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Posital Fraba ACS080 CANopen, Руководство пользователя

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ACS CANopen Manual 

 

 

 

 

 

 

 

 

 

 

 

Version 20110928 

 

 

 

41 of 44 

AC C E L E N S   ( AC S )  C AN o p e n  

 

 

 

G l o ss a r y  

 

A 

Address  

Number, assigned to each node, irrespective of whether it is a master or slave. The 

inclinometer address (non-volatile) is configured in the base with rotary switches. 

 

APV  

 

 

 

Absolute Position Value. 

 

B 

Baud rate  

Transmission speed formulated in number of bits per second. Bus node Device that 

can send and/or receive or amplify data by means of the bus. 

 

Byte  

 

 

 

8-bit unit of data = 1 byte. 

 

C 

CAL  

 

 

 

CAN application layer. 

 

CAN  

 

 

 

Controller Area Network or CAN multiplexing network. 

 

CANopen  

 

 

Application layer of an industrial network based on the CAN bus. 

 

CCW  

 

 

 

Counter-clockwise 

Содержание ACS080 CANopen

Страница 1: ...osital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 The Comtech SIN...

Страница 2: ...Software Project Information 22 5 3 Configuration 25 5 4 Debugging 27 5 4 Run 29 6 Troubleshooting 32 Appendix A ACS CANopen Objects 33 Object 1000h Device Type 33 Object 1001h Error Register 33 Obje...

Страница 3: ...Manual_ACS_CANopen_NewLines pdf Imprint FRABA PTE LTD 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 Copyright CANopen and CiA are registered community trademarks of CAN in Aut...

Страница 4: ...cy Under the influence of gravity the distance between some electrodes change and this distance can be detected by measuring the capacitance between the electrodes as explained above This technology i...

Страница 5: ...inclinometer profile with DS 410 CANopen standards in which the characteristics of inclinometers with CANopen interface are defined The ACS is available in a completely molded and rugged plastic housi...

Страница 6: ...face Before going into details the following information describes useful technical terms and acronyms for CANopen network communication EDS Electronic Data Sheet An EDS file describes the communicati...

Страница 7: ...perational mode the master must send the following message Identifier Byte 0 Byte 1 Description 0 h 80 h 00 NMT PreOp all nodes 0 h 80 h NN NMT PreOp NN NN node number 2 1 2 Mode Start Operational The...

Страница 8: ...initialization the inclinometer accesses the bus in pre operational mode 2 2 Transmission Modes Polled Mode By a remote transmission request telegram the connected host calls for the current process v...

Страница 9: ...dure for the ACS CANopen and the mapping of various modes are illustrated below Number Description 1 Module Power up 2 After initialization the module automatically goes into pre operational mode 3 NM...

Страница 10: ...clinometer Avoid mechanical load Article No Article Description ACS360 080 Inclinometer ACS series of Inclinometers Industrial Heavy Duty Download Datasheet ACS Datasheet specifications and drawings D...

Страница 11: ...nge of 0 4 0 6Nm Use all the three screws for mounting and also note to use the same tightening torque for all the screws Prior to installation please check for all connection and mounting instruction...

Страница 12: ...ACS CANopen Manual Version 20110928 12 of 44 ACCELENS ACS CANopen 3 6 Measurement Axes 3 6 1 ACS80 Industrial Heavy Duty...

Страница 13: ...ACS CANopen Manual Version 20110928 13 of 44 ACCELENS ACS CANopen 3 6 2 ACS360 Industrial Heavy Duty...

Страница 14: ...tion 6000h 64h 0 01 Node Number 1 3000h 1Fh 32 Baud Rate2 3001h 00h 20kB ACS080 PDOs 6110h 6120h 6010h 6020h ACS360 PDOs 6010h Note The factory settings should be noted carefully upon installation Few...

Страница 15: ...h 4Fh Domain Upload Reply Parameter to Master 80 h Warning Reply Transmission error Table 1 Command Description The value of the command byte depends on the data length of the called parameter Command...

Страница 16: ...d addresses lie between 1 and 96 but each address can only be used once For inclinometers programmed via SDO the default is 20Hex Node Number 32 5 Filters Objects 3100h 3200h Filters can be used to ad...

Страница 17: ...PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 0h Number of sub indices Unsigned 8 5 ro yes 01h COB ID Unsigned 32 180h Node ID rw yes 02h Transmission Mode Unsigned 8...

Страница 18: ...smission can only take place if the inhibit time has expired The inhibit time is useful for asynchronous transmission transmission mode 254 and 255 to avoid overloads on the CAN bus Event Timer The ev...

Страница 19: ...bjects SDOs allow a device s data to be accessed by using explicit requests The SDO service is available when the device is in an Operational or Pre Operational state Types of SDO There are two types...

Страница 20: ...D 601 Message to NN1 Length 8bit word Data 0 Read 40 Write 22 Data 1 2 Object in Big Endian 3001s is 0130 in Big Endian format Data 3 Sub Index NA Data 4 7 Data to be written NA in read command The Re...

Страница 21: ...ve this section as a reference for ACS s working with programmable logic controllers 5 2 Network Initialization 5 2 1 Hardware The initial step in setting up a ACS is integrating it into the existing...

Страница 22: ...4 ACCELENS ACS CANopen 5 2 2 Software Project Information Once the hardware setup is done the ACS should be configured in such a way that it is compatible to the already existing setup and gives a pro...

Страница 23: ...en CANopen Master Configuration ACS360 Inclinometer Electronic Data Sheet EDS The ACS EDS file once uploaded will load all the objects including the PDOs to the controller The Schneider system automat...

Страница 24: ...the inclinometer is connected to the CANopen communication interface The next step after the setup of the network is the configuration of all the parameters and settings to facilitate the communicatio...

Страница 25: ...us and click on Configuration A list of all the mapped PDOs appear Then according to the need the objects are mapped on to the Transmit PDO s of the ACS ACS CANopen Node Configuration Click on the ACS...

Страница 26: ...transmission speed and supervision time Make sure that the ACS is programmed to the appropriate baud rate as that of the bus Linking of CANOpen Master and ACS Transmit PDOs Select the CANopen link on...

Страница 27: ...on in this case IWC1 0 0 and IWC1 1 0 will always contain the slope values obtained from the object 6010h of the ACS when the controller is Online 5 4 Debugging The debugging stage is done on completi...

Страница 28: ...ged and transferred to the controller for real time application The following illustrations are the intermediate tasks during debugging Converting all the programmed parameters to binary format Creati...

Страница 29: ...he controller goes into online mode We then can program the SDOs if needed and then run the controller Upon start up we can create an animation table to monitor the necessary controller parameters and...

Страница 30: ...CELENS ACS CANopen Position Readout Readout Using Animation Table The position Readout is 18422 through the memory location MW4 Shown in the programming We know that the resolution is set to 0 01 ACS...

Страница 31: ...0 01 272 56 All the above position values where obtained by programming the position value output explicitly The other method is very simple and direct Just run the controller and same position value...

Страница 32: ...many ERROR Frames Problem The bus load is too high in case of too many error frames Possible solution Check if all bus nodes have the same baudrate Even if one node has a different baudrate error fram...

Страница 33: ...posed of a 16 bit field which describes the device profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional informati...

Страница 34: ...o sub index 0 of object 1003 Object 1005h COB ID Sync This object contains the synchronization message identifier Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32...

Страница 35: ...ory Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 1 ro no 1 Store all parameters Unsigned 32 save rw no Storing Procedure To save the para...

Страница 36: ...0 Number of indices Unsigned 8 1 ro no 1 Consumer heartbeat time Unsigned 32 0 rw yes The context of subindex 1 is as follows Bit 31 to 24 23 to 16 15 to 0 Value 0h reserved Address of monitored devic...

Страница 37: ...object contains the node number of the device The POSITAL standard node number is 32decimal 5 Subindex Description Data Type Default Value Access Restore after BootUp 0 Node Number Unsigned 8 1Fh rw...

Страница 38: ...be available in the first quarter of 2011 Four different possible resolutions can be used Actual Angular Resolution Value decimal Byte hex 1 1 1 h 0 1 10 A h 0 01 100 64 h 0 001 1000 3E8 h Object 601...

Страница 39: ...0 080 Number of axis One for 360 Version Two for 80 Version 1 2 Interface CANopen CA Version Software Version 01 Mounting Vertical for 360 Version V Horizontal for 80 Version H Housing Material Indust...

Страница 40: ...ACS CANopen Manual Version 20110928 40 of 44 ACCELENS ACS CANopen Appendix C Output Graphs ACS 360 CANopen Output Values ACS 080 CANopen Output Values...

Страница 41: ...he base with rotary switches APV Absolute Position Value B Baud rate Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of...

Страница 42: ...network L Line terminator Resistor terminating the main segments of the bus LMT Network management object This is used to configure the parameters of each layer in the CAN Master Active device within...

Страница 43: ...ite Only Parameter that is only accessible in write mode Disclaimer FRABA N V all rights reserved We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to...

Страница 44: ...ACS CANopen Manual Version 20110928 44 of 44 ACCELENS ACS CANopen NOTES...

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