IL•1F CANopen DS301 Fieldbus interface Fieldbus manual 0198441113586, V2.01, 11.2008 V2.01, 11.2008 www.schneider-electric.
Important information IL•1F CANopen DS301 Important information This manual is part of the product. Carefully read this manual and observe all instructions. Keep this manual for future reference. Hand this manual and all other pertinent product documentation over to all users of the product. Carefully read and observe all safety instructions and the chapter "Before you begin - safety information". Some products are not available in all countries.
IL•1F CANopen DS301 Table of Contents Table of Contents Important information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Writing conventions and symbols. . . . . . . . . . . . . . . . . . . . . . . 7 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.
Table of Contents IL•1F CANopen DS301 5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.1 Commissioning the device . . . . . . . . . . . . . . . . . . . . . . 53 5.2 Address and baud rate . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.3 5.3.1 5.3.2 Commissioning the fieldbus network . . . . . . . . . . . . . . 54 Starting fieldbus mode . . . . . . . . . . . . . . . . . . . . . . . 54 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . .
IL•1F CANopen DS301 Table of Contents 8 Object directory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 8.1 8.1.1 8.1.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 Specifications for the objects . . . . . . . . . . . . . . . . . . 79 Objects, overview . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 8.2 Objects of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 81 9 Glossary. . . . . . . . . . . . . . . . . .
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IL•1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols Work steps If work steps must be performed consecutively, this sequence of steps is represented as follows: 쮿 Special prerequisites for the following work steps 왘 Step 1 컅 Specific response to this work step 왘 Step 2 If a response to a work step is indicated, this allows you to verify that the work step has been performed correctly.
IL•1F CANopen DS301 0198441113586, V2.01, 11.
IL•1F CANopen DS301 1 Introduction 1.1 About this manual 1 Introduction This manual describes the fieldbus specifics for products in a fieldbus network addressed via CANopen DS301. 1.2 CAN-Bus The CAN bus (Controller Area Network) was originally developed for fast, economical data transmission in the automotive industry. Today, the CAN bus is also used in industrial automation technology and has been further developed for communication at fieldbus level.
1 Introduction 1.3 IL•1F CANopen DS301 Fieldbus devices networked via CAN bus Different fieldbus devices can be operated in the same fieldbus segment. The CANopen bus provides a common basis for interchanging commands and data between the product described and other network devices. L N Figure 1.1 1.4 Fieldbus devices in the network Operating modes and functions in fieldbus mode This manual only describes the protocol for the slave.
IL•1F CANopen DS301 1.5 1 Introduction Documentation and literature references Manuals In addition to this fieldbus manual, the following manuals also belongs to the product: • CAN users and manufacturers organization CANopen standards CiA - CAN in Automation Am Weichselgarten 26 D-91058 Erlangen http://www.can-cia.org/ • CiA Standard 301 (DS301) CANopen application layer and communication profile V4.02, February 2002 • CiA Standard 402 (DSP402) Device profile for drives and motion control V2.
IL•1F CANopen DS301 0198441113586, V2.01, 11.
IL•1F CANopen DS301 2 2 Before you begin - safety information Before you begin - safety information 0198441113586, V2.01, 11.2008 The information provided in this manual supplements the product manual. Carefully read the product manual before you begin.
IL•1F CANopen DS301 0198441113586, V2.01, 11.
IL•1F CANopen DS301 3 Basics 3 Basics 3.1 CANopen technology 3.1.1 CANopen description language CANopen is a device- and manufacturer-independent description language for communication via the CAN bus. CANopen provides a common basis for interchanging commands and data between CAN bus devices. 3.1.2 Communication layers CANopen uses the CAN bus technology for data communication. CANopen is based on the basic network services for data communication as per the ISO-OSI model model.
3 Basics 3.1.3 IL•1F CANopen DS301 Objects All processes under CANopen are executed via objects. Objects carry out different tasks; they act as communication objects for data transport to the fieldbus, control the process of establishing a connection or monitor the network devices. If objects are directly linked to the device (device-specific objects), the device functions can be used and changed via these objects.
IL•1F CANopen DS301 3 Basics receiving devices. Data types are declared by means of the objects of the data types. CANopen objects carry out various tasks in fieldbus mode. Profiles group the objects by tasks. 0198441113586, V2.01, 11.
3 Basics 3.1.4 IL•1F CANopen DS301 CANopen profiles Standardized profiles Standardized profiles describe objects that are used with different devices without additional configuration. The users and manufacturers organization CAN in Automation has standardized various profiles.
IL•1F CANopen DS301 3.2 3 Basics Communication profile CANopen manages communication between the network devices with object dictionaries and objects. A network device can use process data objects (PDO) and service data objects (SDO) to request the object data from the object dictionary of another device and, if permissible, write back modified values. The following can be done by accessing the objects of the network devices 3.2.
3 Basics IL•1F CANopen DS301 Structure of object dictionary The objects in the object dictionary are sorted by index values. Table 3.3 shows the index ranges of the object dictionary according to the CANopen specifications.
IL•1F CANopen DS301 3.2.2 3 Basics Communication objects Overview The communication objects are standardized with the DS301 CANopen communication profile. The objects can be classified into 4 groups according to their tasks. PDO T_PDO1 T_PDO2 T_PDO3 T_PDO4 SDO Special objects R_PDO1 R_PDO2 R_PDO3 R_PDO4 SYNC EMCY Communication objects NMT Services NMT Node guarding NMT Heartbeat T_SDO R_SDO Figure 3.
3 Basics IL•1F CANopen DS301 CAN message Data is exchanged via the CAN bus in the form of CAN messages. A CAN message transmits the communication object and a variety of administration and control information. CAN message 1 11 1 6 16 1 Data CRC 0..8 Byte 1 1 7 >=3 End-Bits Acknowledge Control RTR-Bit Identifier Start-Bit COB-ID 11 Bit 4 Bit data carrier 0..8 Byte 7 Bit 0 1 2 3 4 5 6 7 CANopen message (simplified) Figure 3.
IL•1F CANopen DS301 COB IDs of the communication objects 3 Basics The following table shows the COB IDs of all communication objects with the factory settings. The column "Index of object parameters" shows the index of special objects with which the settings of the communication objects can be read or modified via an SDO. Communication object Function code Node address, node ID [1...
3 Basics IL•1F CANopen DS301 Example Selection of a COB ID For a device with the node address 5, the COB ID of the communication object T_PDO1 is: 384+node ID = 384 (180h) + 5 = 389 (185h). Data frame The data frame of the CANopen message can hold up to 8 bytes of data. In addition to the data frame for SDOs and PDOs, special frame types are specified in the CANopen profile: • Error data frame • Remote data frame for requesting a message The data frames contain the respective communication objects.
IL•1F CANopen DS301 Client-server relationship 3 Basics A client-server relationship is established between 2 devices. The "server" is the device whose object dictionary is used during data exchange. The "client" addresses and starts the exchange of messages and waits for a confirmation from the server. A client-server relationship with SDOs is used to send configuration data and long messages. data Client data Figure 3.
3 Basics IL•1F CANopen DS301 3.3 Service data communication 3.3.1 Overview Service Data Object(SDO: Service Data Object) can be used to access the entries of an object dictionary via index and subindex. The values of the objects can be read and, if permissible, also be changed. Every network device has at least one server SDO to be able to respond to read and write requests from a different device.
IL•1F CANopen DS301 3.3.3 3 Basics SDO message Put simply, an SDO message consists of the COB ID and the SDO data frame, in which up to 4 bytes of data can be sent. Longer data sequences are distributed over multiple SDO messages with a special protocol. The device sends SDOs of up to 4 bytes data length (data). Greater amounts of data such as 8 byte values of the data type "Visible String 8" can be distributed over multiple SDOs and are transmitted successively in 7 byte blocks.
3 Basics 3.3.4 IL•1F CANopen DS301 Reading and writing data Writing data The client starts a write request by sending index, subindex, data length and value. The server sends a confirmation indicating whether the data was correctly processed. The confirmation contains the same index and subindex, but no data.
IL•1F CANopen DS301 Reading data 3 Basics The client starts a read request by sending the index and subindex that point to the object or the object value whose value it wants to read. The server confirms the request by sending the desired data. The SDO response contains the same index and subindex. The length of the response data is specified in the command code "ccd".
3 Basics IL•1F CANopen DS301 Error response If a message could not be evaluated without errors, the server sends an error message. For details on the evaluation of the error message see chapter 7 "Diagnostics and troubleshooting". Client Server 0 COB-ID ccd: 4 5 6 7 error response data Byte 4-7 error code 80 Response with error message (error response) 0198441113586, V2.01, 11.2008 Figure 3.
IL•1F CANopen DS301 3 Basics 3.4 Process data communication 3.4.1 Overview This chapter describes the flow of information from the perspective of your product in compliance with CiA standard DS301. The designation "receive" relates to a flow of data from the master to the product, while "transmit" represents a flow of data from the product to the master.
3 Basics 3.4.2 IL•1F CANopen DS301 PDO data exchange PDO Consumer R_PDO COB-ID PDO Consumer R_PDO Data CAN T_PDO PDO Producer Figure 3.16 R_PDO PDO Consumer PDO data exchange Data exchange with PDOs follows to the producer-consumer relationship and can be triggered in 3 ways • Synchronized • Event-driven, asynchronous • On request of a consumer, asynchronous The SYNC object controls synchronized data processing.
IL•1F CANopen DS301 Remotely requested 3 Basics Transmission of an asynchronous PDO is triggered when an external request is received. Such a "Remote Request" is represented by a special bit in the CAN transmission frame; it has the same COB ID (communication object identifier) as the requested communication object. An overview of the individual transmission types can be found in the object dictionary, PDO parameters. Bit mask for T_PDO4 A bit mask can be defined for the objects CAN.
3 Basics IL•1F CANopen DS301 Requesting process data One or more network devices with consumer function can request PDO messages from a producer. The producer is identified by the COB ID of the request and responds with the requested PDO. RTR COB-Id 1 Producer Consumer COB-Id Figure 3.18 0 Daten Requesting a message with RTR = 1 The RTR bit (RTR: Remote Transmission Request) of a CAN message is used to detect a request.
IL•1F CANopen DS301 3.4.2.
3 Basics IL•1F CANopen DS301 State machine – drivectrl The state machine is controlled via PDO4 or the SDO object drivectrl, 28:1, in both cases via bits Bits 0 ... 4. In PDO mode, a change form 0 to 1 triggers the corresponding function. In the case of access via SDO, a write access with a set bit value is sufficient, i.e. a change of edge is not required. Controlling the state machine PDO4Bits 0 ... 4 SDO object drivectrl, 28:1Bits 0 ...
IL•1F CANopen DS301 3 Basics Operating modes – modeCtrl In PDO mode, the operating modes are controlled via object modeCtrl. The master must enter the following values to activate an operating mode or to change reference values: • Reference values in fields "Ref16" and "Ref32" • Select operating mode with modeCtrl, Bits 0 ... 2 (MODE) • Select action for this operating mode with modeCtrl, bits 4 ...
3 Basics IL•1F CANopen DS301 Reference positions are entered in increments, reference speeds in [min-1]. @ WARNING UNINTENDED OPERATION • Note that any changes to the values of these parameters are executed by the drive controller immediately on receipt of the data set. • Verify that the system is free and ready for movement before changing these parameters. Failure to follow these instructions can result in death, serious injury or equipment damage.
IL•1F CANopen DS301 3 Basics Structure of T_PDO4: Byte 1 2 3 4 5 6 7 8 actual position (pact), 32 bits IO_act, 8 bits modeStat, 8 bits driveStat, 16 bits driveStat Bit 15 x err 14 13 12 --- 8 x_end x_info 0 0 0 0 0 7 6 5 4 3 --- 0 warn Sig_SR FltSig 0 cos modeStat Bit 7 6 MT ME 5 ref_ok 4 0 3 0 2 1 0 mode actual operation mode drive referenced Mode Error Mode Toggle IO_act Bit 7 0 6 0 5 4 STO_B STO_A 3 2 1 0 IO3 IO2 IO1 IO0 STO_A / STO_B (PWRR_A / PWRR_B) Figure 3.
3 Basics IL•1F CANopen DS301 Operating mode modeStat This field corresponds to bits 0 ... 2 of the object Status.xMode_act. Bits 6 and 7 provide additional information that can be used for synchronized operating mode control via the PDOs. The field contains the following information: Bit Name Description 0...2 mode currently set operating mode as in R_PDO4 5 ref_ok Is set if homing of the product by means of a reference movement or position setting was successful.
IL•1F CANopen DS301 Example of short positioning 3 Basics The master starts a positioning movement that will only take a very short time. The duration is shorter than the polling cycle of the master. At point in time t1 the movement is already complete. Using bit x_end, the master does not know whether the movement is already complete or has not yet been started.
3 Basics IL•1F CANopen DS301 Handling of errors If the master toggles bit 7 (MT), this is interpreted by the slave as a request to start an operating mode or to change data of the current operating mode. If the request cannot be processed, the active operating mode is not changed and the slave sets bit 6 in modeStat (ME = ModeError). The active operating mode is not changed and there is no state transition.
IL•1F CANopen DS301 3.4.2.5 3 Basics Emergency service The Emergency Service signals internal device errors via the CAN bus. The error is sent to all network devices with an EMCY object according to the "Consumer-Producer" relationship. EMCY-Consumer COB-ID EMCY-Consumer data CAN EMCY-Consumer EMCY-Producer Figure 3.
3 Basics 3.5 IL•1F CANopen DS301 Synchronization The synchronization object SYNC controls the synchronous exchange of messages between network devices for purposes such as the simultaneous start of multiple drives. The data exchange conforms to the producer-consumer relationship. The SYNC object is transmitted to all devices by a network device and can be evaluated by all devices that support synchronous PDOs. SYNC-Consumer SYNC-Consumer COB-ID CAN SYNC-Consumer SYNC- Producer Figure 3.
IL•1F CANopen DS301 Cyclic ad acyclic data transmission 3 Basics Synchronous exchange of messages can be cyclic or acyclic. T_PDO1: acyclical T_PDO2: cyclical SYNC Figure 3.27 Cyclic and acyclic transmission In the case of cyclic transmission, PDO messages are exchanged continuously in a specified cycle, e.g. with every SYNC message. If a synchronous PDO message is transmitted acyclically, it can be transmitted or received at any time; however, it will not be valid until the next SYNC message.
3 Basics 3.6 IL•1F CANopen DS301 Network management services Network management (NMT) is part of the CANopen communication profile; it is used to initialize the network and the network devices and to start, stop and monitor the network devices in network mode. NMT services are executed in a master-slave relationship. The NMT master addresses individual NMT slaves via their node address. A message with node address "0" is directed to all NMT slaves simultaneously.
IL•1F CANopen DS301 Initialization 3 Basics An NMT slave automatically runs through an initialization phase after the supply voltage is switched on (power on) to prepare it for CAN bus operation. On completion of the initialization, the slave switches to the state "Pre-operational" and sends a boot-up message. From now on, an NMT master can control the operational behavior of an NMT slave in the network via 5 NMT services, represented in the above illustration by the letters A to E.
3 Basics IL•1F CANopen DS301 NMT message The NMT services for device control are transmitted as unconfirmed messages with the COB ID = 0 . By default, they have the highest priority on the CAN bus. The data frame of the NMT device service consists of 2 bytes. Byte 0 NMTMaster 0 01 NMTSlave 1 00 NMTSlave Node-ID COB-ID Figure 3.30 Command specifier NMTSlave NMT message The first byte, the "Command specifier", indicates the NMT service used.
IL•1F CANopen DS301 Structure of the NMT message 3 Basics After a request from the NMT master, the NMT slave responds with one data byte. Node-ID=04h COB-ID 704h Master Slave 704h guard time 05h 704h 704h 85h 704h 704h ... Bit 7 6 0 05h = 0 0 0 0 0 1 0 1 Figure 3.
3 Basics IL•1F CANopen DS301 Connection error The NMT master signals a connection error to the master program if: • the slave does not respond within the "guard time" period • the NMT state of the slave has changed without a request by the NMT master. Figure 3.32 shows an error message after the end of the third cycle because of a missing response from an NMT slave. request guard time Master Slave response request life time response request no response message Figure 3.
IL•1F CANopen DS301 4 4 Installation Installation @ WARNING LOSS OF CONTROL • The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are EMERGENCY STOP, overtravel stop, power outage and restart. • Separate or redundant control paths must be provided for critical functions.
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IL•1F CANopen DS301 5 5 Commissioning Commissioning @ DANGER UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION When the system is started, the drives are usually out of the operator's view and cannot be visually monitored. • Only start the system if there are no persons in the hazardous area. Failure to follow these instructions will result in death or serious injury. @ WARNING UNINTENDED OPERATION • Do not write values to reserved parameters.
5 Commissioning 5.2 IL•1F CANopen DS301 Address and baud rate Up to 32 devices can be addressed in one CAN bus network branch and up to 127 devices in the extended network. Each device is identified by a unique address. The default node address for a device is 127. The default baud rate is 125 kbaud. Each device must be assigned its own node address, i.e. any given node address may be assigned only once in the network.
IL•1F CANopen DS301 5.3.2 5 Commissioning Troubleshooting Check the following settings if the slave does not respond: 왘 Did you start the slave and switch on the master? 왘 Are all cable connections ok (electrically and mechanically)? 왘 Did you set the correct address at the slave? Check the DIP switch and HEX switch settings. The settings are described in the product manual. Products without DIP switches have the following default settings: CAN address 127 (7Fh) and baud rate 125 [kBit/s].
5 Commissioning 5.4 IL•1F CANopen DS301 SyCon CANopen configuration software The CANopen network can be configured with the "SyCon" configuration software. An additional EDS file is included in the SYCON subdirectory on the product CD. 왘 Procedure: 5.4.1 Creating a new network Create a new network via the menu item "File - New". 왘 Select CANopen as the fieldbus network. 왘 Confirm your selection with "OK". 5.4.
IL•1F CANopen DS301 5.4.3 5 Commissioning Setting the bus parameters The menu item "Settings - Bus Parameter..." allows you to set the CANopen communication parameters. Please also consult the operating instructions of the SyCon configuration software. 0198441113586, V2.01, 11.2008 왘 Confirm your selection with "OK".
5 Commissioning 5.4.4 IL•1F CANopen DS301 Selecting and inserting nodes Use the menu item "Insert - Node" to select the network nodes. The example shows a Lexium 05. 0198441113586, V2.01, 11.2008 왘 Confirm your selection with "OK".
IL•1F CANopen DS301 6 6 Operation Operation @ WARNING UNINTENDED OPERATION • Do not write values to reserved parameters. • Do not write values to parameters unless you fully understand the function. For more information see the product manual. • Run initial tests without coupled loads. • Verify that the system is free and ready for the movement before changing parameters. • Verify the use of the bits with fieldbus communication: bit 0 is far right (least significant).
6 Operation IL•1F CANopen DS301 Structure of the examples The PDOs are described from the perspective of the slave: The examples describe: • Task • Initial conditions • Required commands in the transmit data frame • Response of the product in the receive data frame • Possible restrictions for command execution. You should be familiar with the following to be able to understand the examples: Product manual • Operating concept and functionality of the product.
IL•1F CANopen DS301 6 Operation 6.2 Using SDO commands 6.2.1 Writing parameters Task The parameter Motion.acc, 29:26 (acceleration) is to be set to a value of 10,000. Index and subindex must be converted to hexadecimal notation and the constant 3000h added to the index for the SDO access: • Index:29 = 1Dh + 3000h = 301Dh • Subindex: 26 = 1Ah • Value:10000 = 00002710h The value 23h is to be entered as a CCD (Client Command Specifier) since the parameter has a 32 bit data type.
6 Operation 6.2.2 IL•1F CANopen DS301 Reading a parameter Task The parameter Status.n_act, 31:9 (actual speed) is to be read. Index and subindex must be converted to hexadecimal notation and the constant 3000h added to the index for the SDO access: • Index:31 = 1Fh + 3000h = 301Fh • Subindex 9 = 09h The value "40h" must be entered as the CCD. This value identifies a "Read Request". Transmit data Object COB ID CCD Idx Sdx Data Description Tx 301Fh:09h Status.
IL•1F CANopen DS301 6.3 6 Operation Changing operating states with PDO4 The product operates in different operating states. The individual operating states are numbered from 1 to 9 . The operating states and the transition conditions are described in more detail in the product manual, chapters "Basics" and "Operation".
6 Operation 6.3.1 IL•1F CANopen DS301 Switching the power stage on and off The power stage is enabled by the transition from operating state 4 to 6 . For this purpose, the two bits Enable and Disable are available in the R_PDO4. One of them must be "1", the other "0". Enabling the power stage Prerequisite: the product in in operating state 4. To enable the power stage, a "0 -> 1" edge must be generated in drivectrl, bit 1 (Enable). This can be done by deleting bit 0 (Disable) and setting bit 1 .
IL•1F CANopen DS301 6 Operation Example Master <---> Slave "Enable" is requested ---> drivectrl 02h Slave signals operating state 6 <--- driveStat XXX6h request "Quick Stop" and "Enable" ---> drivectrl 06h Slave signals operating state 7 <--- driveStat XXX7h Wait until the product has ---> come to a standstill and the system is to resume operation <--- drivectrl 12h Slave signals operating state 6 ---> driveStat XXX6h Cancel "Quick Stop Release" <--- drivectrl 02h 0198441113586, V2.
6 Operation 6.3.3 IL•1F CANopen DS301 Resetting faults If an error occurs during operation, the product switches to operating state 7 "Quick Stop" or operating state 9 "Fault", depending on the type of error. After having remedied the cause of the fault, you can reset the error state with a Fault Reset ("0 -> 1" edge in drivectrl, bit 3). If the product was originally in operating state 7, it will switch to operating state 6 after the "Fault Reset".
IL•1F CANopen DS301 6.4 6 Operation Examples for the operating modes with PDO4 R_PDO4 With the R_PDO4 you can start motion commands and change them while they are being processed. R_PDO4 provides three fields for these purposes: • modeCtrl Starting and changing operating modes • "Ref16" and "Ref32" Operating mode-dependent reference values The specified values for these three fields are not taken over by the product until modeCtrl, bit 7 (ModeToggle) changes.
6 Operation 6.4.1 IL•1F CANopen DS301 Operating mode Profile Position: absolute positioning To start an absolute positioning movement, the following settings must be made in the R_PDO4: 왘 Enter the reference speed in "Ref16" and the target position in "Ref32". 왘 Enter operating mode 03h (Profile Position operating mode, abso- lute positioning) in the field modeCtrl. 왘 Change modeCtrl, bit 7, so the data is taken over by the product.
IL•1F CANopen DS301 6.4.2 6 Operation Operating mode Profile Position: relative positioning Relative positioning is similar to absolute positioning. You only need to enter the value 13h (operating mode Profile Positioning, relative positioning) in field modeCtrl. Also note that several target positions transmitted in succession are added up.
6 Operation IL•1F CANopen DS301 Example The Profile Velocity operating mode is started with a reference speed of 1000 min-1 (03E8h). The reference speed is changed to 2000 min-1 (07D0h) during the movement.
IL•1F CANopen DS301 6.4.5 6 Operation Operating mode Homing During the reference movement a limit switch or reference switch is approached and then a new value is assigned to this position. Before a reference movement is started, the parameters must be set by means of SDO write access to satisfy the requirements. See the product manual for detailed information on parameterization and on performing a reference movement.
6 Operation IL•1F CANopen DS301 6.5 Error signaling via PDO4 6.5.1 Synchronous errors If a request for an operating mode sent via R_PDO4 cannot be processed by the product, the product rejects processing and sets modeStat, bit 6 ("ModeError") in the T_PDO4. This does not interrupt the current process. To determine the cause of the error, the master can read the error number from the object CAN.modeError, 30:11 with an SDO access. Example The product rotates in Profile Velocity operating mode.
IL•1F CANopen DS301 Example: 6 Operation External monitoring triggers a fault message; positive limit switch "LIMP" was hit. Master <---> Slave Positioning running xerr=0, xend=0 T_PDO4 <--- driveStat 0006h modeStat 03h p_act XXXXXXXXh Limit switch detected xerr=1, xend=0 T_PDO4 <--- driveStat 8047h modeStat 03h p_act XXXXXXXXh Motor stopped xerr=1, xend=1 T_PDO4 <--- driveStat C047h modeStat 03h p_act XXXXXXXXh Table 6.9 Asynchronous error, triggering of an external 0198441113586, V2.
IL•1F CANopen DS301 0198441113586, V2.01, 11.
IL•1F CANopen DS301 7 Diagnostics and troubleshooting 7 Diagnostics and troubleshooting 7.1 Fieldbus communication error diagnostics A properly operating fieldbus is essential for evaluating operating and error messages. Connections for fieldbus mode If the product cannot be addressed via the fieldbus, first check the connections. The product manual contains the technical data of the device and information on network and device installation.
7 Diagnostics and troubleshooting 7.2 Error diagnostics via fieldbus 7.2.1 Message objects IL•1F CANopen DS301 A number of objects provide information on the operating and error state: 7.2.2 • Object Statusword (6041h) Operating states, see product manual • Object EMCY (80h+ Node-ID) Error message from a device with fault state and error code, see chapter 3.4.2.
IL•1F CANopen DS301 7.3 7 Diagnostics and troubleshooting CANopen error messages CANopen error messages are signaled in the form of EMCY messages. They are evaluated via the objects Error register (1001h) and Error code (603Fh). For information on the object EMCY see chapter 3.4.2.5 "Emergency service". CANopen signals errors that occur during data exchange via SDO with the special SDO error message ABORT. 7.3.
7 Diagnostics and troubleshooting 7.3.3 IL•1F CANopen DS301 SDO error message ABORT An SDO error message is generated as a response to an SDO transmission error. The cause of error is contained in error code, byte 4 to byte 7. Client Server 0 COB-ID ccd: Figure 7.1 2 3 1 ccd Idx2 Idx1 Sidx 4 5 6 error response 7 data Byte 4-7 error code 80 SDO error message as a response to an SDO message The table below shows all error messages that may occur during data exchange with the product.
IL•1F CANopen DS301 8 Object directory 8.1 Overview 8 Object directory This object dictionary only describes the protocol for the product as per CANopen DS 301. The objects for controlling operating modes, functions and all parameters can be found in the product manual for the product. 8.1.1 Specifications for the objects Index Object code Access The index specifies the position of the object in the object dictionary. The index value is specified as a hexadecimal value.
8 Object directory Can be saved IL•1F CANopen DS301 yes: values can be saved to the memory of the product and are available when the product is switched on again. –: values are lost when the product is switched off. Index Objects, overview Subindex Designation Obj.
IL•1F CANopen DS301 8.2 8 Object directory Objects of the product 1000h Device type The object specifies the device profile used as well as the device type. Object description Value description 1001h Index 1000h Object name device type Object code VAR Data type Unsigned32 Subindex 00h, device type Meaning Device type and profile Access read-only PDO mapping – Value range – Default value 0 Can be saved – Error register The object specifies the error state of the product.
8 Object directory IL•1F CANopen DS301 Bit coding, subindex 00h 1008h Bit Access Value Meaning 0 ro – Error! (generic error) 1 ro – Current 2 ro – Voltage 3 ro – Temperature 4 ro – Communication profile (communication error) 5 ro – Device profile (device profile error) 6 ro – Reserved 7 ro – Manufacturer-specific Manufacturer device name The object specifies the device name (e.g.
IL•1F CANopen DS301 8 Object directory The time span for connection monitoring of an NMT master results from the time span "guard time" multiplied by the factor "life time", object Life time factor (100Dh). The time span can be changed in the NMT state "Pre-Operational". 100Dh Life time factor The object specifies the factor that, together with the time span "guard time", results in the time interval for connection monitoring of an NMT master.
8 Object directory IL•1F CANopen DS301 Value description 1018h Subindex 00h, inhibit time EMCY Meaning Waiting time for repeated transmission of an EMCY Access read-write PDO mapping – Value range 0...65535 Default value 0 Can be saved – Identity Object Value description 84 Index 1018h Object name Identity Object Object code RECORD Data type Identity Subindex 00h, number of elements Meaning Number of subindexes Access read-only PDO mapping – Value range 1...
IL•1F CANopen DS301 1403h 8 Object directory Receive PDO4 communication parameter The object stores settings for the fourth receive PDO R_PDO4. Object description 0198441113586, V2.01, 11.
8 Object directory IL•1F CANopen DS301 Bit assignment subindex 01h Bit 31 Subindex 04h, compatibility entry R_PDO4 Meaning For compatibility purposes only Access read-write PDO mapping – Value range – Default value – Can be saved – Subindex 05h, event timer R_PDO4 Meaning Time setting for event triggering Access read-write PDO mapping – Value range – Default value 0 Can be saved – Bit Acces Value s Meaning 31 rw 0b 0: PDO is active 1: PDO is inactive 30 ro 0b 0: RTR
IL•1F CANopen DS301 8 Object directory If an R_PDO is transmitted synchronously (transmission type=0..252), the product evaluates the received data depending on the SYNC object. • In the case of acyclic transmission (transmission type=0), the evaluation depends on the SYNC object, but not the transmission of the PDO. A received PDO message is evaluated with the following SYNC. A value between 1 and 240 specifies the number of SYNC cycles after which a received PDO is evaluated.
8 Object directory 88 Subindex 00h, number of elements Meaning Number of subindexes Access read-only PDO mapping – Value range – Default value 4 Can be saved – Subindex 01h, 1st mapped object R_PDO4 Meaning First object for mapping in R_PDO4 Access read-only PDO mapping – Value range – Default value 0x301E0108 Can be saved – Subindex 02h, 2nd mapped object R_PDO4 Meaning Second object for mapping in R_PDO4 Access read-only PDO mapping – Value range – Default value 0x
IL•1F CANopen DS301 Bit coding from subindex 01h Settings 8 Object directory Every subindex entry from subindex 01h on specifies the object and the byte length of the object. The object is identified via the index and the subindex, which refer to the object dictionary of the device. Bit Meaning 31..16 Index 15..8 Subindex 7..0 Object length in bytes The assignment of the R_PDO4 is preset and cannot be modified. The assignment is described in 3.4.2.2 "Receive PDO R_PDO4 (master -> slave)".
8 Object directory IL•1F CANopen DS301 Subindex 03h, inhibit time T_PDO4 Meaning Delay time for repeated transmission (in [100μsec]). The value is rounded down to milliseconds as an integer value. Access read-write PDO mapping – Value range 0...
IL•1F CANopen DS301 Subindex 00h, number of elements Meaning Number of subindexes Access read-only PDO mapping – Value range – Default value 4 Can be saved – Subindex 01h, 1st mapped object T_PDO4 Meaning First object for the mapping in T_PDO4 Access read-only PDO mapping – Value range – Default value 0x301E0410 Can be saved – Subindex 02h, 2nd mapped object T_PDO4 Meaning Second object for the mapping in T_PDO4 Access read-only PDO mapping – Value range – Default valu
8 Object directory IL•1F CANopen DS301 Subindex 03h, 3rd mapped object T_PDO4 Meaning Third object for the mapping in T_PDO4 Access read-only PDO mapping – Value range – Default value 0x301E0708 Can be saved – Subindex 04h, 4th mapped object T_PDO4 Meaning Fourth object for the mapping in T_PDO4 Access read-only PDO mapping – Value range – Default value 0x301E0820 Can be saved – The meaning of the bit states is described with the object receive PDO4 mapping (1603h).
IL•1F CANopen DS301 9 Glossary 9 Glossary 9.1 Units and conversion tables The value in the specified unit (left column) is calculated for the desired unit (top row) with the formula (in the field). Example: conversion of 5 meters [m] to yards [yd] 5 m / 0.9144 = 5.468 yd 9.1.1 in ft yd m cm mm in - / 12 / 36 * 0.0254 * 2.54 * 25.4 ft * 12 - /3 * 0.30479 * 30.479 * 304.79 yd * 36 *3 - * 0.9144 * 91.44 * 914.4 m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000 cm / 2.
9 Glossary Rotation min-1 (RPM) min-1 (RPM) - rad/s deg./s * π / 30 *6 rad/s * 30 / π - * 57.295 deg./s /6 / 57.295 - 9.1.6 Torque lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106 lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106 oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5 Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106 kp·m / 0.011521 / 0.
IL•1F CANopen DS301 9.2 9 Glossary Terms and Abbreviations AC CAN (Controller Area Network), standardized open fieldbus as per ISO 11898, allows drives and other devices from different manufacturers to communicate. CANopen Device- and manufacturer-independent description language for communication via the CAN bus CiA CAN in Automation, CAN interest group, standardization group for CAN and CANopen.
9 Glossary IL•1F CANopen DS301 Power stage Heartbeat HMI Power amplifier The power stage controls the motor. The power stage generates current for controlling the motor on the basis of the positioning signals from the controller. Used for unconfirmed connection acknowledgement messages from network devices. Human Machine Interface: hand-held operating device.
IL•1F CANopen DS301 10 10 Index Index A Abbreviations 95 ABORT 76, 78 Acyclic data transmission 45 Address 54 Checking 75 Asynchronous errors 76 B Baud rate 54 Checking 75 Before you begin Safety information 13 Bit field data 22 Bit field identifier 22 Bit fields Data 22 Identifier 22 Boot Up Message 47 Bus arbitration 22 C CAN 0198441113586, V2.01, 11.2008 message 22 CAN 3.
10 Index IL•1F CANopen DS301 Read value 29 SDO 27 Write value 28 Command specifier 48 Command-code See command code Commissioning 53 Commissioning the device 53 Communication objects COB IDs 23 Controlling 22 Identification 22 overview 21 Communication profile DS301 18 Communication relationship client - server 24 master - slave 24 producer - consumer 24 Connection error Node guarding 50 Connection monitoring NMT services 48 Cyclic data transmission 45 D Data 0198441113586, V2.01, 11.
IL•1F CANopen DS301 10 Index messages for CANopen 77 Response with SDO 30 Error code table 77 Error diagnostics Connections to for fieldbus operation 75 Function test of fieldbus 75 error register 77 Example SDO message 27 Selection of a COB ID 24 F Function code 23 function code See Function code Function test Fieldbus 75 G Glossary 93 H Homing 71 I Identification of communication objects 22 Index SDO 27 Interruption of movement Cause 77 Introduction 9 L Layer model Application Layer 15 Data Link La
10 Index IL•1F CANopen DS301 Messages Asynchronous errors 76 Error code (603Fh) 77 Error register (1001h) 77 on the device status 76 Synchronous errors 76 Mode Toggle 40 Multimaster capability 9 N Network management See NMT NMT Message 48 Network services 46 Recipient of a message 48 Services Initialization 47 services 21, 46 for connection monitoring 48 for device control 46 State machine 46 State of slave 49 Structure of a message 49 Node address 22, 23, 48 Node guarding 48 COB ID 48 Connection error 5
IL•1F CANopen DS301 10 Index Profiles standardized 18 Vendor-specific 18 R Real-time data exchange 31 Recipient of an NMT message 48 Residual error probability 9 Response to SDO error 30 S 0198441113586, V2.01, 11.
10 Index IL•1F CANopen DS301 Terms 95 Time values For synchronization 44 Troubleshooting 75 U Units and conversion tables 93 V 0198441113586, V2.01, 11.
