CANopen. Technical Guide for Delta ASDA-A2

Transcription

1 CANopen Technical Guide for Delta ASDA-A2 Version: V1.01 Date: December, 2009

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3 Manual Overview Please include the Manual Number and the Manual Version shown below when communicating with us regarding this publication. Manual Number: CANopen for ASDA-A2_M_EN_ Manual Version: First Edition Release Date: 2009/12/03 Publication History Version Release Date V /12/03 First Edition V1.01 Revision December,

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5 Table of Contents MANUAL OVERVIEW... 1 PUBLICATION HISTORY... 1 TABLE OF CONTENTS... 3 COMMISSIONING... 7 CONNECTORS - PINOUT... 7 BAUDRATE SETTINGS... 7 INTRODUCTION... 8 ESSENTIAL PROTOCOL... 8 UNNECESSARY FUNCTIONALITY... 8 CANOPEN OPERATION MODE... 8 OPERATING MODES... 9 Profile Position Mode... 9 Interpolation Position Mode...11 Homing Mode Profile Velocity Mode Profile Torque Mode OBJECT DICTIONARY ENTRIES SPECIFICATIONS FOR OBJECTS Object Type OVERVIEW OF OBJECT GROUP 1000 H OVERVIEW OF OBJECT GROUP 6000 H DETAILS OF OBJECTS Object 1000 h : Device Type Object 1001 h : Error Register Object 1003 h : Pre-defined Error Field Object 1005 h : COB-ID SYNC message Object 1006 h : Communication Cycle Period Object 1010 h : Store parameters Object 1011 h : Restore default parameters Object 1014 h : COB-ID Emergency Object Object 1018 h : Identity Object V1.01 Revision December,

6 Object 101A h : Error Counter Object 1400 h ~ 1403 h : Receive PDO Communication Parameter Object 1600 h ~ 1603 h : Receive Parameter Object 1800 h ~ 1803 h : Transmit PDO Communication Parameter Object 1A00 h ~ 1A03 h : Transmit Parameter Object 6040 h : Controlword Object 6041 h : Statusword Object 605B h : Shutdown option code Object 605E h : Fault reaction option code Object 6060 h : Modes of operation Object 6061 h : Modes of operation display Object 6062 h : Position demand value Object 6063 h : Position demand value Object 6064 h : Position actual value Object 6065 h : Following error window Object 6067 h : Position window Object 6068 h : Position window time Object 606B h : Velocity demand value Object 606C h : Velocity actual value Object 606D h : Velocity window Object 606E h : Velocity window time Object 606F h : Velocity threshold Object 6071 h : Target torque Object 6074 h : Torque demand value Object 6075 h : Motor rated current Object 6077 h : Torque actual value Object 6078 h : Current actual value Object 607A h : Target position Object 607C h : Home offset Object 6081 h : Profile velocity Object 6083 h : Profile acceleration Object 6084 h : Profile deceleration Object 6085 h : Quick stop deceleration Object 6087 h : Torque slope Object 6093 h : Position factor Object 6098 h : Homing method Object 6099 h : Homing speeds Object 609A h : Homing acceleration Object 60C0 h : Interpolation sub mode select V1.01 Revision December, 2009

7 Object 60C1 h : Interpolation data record Object 60C2 h : Interpolation time period Object 60F4 h : Following error actual value Object 60FC h : Position demand value* Object 60FF h : Target velocity Object 6502 h : Supported drive modes Object 2xxx h : Keypad mapping DIAGNOSTICS AND TROUBLESHOOTING CANOPEN COMMUNICATION FAULT MESSAGES ERROR CODE TABLE SDO ERROR MESSAGE ABORT CODES REFERENCE V1.01 Revision December,

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9 Commissioning Connectors - Pinout Pin Assignment (RJ-45) for CAN bus Wiring Pin No. Signal Description 1 CAN_H CAN_H bus line 2 CAN_L CAN_L bus line 3 CAN_GND Ground Reserved Reserved Reserved 7 CAN_GND Ground Reserved Baudrate Settings Baudrate and Bus Length Baudrate 1Mbps 750Kbps 500Kbps(Default) 250Kbps 125Kbps Bus Length 25m 50m 100m 250m 500m V1.01 Revision December,

10 Introduction Essential Protocol CANopen protocol: NMT, SYNC, SDO, PDO, EMCY SDO transfer for reading and writing parameters and communication settings. PDO sends/receives along with time-trigger, event-trigger, sync cyclic and sync acyclic. Node Guarding Heartbeat Unnecessary Functionality Time Stamp CANopen Operation Mode Set Keypad P1-01 to 0B h for CANopen mode. Set Keypad P3-00 to Node Id for range 01 h ~7F h. Set Keypad P3-01 to 0403 h for Baudrate 1Mbps (0: 125Kbps; 1: 250Kbps; 2: 500 Kbps; 3: 750Kbps; 4:1Mbps). 8 V1.01 Revision December, 2009

11 Operation Operating Modes Profile Position Mode Description Servo drive (hereinafter Drive )receives position command from host (external) controller (hereinafter Host ) and then control servo motor to reach target position. Pulse Unit Definition: Pulse = Position of user unit : No. of Pulse OD = h Sub2 Rev OD Sub1 h Operation Procedure 1. Setting Mode of operations:6060 h to profile position mode(1). 2. Setting Target position:607a h to target position. (unit: pulse) 3. Setting Profile velocity:6081 h to profile velocity. (unit: pulse per second) 4. Setting Profile acceleration:6083 h to plan acceleration slope. (millisecond from 0rpm to 3000rpm) 5. Setting Profile deceleration:6084 h to plan deceleration slope. (millisecond from 0rpm to 3000rpm) 6. Setting Controlword:6040 h to servo on drive and make motor work. 7. Query Statusword:6064 h to get feedback position of motor. 8. Query Statusword:6041 h to get drive status of following error set-point acknowledge and target reached. (Additional) 1. Host could get more information about profile position mode. Query Position demand value:6062 h to get internal position command. (unit: pulse) Query Position actual value*:6063 h to get actual position value. (unit: increments) 2. Following error Setting Following error window:6065 h to define range of tolerated position values symmetrically to the position demand value. (unit: pulse) Query Following error actual value:60f4 h to get actual value of following error. (unit: pulse) V1.01 Revision December,

12 accepted following error tolerance position following error window following error window following error no following error following error reference position Reference position 3. Position window Setting Position window:6067 h to define a symmetrical range of accepted positions relatively to the target position. (unit: pulse) Setting Position window time:6068 h to plan time of activation of target reached. (unit: millisecond) accepted position range position position window position window position not reached position reached position not reached target position Position reached Associated Object List Index Type Attr h Controlword UNSIGNED h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER h Modes of operation display INTEGER8 RO 6062 h Position demand value INTEGER32 RO 6063 h Position actual value* INTEGER32 RO 6064 h Position actual value INTEGER32 RO 6065 h Following error window 6067 h Position window 6068 h Position window time UNSIGNED16 607A h Target position INTEGER h Profile velocity 6083 h Profile acceleration 10 V1.01 Revision December, 2009

13 Index Type Attr h Profile deceleration 6093 h Position factor 60F4 h Following error actual value INTEGER32 RO 60FC h Position demand value INTEGER32 RO (Please refer to the following Details of Objects section for more detailed description) Interpolation Position Mode Description The Host sends a broadcast SYNC frame (0x80) cyclically. With each PDO, the Host sends the next reference position Xi, the difference X i and controlword to the drive. While the next SYNC receiving, the drive interpolates from X i-1 to X i. There is no input data buffer because it would cause delay. Extrapolation, Jitter Compensation When SYNC object is delayed, the interpolator should generate with the last acceleration and extrapolate predicted speed and position. When the SYNC delays for 2*cycle, Drive should stop and send out an error message. PDO Rx/Tx Mapping record PDOs from Host to Drive - 32 bit reference position [position increment] - 16 bit symmetrical difference [increments] X i = (X i+1 X i-1 )/2 (it is also the same as velocity) - 16 bit control word. PDO from Host to Drive (Every PDO contain 8 bytes field like below) 32 bit reference position 16 bit difference 16 bit controlword Operation Procedure 1. Setting Mode of operations:6060 h to interpolation position mode(7). 2. Setting Interpolation sub mode select:60c0 h to Interpolation mode. If 60C0 h is [0] or [-1], Host need to send [60C1h Sub-3] and Drive will work more precisely. If 60C0 h is [-2], Host does not send [60C1h Sub-3]. It could save calculating time of Host and Drive could work also. 3. Setting Communication Cycle period:1006 h to predict SYNC interval. The unit of this object is microsecond. It is recommended to set this value for multiple of 1000 microsecond. V1.01 Revision December,

14 4. Setting PDO Communication & Mapping parameters via SDO. Example: Setting 1400h Sub-1 for PDO RxCobId. Setting 1400h Sub-2 for PDO receive type [0x01] normally. If using these steps, Host need to send SYNC and PDO data every Communication cycle. 5. Drive PDO Rx: Total 4 items. 60C1 h Sub-1 for Pos Cmd (Low word) 60C1 h Sub-2 for Pos Cmd (High word) 60C1 h Sub-3 for Symmetrical Difference (optional) 6040 h Sub-0 for ControlWord. 6. Drive PDO Tx content could be set up to requirement of Host. 7. Receive NMT from Host to start or stop operation. Note: Because of difference of each oscillator, user must change parameter of P3-09 to make drive to auto modify internal timer to match SYNC object period) Associated Object List Index Type Attr h Controlword UNSIGNED h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER h Modes of operation display INTEGER8 RO 6093 h Position factor 60C0 h Interpolation sub mode select INTEGER16 60C1 h Interpolation data record ARRAY (Please refer to the following Details of Objects section for more detailed description) Homing Mode Description This mode could help drive to seek the home position. The user can specify the speeds, acceleration and the method of homing. Operation Procedure 1. Setting Mode of operations:6060 h to homing mode(6). 2. Setting Home offset:607c h 3. Setting Homing method:6098 h, method range is 1~35. (refer to OD-9098 h definition below) 4. Setting Homing speeds:6099 h Sub-1 to set speed during search for switch. (unit: rpm) 5. Setting Homing speeds:6099 h Sub-2 for set speed during search for zero. (unit: rpm) 12 V1.01 Revision December, 2009

15 6. Setting Homing acceleration:609a h for homing acceleration. (unit: millisecond from 0rpm to 3000rpm) 7. Setting Controlword:6040 h to servo on drive and make motor work. 8. Find Home Switch and do homing. 9. Query Statusword:6041 h to get drive status. Associated Object List Index Type Attr h Controlword UNSIGNED h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER h Modes of operation display INTEGER8 RO 607C h Home offset INTEGER h Position factor 6098 h Homing method INTEGER h Homing speeds ARRAY 609A h Homing acceleration (Please refer to the following Details of Objects section for more detailed description) Profile Velocity Mode Description Drive could receive velocity command and plan acceleration and deceleration. Operation Procedure 1. Setting Mode of operations:6060 h to profile velocity mode(3). 2. Setting Controlword:6040 h to servo on drive and make motor work. (After drive switch to servo-on, internal velocity command will be reset and OD-60FF h will be cleared.) 3. Setting Profile acceleration:6083 h to plan acceleration slope. (millisecond from 0rpm to 3000rpm) 4. Setting Profile deceleration:6084 h to plan deceleration slope. (millisecond from 0rpm to 3000rpm) 5. Setting Target velocity:60ff h. The unit of Target velocity is 0.1rpm. (If drive already servo-on, the drive will work immediately while receiving velocity command. OD-60FF h will be cleared to zero if OD-6060 h [Mode] changed, Servo-Off or Quick-Stop is activated.) 6. Query Statusword:6041 h to get drive status. V1.01 Revision December,

16 (Additional) 1. Host could get information about velocity mode. Query Velocity demand value:606b h to get internal velocity command. (unit: 0.1rpm) Query Velocity actual value:606c h to get actual velocity value. (unit: 0.1rpm) 2. Host could set velocity monitor threshold. Setting Velocity window:606d h to allocate velocity reached zone. (unit: 0.1rpm) Setting Velocity widnow time:606e h to plan time of activation of velocity reached. (unit: millisecond) Setting Velocity threshold:606f h to allocate zero speed level. (unit: 0.1rpm) Associated Object List Index Type Attr h Controlword UNSIGNED h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER h Modes of operation display INTEGER8 RO 606B h Velocity demand value INTEGER32 RO 606C h Velocity actual value INTEGER32 RO 606D h Velocity window UNSIGNED16 606E h Velocity window time UNSIGNED16 606F h Velocity threshold UNSIGNED16 60FF h Target velocity INTEGER32 (Please refer to the following Details of Objects section for more detailed description) Profile Torque Mode Description Drive could receive torque command and plan profile torque slope. Operation Procedure 1. Setting Mode of operations:6060 h to profile torque mode(4). 2. Setting Controlword:6040 h to servo on drive and make motor work. (After drive switch to servo-on, internal torque command will be reset and OD-6071 h will be cleared. It means the procedure is drive servo-on then start receiving torque command) 3. Setting Torque slope:6087 h to plan torque slope time. (unit: millisecond from 0 to 100 % rated torque) 4. Setting Target torque:6071 h to target torque. The unit is given per thousand of rated torque. (OD-6071 h will be cleared to zero if OD-6060 h [Mode] changed, Servo-Off or Quick-Stop is activated.) 14 V1.01 Revision December, 2009

17 (Additional) 1. Host could get information about torque mode. Query Torque demand value:6074 h to get output value of the torque limit function. (unit: per thousand of rated torque) Query Torque rated current:6075 h to get the rated current depending on the motor and drive type. (unit: multiples of milliamp) Query Torque actual value:6077 h to get instantaneous torque in the drive motor. (unit: per thousand of rated torque) Query Current actual value:6078 h to get instantaneous current in the drive motor. (unit: per thousand of rated current) Associated Object List Index Type Attr h Controlword UNSIGNED h Statusword UNSIGNED16 RO 6060 h Modes of operation INTEGER h Modes of operation display INTEGER8 RO 6071 h Target torque INTEGER h Torque demand value INTEGER16 RO 6075 h Motor rated current RO 6077 h Torque actual value INTEGER16 RO 6078 h Current actual value INTEGER16 RO 6087 h Torque slope (Please refer to the following Details of Objects section for more detailed description) V1.01 Revision December,

18 Object Dictionary Entries Specifications for Objects Object Type Object VAR ARRAY RECORD s A single value such as an UNSIGNED8, Boolean, float, INTEGER16 etc. A multiple data field object where each data field is a sample variable of the SAME basic data type e.g. array of UNSIGNED16 etc. Sub-index 0 is of UNSIGNED8 and therefore not part of the ARRAY data A multiple data field object where the data fields may be any combination of simple variables. Sub-index 0 is of UNSIGNED8 and therefore not part of the RECORD data Please refer to CANopen Standard 301. Overview of Object Group 1000 h Index Object Type DataType Mappable CANopen DS h VAR Device type RO N 1001 h VAR Error register UNSIGNED8 RO Y 1003 h ARRAY Pre-defined error field N 1005 h VAR COB-ID SYNC N 1006 h VAR Communication cycle period N 1010 h ARRAY Store parameters N 1011 h ARRAY Restore default parameters N 1014 h VAR COB-ID EMCY RO N 1018 h RECORD Identity Object RO N 101A h ARRAY Error Counter N 1400 h ~03 h RECORD Receive PDO parameter UNSIGNED16/32 N 1600 h ~03 h RECORD Receive PDO mapping N 1800 h ~03 h RECORD Transmit PDO parameter UNSIGNED16/32 N 1A00 h ~03 h RECORD Transmit PDO mapping N 16 V1.01 Revision December, 2009

19 Overview of Object Group 6000 h Index Object Type DataType Mappable CANopen DS h VAR Controlword UNSIGNED16 Y 6041 h VAR Statusword UNSIGNED16 RO Y 605B h VAR Shutdown option code INTEGER16 N 605E h VAR Fault reaction option code INTEGER16 N 6060 h VAR Modes of operation INTEGER8 Y 6061 h VAR Modes of operation display INTEGER8 RO Y 6062 h VAR Position demand value INTEGER32 RO Y 6063 h VAR Position actual value* INTEGER32 RO Y 6064 h VAR Position actual value INTEGER32 RO Y 6065 h VAR Following error window Y 6067 h VAR Position windows Y 6068 h VAR Position window time UNSIGNED16 Y 606B h VAR Velocity demand value INTEGER32 RO Y 606C h VAR Velocity actual value INTEGER32 RO Y 606D h VAR Velocity window UNSIGNED16 Y 606E h VAR Velocity window time UNSIGNED16 Y 606F h VAR Velocity threshold UNSIGNED16 Y 6071 h VAR Target torque INTEGER16 Y 6074 h VAR Torque demand value INTEGER16 RO Y 6075 h VAR Motor rated current RO Y 6077 h VAR Torque actual value UNSIGNED16 RO Y 6078 h VAR Current actual value INTEGER16 RO Y 607A h VAR Target position INTEGER32 Y 607C h VAR Home Offset INTEGER32 Y 6081 h VAR Profile velocity Y 6083 h VAR Profile acceleration Y 6084 h VAR Profile deceleration Y 6085 h VAR Quick stop deceleration Y 6087 h VAR Torque slope Y 6093 h ARRAY Position factor Y 6098 h VAR Homing method INTEGER8 Y 6099 h ARRAY Homing speeds Y V1.01 Revision December,

20 Index Object Type DataType Mappable CANopen DS A h VAR Homing acceleration Y 60C0 h VAR Interpolation sub mode select INTEGER16 Y 60C1 h ARRAY Interpolation data record UNSIGNED16 Y 60C2 h RECORD Interpolation time period SIGNED8 Y 60F4 h VAR Following error actual value INTEGER32 RO Y 60FC h VAR Position demand value INTEGER32 RO Y 60FF h VAR Target velocity INTEGER32 Y 6502 h VAR Supported drive modes RO Y Delta parameter definition 2xxx VAR Keypad Mapping INTEGER16/32 Y Details of Objects Object 1000 h : Device Type Value Range Default Value 1000 h Device type VAR RO No h Device Additional Information Device Profile Mode bits Type Number Bit 31~24 23~16 15~0 Drive 0x04 0x02 0x V1.01 Revision December, 2009

21 Object 1001 h : Error Register 1001 h Error register VAR UNSIGNED8 RO Yes Value Range UNSIGNED8 Object 1003 h : Pre-defined Error Field 1003 h Pre-defined error field ARRAY No Sub-Index 0 Description Number of errors UNSIGNED8 No Value Range 0~5 Sub-Index 1~5 Description Standard error field RO No Value Range V1.01 Revision December,

22 Object 1005 h : COB-ID SYNC message Value Range Default Value 1005 h COB-ID SYNC message VAR No 80 h Object 1006 h : Communication Cycle Period 1006 h Communication cycle period VAR No Value Range Object 1010 h : Store parameters 1010 h Store parameters ARRAY No Sub-Index 0 Description Largest sub-index supported UNSIGNED8 RO No Value Range 1 Default Value 1 20 V1.01 Revision December, 2009

23 Sub-Index 1 Description Save all parameters No Value Range Default Value 1 ASCII hex MSB e v a s 65h 76h 61h 73h Signature LSB Object 1011 h : Restore default parameters 1011 h Restore default parameters ARRAY No Sub-Index 0 Description Largest sub-index supported UNSIGNED8 RO No Value Range 1 Default Value 1 Sub-Index 1 Description Restore all default parameters No Value Range Default Value 1 V1.01 Revision December,

24 ASCII hex MSB d a o l 64h 61h 6Fh 6Ch Signature LSB Object 1014 h : COB-ID Emergency Object Value Range Default Value 1014 h COB-ID Emergency message VAR RO No 80 h + Node-ID Object 1018 h : Identity Object 1018 h Identity Object RECORD Identity RO No Sub-Index 0 Description Number of entries UNSIGNED8 RO No Value Range 3 Default Value 3 Sub-Index 1 Description Vendor ID RO No Value Range Default Value 1DD h 22 V1.01 Revision December, 2009

25 Sub-Index 2 Description Product code RO No Value Range Default Value 6000 h Sub-Index 3 Description Revision number RO No Value Range h Object 101A h : Error Counter 101A h Error Counter ARRAY No Sub-Index 0 Description Number of entries UNSIGNED8 RO No Value Range 4 Default Value 4 Sub-Index 1 Description Current Rx Error Counter RO No Value Range V1.01 Revision December,

26 Sub-Index 2 Description Current Tx Error Counter RO No Value Range Sub-Index 3 Description Rx Error Counter Max No Value Range Sub-Index 4 Description Tx Error Counter Max No Value Range Object 1400 h ~ 1403 h : Receive PDO Communication Parameter 1400 h ~ 1403 h Receive PDO parameter RECORD PDO CommPar No Sub-Index 0 Description Largest sub-index supported UNSIGNED8 RO No Value Range 2 Default Value 2 24 V1.01 Revision December, 2009

27 Sub-Index 1 Description COB-ID used by PDO No Value Range Default Value Default Node-ID: 0 Index 1400 h: 200 h + Node-ID Index 1401 h: 300 h + Node-ID Index 1402 h: 400 h + Node-ID Index 1403 h: 500 h + Node-ID Sub-Index 2 Description Reception type UNSIGNED8 No Value Range UNSIGNED8 Object 1600 h ~ 1603 h : Receive Parameter 1600 h ~ 1603 h Receive PDO mapping RECORD No Sub-Index 0 Description Number of mapped application objects in PDO UNSIGNED8 No Value Range 0: deactivated 1~8: activated V1.01 Revision December,

28 Sub-Index 1~8 Description PDO mapping for the nth application object to be mapped No Value Range aaaa Object Dictionary Application xx Object bbbb 3 yy 08h bbbb yy Application Object 2 2 cccc zz 20h 3 aaaa xx 10h cccc zz Application Object 3 Application Object 2 Application Object 3 Application Object 1 Object 1800 h ~ 1803 h : Transmit PDO Communication Parameter 1800 h ~ 1803 h Transmit PDO parameter RECORD PDO CommPar No Sub-Index 0 Description Largest sub-index supported UNSIGNED8 RO No Value Range 3 Default Value 3 26 V1.01 Revision December, 2009

29 Sub-Index 1 Description COB-ID used by PDO No Value Range Default Value Default Node-ID: 0 Index 1800 h: 180 h + Node-ID Index 1801 h: 280 h + Node-ID Index 1802 h: 380 h + Node-ID Index 1803 h: 480 h + Node-ID Sub-Index 2 Description Transmission type UNSIGNED8 No Value Range UNSIGNED8 Sub-Index 5 Description Event timer UNSIGNED16 No Value Range 0: not used UNSIGNED16 Object 1A00 h ~ 1A03 h : Transmit Parameter 1A00 h ~ 1A03 h Transmit PDO mapping RECORD No V1.01 Revision December,

30 Sub-Index 0 Description Number of mapped application objects in PDO UNSIGNED8 No Value Range 0: deactivated 1~8: activated Sub-Index 1~8 Description PDO mapping for the nth application object to be mapped No Value Range Object 6040 h : Controlword 6040 h Controlword VAR UNSIGNED16 Yes Value Range UNSIGNED16 ControlWord (6040h) State Machine StatusWord (6041h) State machine in system context 28 V1.01 Revision December, 2009

31 Bit Definition 15~ ~ Enable Quick Enable Switch N/A Halt Fault reset Operation mode specific operation stop voltage on Note: It means Host would send OD-6040 h for 08 h to make Drive servo-on. Bit Operation mode pp hm ip pv pt 4 New set-point (positive trigger) N/A Enable ip mode N/A N/A 5 Change set immediately N/A N/A N/A N/A 6 abs/rel N/A N/A N/A N/A Abbreviation: pp hm ip pv pt Profile Position Mode Homing Mode Interpolated Position Mode Profile Velocity Mode Profile Torque Mode Velocity v2 v1 t0 t1 t2 t3 time Single set-point Velocity v2 v1 t0 t1 t2 time Change setting immediately V1.01 Revision December,

32 Object 6041 h : Statusword 6041 h Statusword VAR UNSIGNED16 RO Yes Value Range UNSIGNED16 Bit Definition 15~ ~ Operation / Manufacturer Specific Target reached Remote N/A Quick stop N/A Fault Operation enabled Ready to Switched on switch on 12 Operation mode pp hm ip pv pt Set-point Homing attained IP mode active Zero Speed N/A acknowledge 13 Following error Homing error N/A N/A N/A 14 N/A N/A Sync OK N/A N/A 15 N/A N/A N/A N/A N/A Object 605B h : Shutdown option code 605B h Shutdown option code VAR INTEGER16 Yes Value Range INTEGER16 0:Disable drive function -1:Dynamic break enable 30 V1.01 Revision December, 2009

33 Object 605E h : Fault reaction option code Value Range 605E h Fault reaction option code VAR INTEGER16 Yes INTEGER16 Default Value 2 0:Disable drive, motor is free to rotate 1:slow down on slow down ramp 2:slow down on quick stop ramp Object 6060 h : Modes of operation Value Range 6060 h Modes of operation VAR INTEGER8 Yes INTEGER8 0:Reserved 1:Profile position mode 3:Profile velocity mode 4:Profile torque mode 6:Homing mode 7:Interpolation position mode Object 6061 h : Modes of operation display Value Range 6061 h Modes of operation display VAR INTEGER8 Yes INTEGER8 V1.01 Revision December,

34 Object 6062 h : Position demand value 6062 h Position demand value VAR INTEGER32 RO Yes Value Range INTEGER32 Pos cmd calculated by Interpolation theory Unit: pulse Object 6063 h : Position demand value 6063 h Position actual value* VAR INTEGER32 RO Yes Value Range INTEGER32 Unit: increments Object 6064 h : Position actual value 6064 h Position actual value VAR INTEGER32 RO Yes Value Range INTEGER32 Unit: pulse 32 V1.01 Revision December, 2009

35 Object 6065 h : Following error window 6065 h Following error window VAR Yes Value Range Unit: pulse Object 6067 h : Position window Value Range 6067 h Position window VAR Yes Unit: pulse Object 6068 h : Position window time Value Range 6068 h Position window time VAR UNSIGNED16 Yes UNSIGNED16 Unit: millisecond V1.01 Revision December,

36 Object 606B h : Velocity demand value Value Range 606B h Velocity demand value VAR INTEGER32 RO Yes INTEGER32 Unit: 0.1rpm Object 606C h : Velocity actual value Value Range 606C h Velocity actual value VAR INTEGER32 RO Yes INTEGER32 Unit: 0.1rpm Object 606D h : Velocity window Value Range 606D h Velocity window VAR INTEGER16 RO Yes INTEGER16 Unit: 0.1rpm 34 V1.01 Revision December, 2009

37 Object 606E h : Velocity window time Value Range 606E h Velocity window time VAR UNSIGNED16 Yes UNSIGNED16 Unit: millisecond Object 606F h : Velocity threshold Value Range 606F h Velocity threshold VAR UNSIGNED16 Yes UNSIGNED16 Unit: 0.1rpm Object 6071 h : Target torque Value Range 6071 h Target torque VAR INTEGER16 Yes INTEGER16 Unit: per thousand of rated torque V1.01 Revision December,

38 Object 6074 h : Torque demand value Value Range 6074 h Torque demand value VAR INTEGER16 Yes INTEGER16 Unit: per thousand of rated torque Object 6075 h : Motor rated current Value Range 6075 h Motor rated current VAR Yes Unit: milliamp Object 6077 h : Torque actual value Value Range 6077 h Torque actual value VAR INTEGER16 Yes INTEGER16 Unit: per thousand of rate torque 36 V1.01 Revision December, 2009

39 Object 6078 h : Current actual value 6078 h Current actual value VAR INTEGER16 RO Yes Value Range INTEGER16 Unit: per thousand of rated current Object 607A h : Target position 607A h Target position VAR INTEGER32 Yes Value Range INTEGER32 For Profile position mode 6060 h =1 Unit: pulse Object 607C h : Home offset 607C h Home offset VAR INTEGER32 Yes Value Range INTEGER32 Unit : pulse V1.01 Revision December,

40 Home Position home offset Zero Position Home offset Object 6081 h : Profile velocity 6081 h Profile Velocity VAR Yes Value Range Default Value For Profile position mode 6060 h =1 Unit: pulse per second Object 6083 h : Profile acceleration 6083h Profile acceleration VAR Yes Value Range 1~ Default Value 200 For Profile position mode 6060h=1 Unit: millisecond (time from 0rpm to 3000rpm) 38 V1.01 Revision December, 2009

41 Object 6084 h : Profile deceleration 6084 h Profile deceleration VAR Yes Value Range 1~ Default Value 200 For Profile position mode 6060 h =1 Unit: millisecond (time from 0rpm to 3000rpm) Object 6085 h : Quick stop deceleration 6085 h Quick stop acceleration VAR Yes Value Range Unit: millisecond (time from 0rpm to 3000rpm) Object 6087 h : Torque slope 6087 h Torque slope VAR Yes Value Range Unit: millisecond (time from 0 to 100 % rated torque) V1.01 Revision December,

42 Object 6093 h : Position factor 6093 h Position factor ARRAY Yes Position factor = Numerator / Feed_constant Sub-Index 0 Description Number of entries UNSIGNED8 RO No Value Range 2 Default Value 2 Sub-Index 1 Description Numerator Yes Default Value 1 Same as P1-44 Sub-Index 2 Description Feed_constant Yes Default Value 1 Same as P V1.01 Revision December, 2009

43 Object 6098 h : Homing method 6098 h Homing method VAR INTEGER8 Yes Value Range 0~35 Index Pulse Negtive Limit Switch 1 Method1:Homing on the negative limit switch and index pulse 2 Index Pulse Negtive Limit Switch Method2:Homing on the positive limit switch and index pulse V1.01 Revision December,

44 Index Pulse Home Switch Method 3 and 4:Homing on the positive home switch and index pulse Index Pulse Home Switch Method 5 and 6:Homing on the negative home switch and index pulse 42 V1.01 Revision December, 2009

45 Index Pulse Home Switch Positive Limit Switch Index Pulse Home Switch Negative Limit Switch Method 7 to 14:Homing on the home switch and index pulse Method 15 and 16:Reserved (no picture) V1.01 Revision December,

46 Home Switch Method 17 to 30:Homing without an index pulse Method 31 and 32:Reserved (no picture) Index Pulse Method 33 to 34:Homing on the index pulse Method 35:Homing on the current position (no picture) 44 V1.01 Revision December, 2009

47 Object 6099 h : Homing speeds 6099 h Homing speeds ARRAY Yes Sub-Index 0 Description Number of entries UNSIGNED8 RO Yes Value Range 2 Default Value 2 Sub-Index 1 Description Speed during search for switch Yes Value Range 1~2000 Default Value 100 Uint:rpm Sub-Index 2 Description Speed during search for zero Yes Value Range 1~500 Default Value 20 Uint:rpm V1.01 Revision December,

48 Object 609A h : Homing acceleration Value Range 609A h Homing acceleration VAR Yes Default Value 100 Unit: millisecond (time of acc from 0rpm to 3000rpm) Object 60C0 h : Interpolation sub mode select Value Range 60C0 h Interpolation sub mode select VAR INTEGER16 Yes INTEGER16 0, -1: manufacturer specific ( Delta ASDA-A2 definition -- need pos difference[od-60c1sub3]) -2: manufacturer specific (Linear interpolation -- not need pos difference[od-60c1sub3]) Object 60C1 h : Interpolation data record 60C1 h Interpolation data record ARRAY Yes Set this record by PDO every T msec before SYNC message Where T is specified by 1006 h 46 V1.01 Revision December, 2009

49 Sub-Index 0 Description Number of entries UNSIGNED8 RO No Value Range 3 Default Value 3 Sub-Index 1 Description Pos_Cmd (Low Word) UNSIGNED16 Yes Value Range UNSIGNED16 Unit: low word of 32-bit pulse Sub-Index 2 Description Pos_Cmd (High Word) UNSIGNED16 Yes Value Range UNSIGNED16 Unit: high word of 32-bit pulse Sub-Index 3 Description Value Range Velocity Pos_Cmd difference INTEGER16 Yes INTEGER16 X i = (X i+1 X i-1 )/2 (it is also the same as velocity) Unit: pulse V1.01 Revision December,

50 Object 60C2 h : Interpolation time period 60C2 h Interpolation time period RECORD UNSIGNED8 Yes The unit of the interpolation time unit is given in 10 interpolation time index seconds Sub-Index 0 Description Number of entries UNSIGNED8 RO No Value Range 2 Default Value 2 Sub-Index 1 Description Interpolation time units UNSIGNED8 Yes Value Range UNSIGNED8 Default Value 1 Sub-Index 2 Description Interpolation time index INTEGER8 Yes Value Range -128~63 Default Value V1.01 Revision December, 2009

51 Object 60F4 h : Following error actual value Value Range 60F4 h Following error actual value VAR INTEGER32 RO Yes INTEGER32 Unit: pulse Object 60FC h : Position demand value* Value Range 60FC h Position demand value* VAR INTEGER32 RO Yes INTEGER32 Unit: increment Object 60FF h : Target velocity Value Range 60FF h Target velocity VAR INTEGER32 Yes INTEGER32 Unit: 0.1rpm V1.01 Revision December,

52 Object 6502 h : Supported drive modes Value Range Default Value 6502 h Supported drive modes VAR Ro Yes 6D h Manufacturer specific reserved ip hm reserved tq pv vl pp MSB LSB Object 2xxx h : Keypad mapping Value Range Default Value 2xxx h Keypad mapping register VAR INTEGER16 Yes INTEGER16 N/A Object 2xxx is defined Keypad mapping. If user wants to use CANopen protocol for simulate Keypad press, he or she could read and write Keypad parameter via SDO protocol. Pa-bc <==> 2aBC h BC is hexadecimal format of bc 50 V1.01 Revision December, 2009

53 Example 1: Object 2300 h : Node-ID P3-00 Value Range Default Value 2300 h Node-ID VAR INTEGER16 Yes INTEGER16 7F h Example 2: Object 212C h : Electronic Gear P1-44 Value Range 212C h Electronic Gear VAR INTEGER32 Yes INTEGER32 V1.01 Revision December,

54 Diagnostics and Troubleshooting CANopen Communication Fault Messages Emergency Object Byte Content Emergency Error Error Panel Alarm Code N/A Code register Fault Messages Display Fault Fault Description Clearing Method AL185 CANbus error CANbus off or Error Rx/Tx Counter exceeds 128. Host send Reset node command to its slave or restart the servo drive. AL170 Life guard error or heartbeat error Drive can t negotiate with Host Host send Reset node command to its slave or restart the servo drive. Host send Reset node command to its AL111 CANopen SDO receive buffer overrun SDO Rx buffer overrun is detected (receive two or more SDO packets in 1ms). slave or reset the fault by sending the control word (0x6040) through CAN communication (the value of CANopen object 0x6040 should be reset). AL112 CANopen PDO receive buffer overrun PDO Rx buffer overrun is detected (receive two or more PDO (same COBID) packets in 1ms). Host send Reset node command to its slave or reset the fault by sending the control word (0x6040) through CAN communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its AL121 Index error occurs when accessing CANopen PDO object. The specified Index in the message does not exist. slave or reset the fault by sending the control word (0x6040) through CAN communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its AL122 Sub-index error occurs when accessing CANopen PDO object. The specified Sub-index in the message does not exist. slave or reset the fault by sending the control word (0x6040) through CAN communication (the value of CANopen object 0x6040 should be reset). 52 V1.01 Revision December, 2009

55 Fault Messages Display Fault Fault Description Clearing Method AL123 AL124 AL125 AL126 AL127 AL128 AL129 Host send Reset node command to its Data type (size) error The data length in the message slave or reset the fault by sending the occurs when accessing does not match the specified control word (0x6040) through CAN CANopen PDO object. object. communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its Data range error occurs The data in the message has slave or reset the fault by sending the when accessing exceeded the data range of the control word (0x6040) through CAN CANopen PDO object. specified object. communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its The specified object in the CANopen PDO object slave or reset the fault by sending the message is read-only and is read-only and control word (0x6040) through CAN write-protected (cannot be write-protected. communication (the value of CANopen changed). object 0x6040 should be reset). Host send Reset node command to its The specified object in the slave or reset the fault by sending the CANopen PDO object message does not support control word (0x6040) through CAN does not support PDO. PDO. communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its The specified object in the CANopen PDO object slave or reset the fault by sending the message is write-protected is write-protected when control word (0x6040) through CAN (cannot be changed) when Servo On. communication (the value of CANopen Servo On. object 0x6040 should be reset). An error occurs when loading Host send Reset node command to its Error occurs when the default settings from slave or reset the fault by sending the reading CANopen PDO EE-PROM at start-up. All control word (0x6040) through CAN object from EE-PROM. CANopen objects return to their communication (the value of CANopen default settings automatically. object 0x6040 should be reset). Host send Reset node command to its Error occurs when writing CANopen PDO object into EE-PROM. An error occurs when writing the current settings into EE-PROM. slave or reset the fault by sending the control word (0x6040) through CAN communication (the value of CANopen object 0x6040 should be reset). V1.01 Revision December,

56 Fault Messages Display Fault Fault Description Clearing Method AL130 EE-PROM invalid address range AL131 EE-PROM checksum error AL132 Password error AL301 CANopen SYNC failed AL302 CANopen SYNC signal error AL303 CANopen SYNC time out The amount of the data saved in EE-PROM has exceeded the Host send Reset node command to its space determined by the slave or reset the fault by sending the firmware. Maybe the firmware control word (0x6040) through CAN version has been upgraded, communication (the value of CANopen and it causes that the data of object 0x6040 should be reset). old firmware version saved in EE-PROM cannot be used. Host send Reset node command to its The data saved in EE-PROM slave or reset the fault by sending the has been damaged and all control word (0x6040) through CAN CANopen objects return to their communication (the value of CANopen default settings automatically. object 0x6040 should be reset). The parameter is password Host send Reset node command to its protected when using CANopen slave or reset the fault by sending the communication to access the control word (0x6040) through CAN parameter. The users must communication (the value of CANopen enter the valid password to object 0x6040 should be reset). unlock the parameter. Host send Reset node command to its The synchronous slave or reset the fault by sending the communication with the control word (0x6040) through CAN external controller has failed. communication (the value of CANopen object 0x6040 should be reset). Hostr send Reset node command to its slave or reset the fault by sending the The CANopen SYNC signal is control word (0x6040) through CAN received too early. communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its The CANopen SYNC signal is slave or reset the fault by sending the not received within the specified control word (0x6040) through CAN time. communication (the value of CANopen object 0x6040 should be reset). 54 V1.01 Revision December, 2009

57 Fault Messages Display Fault Fault Description Clearing Method Host send Reset node command to its AL304 CANopen IP command failed Internal command of CANopen IP mode cannot be sent and received. slave or reset the fault by sending the control word (0x6040) through CAN communication (the value of CANopen object 0x6040 should be reset). Host send Reset node command to its Object 0x1006 data error. slave or reset the fault by sending the AL305 SYNC period error SYNC period 1006h value is control word (0x6040) through CAN invalid. communication (the value of CANopen object 0x6040 should be reset). Error Code Table Display Description 32bit-ErrorCode (16bit-ErrorCode + 16bit-Additional Info) AL001 Overcurrent h AL002 Overvoltage h AL003 Undervoltage h AL004 Motor error h AL005 Regeneration error h AL006 Overload h AL007 Overspeed h AL008 Abnormal pulse control command h AL009 Excessive deviation h AL010 Reserved h AL011 Encoder error h AL012 Adjustment error h AL013 Emergency stop activated h AL014 Reverse limit switch error h AL015 Forward limit switch error h AL016 IGBT temperature error h AL017 Memory error h AL018 Encoder output error h AL019 Serial communication error h AL020 Serial communication time out h V1.01 Revision December,

58 Display Description 32bit-ErrorCode (16bit-ErrorCode + 16bit-Additional Info) AL021 Reserved Reserved AL022 Input power phase loss h AL023 Pre-overload warning h AL024 Encoder initial magnetic field error h AL025 Encoder internal error h AL026 Encoder internal error h AL027 Encoder data error h AL030 Motor protection error h AL031 U,V,W wiring error h AL040 Ful closed-loop excessive deviation h AL099 DSP firmware upgrade h AL201 CANopen Data Initial Error h AL283 Forward software limit h AL285 Reverse software limit h AL185 CANbus error h AL170 Life guard error or heartbeat error h AL111 CANopen PDO receive buffer overrun h AL112 AL121 AL122 AL123 AL124 Index error occurs when accessing CANopen PDO object. Sub-index error occurs when accessing CANopen PDO object. Data type (size) error occurs when accessing CANopen PDO object. Data range error occurs when accessing CANopen PDO object. CANopen PDO object is read-only and write-protected h h h h h AL125 CANopen PDO object does not support PDO h AL126 AL127 CANopen PDO object is write-protected when Servo On. Error occurs when reading CANopen PDO object from EE-PROM h h AL128 CANbus error h AL129 Error occurs when writing CANopen PDO object into EE-PROM h AL130 EE-PROM invalid address range h AL131 EE-PROM checksum error h AL132 Password error h 56 V1.01 Revision December, 2009

59 Display Description 32bit-ErrorCode (16bit-ErrorCode + 16bit-Additional Info) AL301 CANopen SYNC failed h AL302 CANopen SYNC signal error h AL303 CANopen SYNC time out h AL304 CANopen IP command failed h AL305 SYNC period error h SDO Error Message Abort Codes Abort Code Description h Client/server command specifier not valid or unknown h Attempt to write a read only object h Object does not exist in the object dictionary h Object cannot be mapped to the PDO h The number and length of the objects to be mapped would exceed PDO length h failed due to an hardware error(store or restore error) h Data type does not match, length of service parameter does not match h Sub-index does not exist h Value range of parameter exceeded(only for write access) h General error a1 h Object error when reading from EEPROM a2 h Object error when writing to EEPROM a3 h Invalid Range when accessing EEPROM a4 h Checksum error when accessing EEPROM a5 h Password error when writing encryption zone h Data cannot be transferred or stored to the application (store or restore signature error) h Data cannot be transferred or stored to the application because of the local control(store or restore while wrong state) h Object is on the fly V1.01 Revision December,

60 Reference 1. CANopen Application Layer and Communication Profile, CiA Draft Standard 301, Version 4.02, Date: 13 February CANopen Device Profile Drives and Motion Control, CiA Draft Standard Proposal 402, Version 2.0, Date: 26 July V1.01 Revision December, 2009