the...

Страница 62: ...ecord Object Description Index 0x2052 Symbol START_N Length 1 Min 0x01 Object code Variable Max 0xFF Data type Unsigned8 Access rights write PDO mapping yes Data Description Data format binary Unit Re...

Страница 63: ...a Description Data format binary Unit Record number Value range 1 250 Resolution 1 6 16 6 Enter or read COMPAX variables Enter or read COMPAX variables The corresponding variable is selected using the...

Страница 64: ...FFFF Data type Integer32 Access rights write all PDO mapping no Data Description Unit mm or inch Resolution 1 0 001 mm or inch 6 17 2 WAITPOSR Synchronization without automatic reverse travel clocked...

Страница 65: ...on Index 0x2055 Symbol CAM_MEM_P Length 2 Min 0x0001 Object code Variable Max 0x1554 Data type Unsigned16 Access rights read write PDO mapping no Data Description Data format binary Unit Curve memory...

Страница 66: ...nly intended as a supplement to the DSP402 documentation Conditions diagram START NOT READY TO SWITCH ON xx00h statusword SWITCH ON DISABLED READY TO SWITCH ON SWITCHED ON OPERATION ENABLE FAULT REACT...

Страница 67: ...Communication through all interfaces is enabled Modifications to parameters variables records is possible Drive function is disabled but motor has current Display shows run OPERATION ENABLE Communica...

Страница 68: ...0 16777215 Power on P139 Index and subindex of 2nd object on the RPDO1 after power on 0 0 16777215 Power on P140 Index and subindex of 3nd object on the RPDO1 after power on 0 0 16777215 Power on P141...

Страница 69: ...Special commands for COMPAX XX70 wr 0x2024 1 6 4 45 Synchronization with automatic reverse travel wr 0x2025 0 4 64 Synchronization without automatic reverse travel wr 0x2026 0 4 64 Traverse speed rd w...

Страница 70: ...0x6100 0 2 T 52 Logic state of the 16 digit Outputs rd wr 0x6300 0 2 T R 52 10 2 Objects sorted by command Command Service Index Subind Byte PDO See page Accelerate reference run rd wr 0x609A 0 4 51...

Страница 71: ...gram record N wr 0x2052 0 1 R 62 Set and read curve memory pointer rd wr 0x2055 0 2 63 Set and read pointer rd wr 0x2051 0 1 62 Set point speed and position default wr 0x2023 0 6 R 45 Settings for pro...

Страница 72: ...Mapping parameter for receiving PDO2 22 Mapping parameters for transmission PDO1 25 Mapping parameters for transmission PDO2 26 Mapping Parameter receiving PDO1 20 Masking inputs 52 Maximum speed amou...

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