Software 1 General. 4 Manufacturer-Specific Parameters Overview Special Parameters Motor Parameters 19 5 Error Codes 33

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1 BG65 CI Parameter Description History Date Changes June 04 July 04 Oct 04 Nov 04 March 05 June05 Parameter 33A0h cycle time velocity controller Digital Input / Output description Digital Output description revised Object 3000h extended New objects for position window, homing, ramps in curren mode Position window timeout error code added Table Of Contents 1 General About This Manual CAN (Controller Area Network) 4 2 Putting Into Operation - Configuration Of NodId And Baud Rate Getting Started - Changing of Baud Rate And NodeId Factory Setting Standard Procedure - LMT Services Manufacturer-Specific Procedure Value Range 5 3 CANopen - Object Directory - Standard According To CIA General Objects According To DS301 Standard Objects According To DSP402 CANopen - Device Profile 8 4 Manufacturer-Specific Parameters Overview Special Parameters Motor Parameters 19 5 Error Codes 33 Software 1 General 1.1 About This Manual This manual contains all information required for defining the parameters and for putting the controller into operation. It describes the parameters of the amplifiers used for configuration and control of the devices. Basis knowledge of the CAN communication structure is required. 1.2 CAN (Controller Area Network) The communication protocol was implemented according to CAN Open Standard CIA/DS 301, version To parameterise the bus configuration, LMT services according to CIA/DS205-1 are available. The object directory consists of a manufacturer-specific range (index range 0x3000 to 0x3FFF) and the drive profile according to CIA/DSP 402, version 2.0, for motion control. 2 Putting Into Operation - Configuration Of NodId And Baud Rate 2.1 Getting Started - Changing of Baud Rate And NodeId Connect the motor individually (not within the CAN network) to a master (PC). The communication parameters of the master should be reset to the factory settings of the motor to allow initial communication. It is recommended to use the available CAN monitor.

2 2.2 Factory Settings Baud rate : 125 kbit/s NodeId : 127 After communication is established with the motor, NodeId and baud rate can be changed by using the two procedures described below. If the starter kits (CAN monitor and CAN adapter for the LPT interface) are used, tools are available that facilitate this configuration. 2.3 Standard Procedure - LMT Services These services are implemented according to CIA in LMT Service Specification DS205/1, and require an LMT-capable master. Only function 'Switch mode Global' is available because of which only one motor should be connected to the CAN master. In this mode, the communication parameters of all subscribers are changed (global). Service 'Switch Mode Selective' is not implemented. 2.4 Manufacturer-Specific Procedure This procedure is better suited for putting into operation. Service data object 0x2000 is available that can be described as follows. Step Index Sub Index Value Comment 1 0x x6E Code for write enable 2 0x NodeId New NodeId 3 0x x6E Code for write enable 4 0x Baud rate New baud rate 2.5 Value Range NodeId : Baud rate: Index Baud rate 1M 800k 500k 250k 125k 100k 50k 20k 10k Value -1 causes a reset to factory settings.! After setting the new values, the motor should be turned off and on. The CAN master should also be reconfigured. NOTE: Simple scripts are available for the CAN monitor that facilitate this procedure. 3 CANopen - Object Directory - Standard According To CIA The object directory is essentially divided into three ranges: 1. General objects according to DS 301 (index range 1000h to 1FFFh) 2. Manufacturer-specific objects (index range 3000h to 3FFFh) 3. Drive-profile-specific objects according to DSP 402 (index range 6000h to 6FFFh) The objects according to DS 301 and DSP 402 are just listed in this manual. A detailed description can be found in the manuals published by CIA (CAN in Automation e. V.). Manufacturer-specific objects are described in full detail. In addition, various programming examples are available in the starter kit. 3.1 General Objects According To DS301 Standard These objects are described in more detail in CIA/DSP301. Index Name Object Type Attr. Default Value 1000h Device type VAR uint32 ro h

3 1001h Error register VAR uint8 ro 00h 1002h VAR h Pre-defined error field VAR uint32 ro h Cob-id sync VAR uint32 rw h 1008h Manufacturer device name VAR Vis string const "mcio" or "DSA" 1009h Manufacturer hardware version VAR Vis string const "1.20" 100Ah Manufacturer software version VAR Vis string const "1.20" 100Ch Guard time VAR uint16 rw 0 100Dh Life time factor VAR uint8 rw h Store parameters ARRAY uint32 rw h Restore default parameters ARRAY uint32 rw h COB-ID time stamp The data type of object "time stamp" is TIME_OF_DAY (refer to DS301 specification). The DAS devices only evaluate the first 28 bits of the message, i.e., the time stamp in milliseconds. If object 2020h.07 is set to value 1, the first 32 bits of message "time stamp" are interpreted as time stamp in milliseconds. Object 2020h, sub index 7: 0-28-bit time stamp [ms] (default) 1-32-bit time stamp [µs] NOTE: This object is only available for the following devices: mcio-c1-dsa mcio-c2-dsa mcio-d1-dsa VAR uint32 rw h 1014h COB-ID EMCY VAR uint32 rw h 1018h CAN Open Software Version RECORD uint32 rw 1029h RECORD uint32 rw Server SDO Parameter 1200h Server SDO1 parameter RECORD SDO Param ro h to 1406h, 1414h 1600h to 1606h, 1614h 1800h to 1806h, 1814h Receive PDO Parameter RPDO1 8 RxPDO1 receive parameter RECORD PDO Param RxPDO1 receive mapping RECORD PDO Mapp Transmit PDO Parameter TPDO1 8 TxPDO1 transmit parameter RECORD PDO Param rw - ro - rw - 1A00h to TxPDO1 receive mapping RECORD PDO Mapp ro -

4 1A06h, 1A14h 3.2 Objects According To DSP402 CANopen - Device Profile The objects in the drive profile for drives allow unified control of devices from various manufacturers, especially through the status engine and a number of important parameters. As not all parameters required for operation such as control parameters are defined in the drive profile, and parameters for this application cannot be used, also parameters within the manufacturer-specific range (3000h to 3fffh) have to be used. This list gives an overview of the existing objects. Detailed descriptions can be found in the documents published by CIA. NOTE The objects implemented here correspond to CIA/DSP 402, version 2.0, dated July 26th, Devices which have been implemented according to a previous standard, are not compatible with respect to all functions. This is especially true for several functions of the state engine, the dimension parameters and the guarding protocol (refer to DS 301).

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9 4 Manufacturer-Specific Parameters 4.1 Overview Special Parameters Index Motor Parameters Mode column: A - All C - Current (current regulator) V - Velocity (rotational speed controller) M - PWM (voltage regulator) VP - VPositionierregler (positioning controller)

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18 5 Error Codes This table contains a list of error codes that are returned via error register 3000h or parameter 1001h if an error occurs. Number Name Description -250 ERR_Cmd_UnknownCmd Invalid command -251 ERR_Cmd_UnexpectedCmd Unexpected command -252 ERR_Cmd_SyntaxError Invalid command syntax -253 ERR_Cmd_BadArgument Invalid command arguments -260 ERR_Cmd_BadArgumentsCount Invalid number of arguments -261 ERR_Cmd_IndexOutOfRange Specified index is greater than FFFFh

19 -262 ERR_Cmd_SubindexOutOfRange Specified sub index is greater than FFh -300 ERR_Par_DoesNotExist Parameter does not exist -301 ERR_Par_StoreFailed Memory write operation failed -302 ERR_Par_RestoreFailed Restore operation failed -306 ERR_Par_HasNotWritePermission Parameter cannot be written -307 ERR_Par_HasNotReadPermission Parameter cannot be read -308 ERR_Par_ValueOutOfRange Parameter value out of range -316 ERR_Par_BadVersion Version of stored parameter set does not match firmware version -318 ERR_Par_BadCRC Stored parameter set has invalid check sum -322 ERR_Par_CannotSet_AxIsMoving Parameter cannot be set - axis in motion -325 ERR_Par_CannotSet_PosModeIsNotEnabled Parameter cannot be set - positioning mode inactive -340 ERR_Par_CannotSet_HwLimitIsActive Parameter cannot be set - limit switch active -343 ERR_Par_CannotSet_StopOrHaltIsActive Parameter cannot be set - stop or halt command is currently executed -350 ERR_Par_IndexDoesNotExist Parameter not contained in specified index -351 ERR_Par_SubIndexDoesNotExist Parameter not contained in specified sub index ERR_FieldUnderVoltage Low supply voltage ERR_FieldOverVoltage Excessive supply voltage ERR_MainsUnderVoltage Low electronics supply voltage ERR_MainsOverVoltage Excessive electronics supply voltage ERR_DeviceOverTemperature Overtemperature - device ERR_HeatSinkOverTemperature Overtemperature - heat sink ERR_MotSchortCircuit Short of motor lead (between motor and motor, motor and ground, motor and power supply) ERR_MotOverCurrent Motor overcurrent ERR_Regp_FollowingError Following difference error ERR_PositionWindowTimeoutError Position window timeout error ERR_Io_EndSwitchActive Limit switch active