SYSTEMS INTELLIGENT SERVO DRIVE. CANopen for CAN and EtherCAT Drives Reference Manual Manual Revision: 2.1 Firmware Version: 1.3.2

Transcription

1 SYSTEMS INTELLIGENT SERVO DRIVE CANopen for CAN and EtherCAT Drives Reference Manual Manual Revision: 2.1 Firmware Version:

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3 Revision History Document Revision Date Remarks 2.1 Jan General Release 2.0 Jan Preliminary Release 1.0 Aug Internal release Firmware Revision Important Notice Disclaimer Trademarks 2013 PBA Systems Pte. Ltd. All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of PBA Systems. The information in this manual was accurate and reliable at the time of its release. PBA Systems Pte. Ltd. reserves the right to change the specifications of the product described in this manual without notice at any time. CANopen and CiA are registered trademarks of the CAN in Automation User's Group PROFINET is a trademark of PROFIBUS International EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH HIPERFACE is a registered trademark of Sick Stegmann Gmbh Windows is a registered trademark of Microsoft Corporation Contact Information PBA Systems Pte. Ltd PBA Building, 505 Yishun, Industrial Park A, Singapore Tel: (+65) Fax: (+65) Website: sales@pbasystems.com.sg Technical Support If you need assistance with the installation and configuration of the MaxTune drive, contact technical support: support@pbasystems.com.sg CANopen for CAN and EtherCAT Drives Reference Manual 3

4 4 CANopen for CAN and EtherCAT Drives Reference Manual

5 CANopen for CAN and EtherCAT Drives Reference Manual 5

6 Contents 1 Introduction About This Manual Documentation Set for the MaxTune Manual Format Object Dictionary Cabling and Setup Typical MaxTune CAN Hardware Configuration MaxTune Node Address MaxTune Termination Resistor Switch MaxTune CAN Bit Rate MaxTune EtherCAT Communication CANopen Basics Device Communication Communication Objects Service Data Communication Process Data Communication Object Object Types Errors and Faults Service Request Error Codes Emergency Error Codes (Faults) Communication Objects h Device Type h Error Register h Manufacturer Status Register h Predefined Error Field h COB-ID SYNC Message h Communication Cycle Period h Synchronous Window Length h Manufacturer Device Name h Manufacturer Hardware Version Ah Manufacturer Software Version h Store Parameter Field h Restore Default Parameters h COB-ID EMCY h Inhibit Time Emergency h Heartbeat Consumer Time h Producer Heartbeat Time h Identity Object h Synchronous Counter Overflow Value h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Communication Parameter h Receive PDO Mapping Parameter h Receive PDO Mapping Parameter h Receive PDO Mapping Parameter h Receive PDO Mapping Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter h Transmit PDO Communication Parameter A00h Transmit PDO Mapping Parameter CANopen for CAN and EtherCAT Drives Reference Manual

7 1A01h Transmit PDO Mapping Parameter A02h Transmit PDO Mapping Parameter A03h Transmit PDO Mapping Parameter Manufacturer-Specific Objects h Go to Resident h Configuration Command h CL BEMF Gain h Current DQ Axis Compensation h Current KFF Gain h Current KI Gain h Current KP Gain h Current Controller D Integrator h Current Controller Q Integrator Ah HD Anti-Vibration Filter Bh HD Anti-Resonance Sharpness Ch HD Anti-Vibration Gain Dh Absolute Feedback Offset Eh Auto Home Mode Fh Field Bus Unit Scaling h Velocity Loop Bandwidth h Current CL VD h Current CL VQ h Drive Name h Electrical Position h HD Derivative Gain h HD Integral Gain h HD Derivative-Integral Gain Ah HD Proportional Gain Bh HD Adaptive Gain Scale Factor Ch Position Acceleration Feedforward to Current Dh Position Acceleration Feedforward Eh Position Derivative Gain Fh Position Proportional Adaptive Gain h Position Integral Gain h Position Integral Saturation Output h Position Proportional Gain h Position Velocity Feedforward h Velocity Feedforward Ratio h Velocity Integrator h Velocity Gain h Mechanical Angle h Encoder Type Ah Motor Encoder Index Position Bh Motor and Feedback Direction Dh Motor Feedback Mode Eh Motor Foldback Status Fh Motor Foldback Delay Time h Motor Foldback Disable h Motor Foldback Recovery Time h Motor Foldback Time Constant h Motor Foldback Current h Motor Foldback Fault Threshold h Motor Foldback Warning Threshold h Motor Peak Current h Rotor Inertia h Torque Constant for Linear Motors CANopen for CAN and EtherCAT Drives Reference Manual 7

8 2039h Torque Constant Ah Motor Inductance Bh Adaptive Gain Value at Continuous Motor Current Ch Adaptive Gain Value at Peak Motor Current Dh Rotor Coil Mass (Linear Motor) Eh Motor Commutation Type Fh Motor Name h Phase Disconnect Scan h Commutation Offset h Drive Temperature h Feedback Direction h Disabling Mode h Capture Input Position Offset h Capture Input Position Offset h Quick Stop Deceleration Time Ah Active Disable Speed Threshold Bh Active Disable Time Ch Factory Restore Dh Feedback Type Eh Velocity Loop Output Filter Parameter Fh Velocity Loop Output Filter Parameter h Velocity Loop Output Filter h Foldback Status h Friction Compensation Negative Current h Friction Compensation Positive Current h Friction Compensation Negative Velocity Hysteresis h Friction Compensation Positive Velocity Hysteresis h Halls State h Invert Hall Signals h Hall Signals Type h Harmonic Correction Feedback Ah Harmonic Correction Feedback Parameter Bh Harmonic Correction Feedback Parameter Ch Harmonic Correction Current Dh Harmonic Current ICMD Parameter Eh Harmonic Current ICMD Parameter Fh HD Current LPF Rise Time h HD Current Filter Damping h Current Notch Filter Center h HD Current Notch Filter Bandwidth h Hold Position Command h Hardware Position External h Hardware Position h Current D Axis h Current Q Axis h Current Feedforward LPF h Drive Foldback Current Limit Ah Drive Foldback Fault Threshold Bh Drive Foldback Warning Threshold Ch Gravity Compensation Dh Encoder Index Initialization Eh Encoder Initialization Status Fh Encoder Index Position Feedback h Input Inversion h Dynamic Brake Current h Phase U Actual Current h Phase U Current Offset CANopen for CAN and EtherCAT Drives Reference Manual

9 2074h Phase V Actual Current h Phase V Current Offset h Zero Procedure Current h Position Integral Saturation Input h Negative Limit Switch Status h Positive Limit Switch Status Ah Load to Motor Inertia Ratio Bh Drive Peak Current Ch Drive Continuous Current Dh Motor Pitch Eh Motor Poles Fh Motor Resistance h Motor Resolver Poles h Motor Rated Torque h Torque Commutation Angle Advance at Motor Continuous Current h Torque Commutation Angle Advance at Motor Peak Current h Velocity Commutation Angle Advance at Motor Maximum Speed h Velocity Commutation Angle Advance at Motor Maximum Speed/ h HD Spring Filter h PFB Backup h PFB Backup Mode Ah HD Maximum Adaptive Gain Bh HD Current Filter Second Notch Filter Bandwidth Ch HD Current Filter Second Notch Filter Center Fh HD Flexibility Compensation h HD Spring Deceleration Ratio h HD Settling Mode h HD Autotune Command h HD Autotune Procedure Parameter h HD Autotune Status h HD Autotune Timeout h Current Level 1 for Digital Output Definition Ah Current Level 2 for Digital Output Definition Bh Output Inversion Ch Output Mode Dh Position Level 1 for Digital Output Definition Eh Position Level 2 for Digital Output Definition Fh Velocity Level 1 for Digital Output Definition A0h Velocity Level 2 for Digital Output Definition A1h Over-Voltage Threshold A2h In Position Time A3h Position Loop Position Error A4h Phase Find Command A5h Forced Electrical Position A6h Phase Find Gain A7h Phase Find Current A8h Phase Find Mode A9h Phase Find Status AAh Phase Find Duration ABh Position Loop Controller Mode ACh Software Position Limit Mode ADh PRB Generator Frequency AEh PRB Generator Mode AFh PRB Generator Configuration B0h PTP Generator Target Error B1h PTP Generator Velocity Command B2h PWM Frequency CANopen for CAN and EtherCAT Drives Reference Manual 9

10 20B4h PWM Saturation Ratio B8h Fault Relay Status B9h Fault Relay Mode BAh Remote Hardware Enable Status BBh Resolver Amplitude Range BCh Resolver Conversion Bandwidth BDh Save Parameters BEh Sine/Cosine Calibration Command BFh Sine/Cosine Calibration Mode C0h Sine/Cosine Calibration Status C1h Sine/Cosine Calibration Parameters C2h Synchronization Mode C3h Tracking Factor C4h Motor Over-Temperature C5h Motor Over-Temperature Clear Fault Level C6h Motor Over-Temperature Mode C7h Motor Temperature C8h Motor Over-Temperature Time C9h Motor Over-Temperature Fault Level CAh Motor Over-Temperature Type CBh Tamagawa Multi-Turn Reset CCh Run Time CDh Under-Voltage Mode CEh Under-Voltage Recovery Mode CFh Under-Voltage Threshold D0h Under-Voltage Time D1h Bus Voltage (DC) D3h Velocity Error D4h Velocity Loop Controller D5h Velocity Design Structure D6h Velocity Filter Mode D7h Drive Version D8h Velocity Loop Output Filter D9h Velocity Loop Input Filter DAh Advanced Pole Placement H Polynomial DBh Advanced Pole Placement R Polynomial DCh Wake No Shake Status DDh Display Warnings DEh External Encoder Resolution DFh Zeroing Command E0h Input Mode E1h Rotary Address Switch E2h Test 7-Segment Display E3h Encoder Simulation Mode E4h Encoder Simulation Resolution E5h Encoder Simulation Index Position E6h Record Done Indicator Standard Servo Drive Objects Fh Error Code h Controlword h Statusword h Modes of Operation h Modes of Operation Display h Position Actual Value h Following Error Window Ch Velocity Actual Value CANopen for CAN and EtherCAT Drives Reference Manual

11 606Dh Velocity Window Eh Velocity Window Time Fh Velocity Threshold h Velocity Threshold Time h Target Torque h Maximum Current h Motor Rated Current h Torque Actual Value h DC Link Circuit Voltage Ah Target Position Ch Home Offset Dh Software Position Limit Fh Max Profile Velocity h Max Motor Speed h Profile Velocity h Profile Acceleration h Profile Deceleration h Quick Stop Deceleration Fh Position Encoder Resolution h Gear Ratio h Feed Constant h Homing Mode h Homing Speeds Ah Homing Acceleration B0h Position Offset C2h Interpolation Time Period FDh Digital Inputs FEh Digital Outputs FFh Target Velocity Operation Device Control and State Machine Indicating the Operating State Changing the Operating State Starting and Changing an Operating Mode Operating Mode Profile Position Procedure Associated Objects Example: Profile Position Operating Mode Homing Procedure Associated Objects Example: Homing Operating Mode Profile Velocity Procedure Associated Objects Example: Profile Velocity Operating Mode Profile Torque Procedure Associated Objects Example: Profile Torque CANopen for CAN and EtherCAT Drives Reference Manual 11

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13 Introduction 1 Introduction 1.1 About This Manual MaxTune drive functionality is configured using various commands and variables, which are communicated over the serial port or over CAN bus. This manual describes the implementation of CiA 402 and 301 CANopen protocols in the MaxTune digital servo drive. This manual is not meant to replace the CANopen specifications, or to reproduce them. This manual is intended for skilled personnel who have been trained to work with the equipment described. 1.2 Documentation Set for the MaxTune This manual is part of a documentation set. The entire set consists of the following: MaxTune Quick Start Guide. Basic setup and operation of the drive. MaxTune User Manual. Hardware installation, configuration and operation. MaxTune Reference Manual. Parameters and commands used to program the MaxTune. MaxTune CANopen for CAN and EtherCAT Drives Reference Manual. MaxTune implementation of CANopen protocol for CAN and EtherCAT. Reference Manual 13

14 Introduction 1.3 Manual Format Object Dictionary MaxTune The CAN objects are presented and described in the following format: nnnnh - Object Name Index nnnn of the object Array Record Integer8 Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 Real32 Visible_String PDO_COMM_PAR PDO_MAPPING IDENTITY Still in development Mandatory equivalent for and Record Objects Read/Write Read Only Constant PDO Mapping Yes No Value Range Discrete values and ranges of values. Default Value The object s default value. When the object value implies units of measure, these units are specified. for Array Objects Sub-Index nnn of the sub-index Array Record Integer8 Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 Real32 Visible_String Mandatory Read/Write Read Only Constant PDO Mapping Yes No Value Range Discrete values and ranges of values. Default Value The object s default value. When the object value implies units of measure, these units are specified. 14 Reference Manual

15 Cabling and Setup 2 Cabling and Setup 2.1 Typical MaxTune CAN Hardware Configuration Figure 2-1. Typical MaxTune CAN Configuration 1 PLC or embedded PC 2 CAN bus module* 3 D9 to RJ45 adapter*, with following pin assignments Function MaxTune RJ45 Pin D9 Connector Pin CAN High 1 7 CAN Low 2 2 Functional Ground 3 3 CAN Shield 4 5 Functional Ground RJ45 cables 5 MaxTune with internal termination set to 0Ω (towards T) 6 Last MaxTune, with internal terminator set to 120Ω (away from T) Reference Manual 15

16 Cabling and Setup MaxTune * A 120Ω termination resistor is required at the beginning of the chain. Be sure the required EDS file is installed in the controller. You can download the file from the MaxTune product page on the website. For additional information, refer to the MaxTune User Manual. 2.2 MaxTune Node Address Within the CANopen network, a unique node address (identification number) must be allocated to each individual CANopen device. The MaxTune node address is set using two 10-position rotary switches, accessible from the front of the unit. Each switch has 10 positions: The upper switch positions are set as tens: 10, 20, The lower switch positions are set as ones: 0, 1, 2 9 Notes: If two or more drives are connected to the network, address 0 cannot be used. Only a singular drive may have the address 0. Two drives in the same network cannot have the same address. 2.3 MaxTune Termination Resistor Switch Note the Termination Resistor switch located on the top of the drive next to the daisy chain connector (C8). Using a small screwdriver or similar tool, set the switch to the correct position: Towards T (default): 120Ω termination resistor not in use. Away from T: Used when the drive is the last drive in a chain. The drive provides the 120Ω termination resistor between CAN high and CAN low. Using any RJ45 cables: Connect the host to the drive on interface C5. Connect the next node to interface C6. Note: A 120Ω termination resistor is also required at the beginning of the chain, on either the CAN bus module, or the D9 to RJ45 adapter. 16 Reference Manual

17 For additional wiring information, refer to the MaxTune User Manual. Cabling and Setup In addition, to enable CAN communication, the RS-232 () command COMMODE must be set to MaxTune CAN Bit Rate MaxTune has an automatic bit rate detection mechanism that is executed on power up. During the initialization phase the drive listens to messages on the bus and automatically adjusts its bit rate setting. Once the bit rate is determined, the drive s status becomes pre-operational, and the drive transmits a boot up message containing the drive's node ID. For the automatic bit rate detection mechanism to work, there must be bus traffic. This means that a master and at least one slave must be present on the bus and communicating at the same bit rate. It is also possible to set the manual bit rate using the RS-232 () command CANBITRATE. This command takes one of the following values: 1 for 125 kilobit per second 2 for 250 kilobit per second 3 for 500 kilobit per second 4 for 1000 kilobit per second (1 megabit) After setting the CANBITRATE value, you must issue a RS-232 () command SAVE, and then power cycle the drive. The bit rate will then be set. 2.5 MaxTune EtherCAT Communication Using any RJ45 cables: Connect the host to the drive on interface C5. Connect the next node to interface C6. Be sure the required XML file is installed in the controller. You can download the file from the MaxTune product page on the website. For additional information, refer to the MaxTune User Manual. Reference Manual 17

18 Cabling and Setup MaxTune 18 Reference Manual

19 CANopen Basics 3 CANopen Basics 3.1 Device Communication The MaxTune communication interface follows the CiA CANopen specifications (can-cia.org), as follows: DS-301: Communication Profile for Industrial Systems DS 402: Device Profile for Drives and Motion Control Host PC or PLC CANopen or EtherCAT Local CAN Host CAN Node CDHD MaxTune C5 C7 Application Layer and Communication Profile DS 301 Standard Objects [0x1000] Servo Drive Profile DS 402 Device Control State Machine Modes of Operation Manufacturer-Specific Objects [0x2000] Homing Profile Position Mode Profile Velocity Mode Profile Torque Mode Standard Objects [0x6000] Cyclic Synchronous Torque Mode Position Mode Velocity Mode Feedback Motor Figure 3-1. Communication Architecture Device Control Modes of Operation Starting and stopping of the drive and several mode-specific commands are executed by the state machine. The operating mode defines the behavior of the drive. Reference Manual 19

20 CANopen Basics 3.2 Communication Objects MaxTune Communication objects are used for exchanging process and service data, for process or system time synchronization, for error state supervision, and for control and monitoring of node states. These objects are defined by their structure, transmission types and their CAN identifier. Service Data Communication Service data objects (SDOs) provides direct access to object entries in the CANopen device object dictionary. As these object entries contain data of arbitrary size and data type, the SDOs are used to transfer multiple data sets (each containing an arbitrary large block of data) from a client to a server and vice versa. The client controls, via a multiplexer (index and sub-index of the object dictionary), which data set is transferred. The content of the data set is defined within the object dictionary. In general, an SDO is transferred as a sequence of segments. Prior to transferring the segments there is an initialization phase in which client and server prepare for transferring the segments. For SDOs, it is also possible to transfer a data set of up to four bytes during the initialization phase. This mechanism is called SDO expedited transfer. The client always initiates an SDO transfer for any type of transfer. The owner of the accessed object dictionary is the server of the SDO. Either the client or the server can take the initiative to abort the transfer of an SDO. By means of an SDO, a peer-to-peer communication channel between two CANopen devices is established. A CANopen device supports more than one SDO. One supported Server-SDO is the default case (Default SDO). Process Data Communication Process data objects (PDOs) perform real-time data transfer. The transfer of PDOs is performed without any protocol overhead. The PDOs correspond to objects in the object dictionary and provide the interface to the application objects. Data type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping structure within the object dictionary. MaxTune supports variable PDO mapping; therefore, the number of PDOs and the mapping of application objects into a PDO may be transmitted to a CANopen device during the configuration process, by applying the SDO services to the corresponding objects of the object dictionary. PDOs are used for both data transmission and data reception termed Transmit-PDO (TPDO) and Receive-PDO (RPDO), respectively. CANopen devices supporting TPDO are PDO producers, and CANopen devices supporting RPDO are called PDO consumers. MaxTune supports both. The PDO communication parameter describes the communication capabilities of the PDO. The PDO mapping parameter contains information about the contents of the PDO. For each PDO, a pair of communication and mapping parameters is mandatory. By default 4 TPDOs and 4 RPDOs are implemented in the MaxTune: TPDO 1 Statusword, 6041h, 16 bits TPDO 2 Position actual value, 6064h, 32 bits and Velocity actual value, 606Ch, 32 bits TPDO 3 Torque actual value, 6077h, 16 bits TPDO 4 Digital inputs, 60FDh, 32 bits 20 Reference Manual

21 CANopen Basics RPDO 1 Controlword, 6040h, 16 bits RPDO 2 Target position, 607Ah, 32 bits and Target velocity, 6081h, 32 bits RPDO 3 Target velocity, 60FFh, 32 bits RPDO 4 Target torque, 6071h, 16 bits 3.3 Object Table 3-1. Unit Dimensions Unit Dimension Position units Velocity units Acceleration units Definition The units are: (object 6091h sub-index h sub-index 2) (object 6092h sub-index h sub-index 2) For example: Assuming: object 6091h sub-index 1 = 360 object 6091h sub-index 2 = 1 object 6092h sub-index 1 = 1 object 6092h sub-index 2 = 1 and the actual position reading = 720 Then: 720 [(360 1) (1 1)] = 2 (= 2 revolutions) The units are: (object 6091h sub-index h sub-index 2) (object 6092h sub-index h sub-index 2) For example: Assuming: object 6091h sub-index 1 = 360 object 6091h sub-index 2 = 1 object 6092h sub-index 1 = 1 object 6092h sub-index 2 = 1 and the actual velocity reading = 720 Then: 720 [(360 1) (1 1)] = 2 (= 2 revolutions per second) The units are: (object 6091h sub-index h sub-index 2) (object 6092h sub-index h sub-index 2) For example: Assuming: object 6091h sub-index 1 = 360 object 6091h sub-index 2 = 1 object 6092h sub-index 1 = 1 object 6092h sub-index 2 = 1 and the actual acceleration reading = 720 Then: 720 [(360 1) (1 1)] = 2 (= 2 revolutions per second 2 ) Reference Manual 21

22 CANopen Basics MaxTune Unit Dimension Current units Definition The units are derived from object 6075h (Motor Rated Current) The value of this object is user defined, in ma. After setting a value for 6075h, all other current objects must receive values defined in 1/1000 (one-thousandth) of 6075h. For example: Assuming 6075h has a value of ma, then to set a value of ma for 6071h (Target Torque), write 1000 for 6071h. The calculation is: ( ) 2000 = Object Types Table 3-2. Object Types Unit Dimension Read/Write Read Only Constant Definition Read and write access Read only Read only access, value is constant 3.5 Errors and Faults Service Request Error Codes Table 3-3 lists the service request error (abort) codes, which the drive sends to the master device when the master issues an invalid SDO request to the MaxTune. For example, if you write a parameter value to the drive, but the value is higher than allowed, the drive will respond by sending error code: Dh (value is out of range). Table 3-3. Service Request Error Codes Error Code Ch Eh h h h Ah Bh Dh Eh Fh Waiting for enable; configuration cannot be executed The EnDat encoder is currently busy The drive configuration is invalid Failed to configure the velocity loop The drive is currently in Hold mode The value or service is not currently available No phase found on Tamagawa encoder The requested functionality is currently in use and not available The function is not supported on the input/output The argument must be an even number 22 Reference Manual

23 CANopen Basics Error Code h h Fh h h h h h h h h Ah Bh Ch Eh h h h Ah Bh h Fh h h h Ch h h h Dh h h D The motor peak rated current conflicts with the motor continuous rated current (MICONT > MIPEAK) The drive peak rated current conflicts with the drive continuous rated current conflict (DICONT > DIPEAK) Motor and encoder type mismatch Linear motor and encoder type mismatch The actual Harmonic current correction is out-of-range The position encoder resolution value is invalid The motor commutation type is invalid The velocity limit is invalid The drive peak rated current is invalid (sinusoidal peak) The motor peak rated current is invalid The drive bus voltage is invalid The motor minimum line-to-line inductance is invalid The number of motor poles is invalid The resolution in number of lines of the encoder equivalent output is invalid The homing type is invalid Reserved (unused) homing type The procedure is not yet completed The drive is active The drive is inactive The drive is currently busy and cannot execute the command Feedback is not properly defined The operation mode is invalid Active disable is in progress Password protected Burning active Input/output is not supported Saving of parameters failed The parameter is not available for modification Internal firmware fault Value is out of range The input value must be an integer The value is invalid for the current command Flash fault occurred Reference Manual 23

24 CANopen Basics Emergency Error Codes (Faults) MaxTune Upon detection of device-internal errors, the MaxTune will transmit emergency message frames over the CANopen network using COB-ID EMCY. An emergency message frame will be transmitted only once per error event and consists of the error code and the actual state of the Error Register object. Table 3-4. Emergency Message Frame Byte Emergency error code Error register Manufacturer-specific Table 3-5 lists the fault (emergency error) codes. When an illegal state occurs in the drive, the MaxTune sends the code to the master device as object 603Fh (Error Code). Whenever the value of 603Fh is not zero, there is a fault in the drive. The CANopen state machine enters Fault mode, and the MaxTune cannot be enabled. If, for example, the Motor Feedback interface cable is unplugged from the MaxTune, the motion control of the drive will not function; the drive will send the code 7383h (A/B line break fault) to the master device as object 603Fh (Error Code). Table 3-5. Emergency Error Codes (Faults) Fault Code 2214h Over-current P 2310h Motor foldback F2 2311h Drive foldback F1 2380h Current sensors offset out-of-range e h Motor phase disconnection r h Over-voltage o 3120h Under-voltage u 3180h Regen over-current n1 3181h STO (safe torque off) is not connected n 3182h Bus voltage measurement circuit failure e h Integrated power module over-temperature t2 7-Segment Display 24 Reference Manual

25 CANopen Basics Fault Code 4081h Control board over-temperature t3 4310h Drive over-temperature t1 4410h Motor over-temperature H 5111h Control +15V out-of-range o h Control -15V out-of-range o h Drive 5V out-of-range h Power board EEPROM fault e h Control digital board EEPROM fault e h CAN voltage supply fault A4 5583h Self test failed e h Parameter memory checksum failure e 5585h Parameter memory checksum failure e 5586h Failure writing to flash memory E 6381h Drive not configured h FPGA configuration failure e h Index line break r5 7112h Open load on the power brake output n h Short circuit on the power brake output n h Secondary encoder (feedback) index break r h Secondary encoder (feedback) A/B line break r h Pulse & direction input line break r h Feedback communication error r h Nikon encoder (feedback) operation fault r h Tamagawa feedback initialization failed r h A/B Line break r4 7384h Illegal Halls r6 7385h Tamagawa battery low voltage b 7386h PLL synchronization failed b1 7781h Motor setup failed h Phase find failed r2 7783h Encoder simulation frequency too high r9 7784h EnDat sine (feedback) communication failed r h A/B out-of-range r8 7786h Sine encoder quadrature r h Sine/cosine calibration invalid r15 7-Segment Display Reference Manual 25

26 CANopen Basics MaxTune Fault Code 7788h Encoder (feedback) 5V over-current r h Secondary encoder (feedback) 5V over-current r19 778Ah Sensorless initialization r30 778Bh Resolver initialization failed r28 778Ch Stall fault F3 778Dh PFB Off checksum invalid r34 778Eh PFB Off data mismatch r35 778Fh No PFB Off data r h FPGA version mismatch e h Emergency stop issued n3 7792h Endat2x feedback faults r h Drive locked b 8481h Velocity over-speed exceeded j 8611h Maximum position error exceeded J1 7-Segment Display 26 Reference Manual

27 Communication Objects 4 Communication Objects The following communication profile objects have been implemented in MaxTune. For more information, refer to the specific CAN documentation. 1000h - Device Type 1001h - Error Register 1002h - Manufacturer Status Register 1003h - Predefined Error Field 1005h - COB-ID SYNC Message 1006h - Communication Cycle Period 1007h - Synchronous Window Length 1008h - Manufacturer Device Name 1009h - Manufacturer Hardware Version 100Ah - Manufacturer Software Version 1010h - Store Parameter Field 1011h - Restore Default Parameters 1014h - COB-ID EMCY 1015h - Inhibit Time Emergency 1016h - Heartbeat Consumer Time 1017h - Producer Heartbeat Time 1018h - Identity Object 1019h - Synchronous Counter Overflow Value 1400h - Receive PDO Communication Parameter h - Receive PDO Communication Parameter h - Receive PDO Communication Parameter h - Receive PDO Communication Parameter h - Receive PDO Mapping Parameter h - Receive PDO Mapping Parameter h - Receive PDO Mapping Parameter h - Receive PDO Mapping Parameter h - Transmit PDO Communication Parameter h - Transmit PDO Communication Parameter h - Transmit PDO Communication Parameter h - Transmit PDO Communication Parameter 4 1A00h - Transmit PDO Mapping Parameter 1 1A01h - Transmit PDO Mapping Parameter 2 1A02h - Transmit PDO Mapping Parameter 3 1A03h - Transmit PDO Mapping Parameter 4 Reference Manual 27

28 Communication Objects 1000h Device Type Index 1000 MaxTune Contains information about the device type and functionality. It is comprised of a 16-bit field that describes the device profile used, and a second 16-bit field that gives additional information about optional functionality of the device. Unsigned32 Mandatory Constant Default Value Range 0 to Not Applicable 28 Reference Manual

29 1001h Error Register Communication Objects Index 1001 An error register for the device. A field of 8 bits, each of which indicates a particular type of error. If a bit is set to 1, the specified error has occurred. Bit 0 = Generic error 1 = Current 2 = Voltage 3 = Temperature 4 = Communication error (overrun, error state) 5 = Device profile specific 6 = Reserved 7 = Manufacturer specific Unsigned8 Mandatory Read Only Range 0 to 255 Not Applicable 1002h Manufacturer Status Register Index 1002 A common status register for manufacturer specific purposes. Unsigned32 Read Only Range 0 to Not Applicable Reference Manual 29

30 Communication Objects MaxTune 1003h Predefined Error Field Index 1003 Holds errors that occurred in the device and have been signaled via the Emergency object. It is an error history. Array Unsigned32 Sub-Index 000 Number of errors. Contains the number of actual errors recorded in the array, starting at sub-index 1. It can read 0 if no error is registered, or 1 if an error is registered. Writing a 0 to sub-index 0 deletes the entire error history. Unsigned8 Mandatory Read/Write Range 0 to 254 Not Applicable Sub-Index Standard error field Unsigned32 Mandatory Read Only Range 0 to Not Applicable 30 Reference Manual

31 1005h COB-ID SYNC Message Communication Objects Index 1005 Defines the COB-ID of the synchronization object (SYNC). The device generates a SYNC message if bit 30 is set. The meaning of other bits is the same as for other communication objects. Unsigned32 Read/Write Default Value Range 1 to Not Applicable 1006h Communication Cycle Period Index 1006 Defines the communication cycle period. It is 0 if not used. Unsigned32 Read/Write Default Value Range 0 to µs Reference Manual 31

32 Communication Objects MaxTune 1007h Synchronous Window Length Index 1007 Defines the length of the time window for synchronous messages. It is 0 if not used. Unsigned32 Read/Write Range 0 to µs 1008h Manufacturer Device Name Index 1008 The manufacturer device name, such as MaxTune drive. Visible_String Constant Default Value MaxTune drive Range Not Applicable Not Applicable 32 Reference Manual

33 Communication Objects 1009h Manufacturer Hardware Version Index 1009 The version number of the manufacturer s hardware. Visible_String Constant Default Value Control:00 Power:00 Range Not Applicable Not Applicable 100Ah Manufacturer Software Version Index 100A The version number of the manufacturer s software. Visible_String Constant.0.00 Range Not Applicable Not Applicable Reference Manual 33

34 Communication Objects MaxTune 1010h Store Parameter Field Index 1010 Still in Development. Not intended for user unless instructed by Technical Support. Saves parameters in non-volatile memory. Sub-index 1: All parameters Sub-index 2: Communication parameters Sub-index 3: Application parameters Sub-index 4-127: Manufacturer defined parameters Writing h (ASCII value of "save") to the appropriate sub-index saves the parameters. Array Unsigned32 Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 3 Range 0 to 127 Not Applicable Sub-Index 001 Saves all parameters Unsigned32 Read/Write Range 0 to Not Applicable 34 Reference Manual

35 Communication Objects Sub-Index 002 Saves communication parameters Unsigned32 Range 0 to Not Applicable Sub-Index 003 Saves application parameters Unsigned32 Range 0 to Not Applicable Reference Manual 35

36 Communication Objects MaxTune 1011h Restore Default Parameters Index 1010 Still in Development. Not intended for user unless instructed by Technical Support. Loads all parameters from non-volatile memory. Sub-index 1: All parameters Sub-index 2: Communication parameters Sub-index 3: Application parameters Sub-index 4-127: Manufacturer defined parameters Writing 64616F6Ch (ASCII value of "load") to the appropriate sub-index restores the parameters. Array Unsigned32 Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 3 Range 0 to 127 Not Applicable Sub-Index 001 Restores all default parameters Unsigned32 Read/Write Range 0 to Not Applicable 36 Reference Manual

37 Communication Objects Sub-Index 002 Restores communication default parameters Unsigned32 Range 0 to Not Applicable Sub-Index 003 Restores application default parameters Unsigned Range 0 to Not Applicable 1014h COB-ID EMCY Index 1014 Defines the COB-ID of the Emergency object (EMCY) Unsigned32 Read Only Default Value 128 Range 1 to Not Applicable Reference Manual 37

38 Communication Objects MaxTune 1015h Inhibit Time Emergency Index 1015 Defines the inhibit time used for emergency message. Unsigned16 Range 0 to millisecond (ms) 38 Reference Manual

39 1016h Heartbeat Consumer Time Communication Objects Index 1016 The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0, the corresponding entry is not used. Bit = Must be 0 for each sub-index = Node ID 15-0 = Heartbeat time Array Unsigned32 Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 1 Range 1 to 127 Not Applicable Sub-Index 001 Consumer heartbeat time 1 Unsigned32 Read/Write Range 0 to Not Applicable Reference Manual 39

40 Communication Objects 1017h Producer Heartbeat Time Index 1017 MaxTune This object defines the cycle time of the heartbeat, which must be a multiple of 1 millisecond. It is 0 if not used. Unsigned16 Read/Write Range 0 to milliseconds (ms) 40 Reference Manual

41 1018h Identity Object Communication Objects Index 1018 Still in Development. Not intended for user unless instructed by Technical Support. Contains general information about the device. Sub-index 1: Defines a unique value allocated to each manufacturer. Sub-index 2: Defines the manufacturer product code (device version). Sub-index 3: Defines the revision number Bit = major revision number Bit 15-0 = minor revision number Sub-index 4: Defines the manufacturer serial number. Record IDENTITY - Still in Development Mandatory Sub-Index 000 Number of entries Unsigned8 Mandatory RO Default Value 4 Range 1 to 4 Not Applicable Sub-Index 001 Vendor ID Unsigned32 Mandatory Read Only Default Value 737 Range 0 to Not Applicable Reference Manual 41

42 Communication Objects MaxTune Sub-Index 002 Product code Unsigned32 Read Only Default Value 1 Range 0 to Not Applicable Sub-Index 003 Revision number Unsigned32 Read Only Range 0 to Not Applicable Sub-Index 004 Serial number Unsigned32 Read Only Range 0 to Not Applicable 42 Reference Manual

43 1019h Synchronous Counter Overflow Value Communication Objects Index 1019 Defines whether a counter is mapped into the SYNC message, and the highest possible value of the counter. 0 = SYNC message transmitted with length 0 1 = Reserved = SYNC message transmitted with length 1, first data byte contains the counter value = Reserved Unsigned8 Read/Write Range 0 to 240 Not Applicable Reference Manual 43

44 Communication Objects MaxTune 1400h Receive PDO Communication Parameter 1 Index 1400 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record PDO_COMM_PAR Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Not Applicable Sub-Index 001 COB-ID used by PDO Unsigned32 Read/Write Default Value 255 Range 0 to 255 Not Applicable 44 Reference Manual

45 Communication Objects Sub-Index 002 Transmission type Unsigned8 Default Value 255 Range 0 to 255 Not Applicable Sub-Index 003 Inhibit time Unsigned16 Range 0 to µs Reference Manual 45

46 Communication Objects MaxTune 1401h Receive PDO Communication Parameter 2 Index 1401 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record PDO_COMM_PAR Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Not Applicable Sub-Index 001 COB-ID used by PDO Unsigned32 Read/Write Default Value 768 Range 1 to Not Applicable 46 Reference Manual

47 Communication Objects Sub-Index 002 Transmission Type Unsigned8 Default Value 255 Range 0 to 255 Not Applicable Sub-Index 003 Inhibit Time Unsigned16 Range 0 to µs Reference Manual 47

48 Communication Objects MaxTune 1402h Receive PDO Communication Parameter 3 Index 1402 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record PDO_COMM_PAR Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Not Applicable Sub-Index 001 COB-ID used by PDO Unsigned32 Read/Write Default Value 1024 Range 1 to Not Applicable 48 Reference Manual

49 Communication Objects Sub-Index 002 Transmission Type Unsigned8 Default Value 255 Range 0 to 255 Not Applicable Sub-Index 003 Inhibit Time Unsigned16 Range 0 to Reference Manual 49

50 Communication Objects MaxTune 1403h Receive PDO Communication Parameter 4 Index 1403 Contains the communication parameters of the current PDO the device is able to receive. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Defines the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Record PDO_COMM_PAR Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 3 Range 2 to 5 Not Applicable Sub-Index 001 COB-ID used by PDO Unsigned32 Read/Write Default Value 1280 Range 1 to Not Applicable 50 Reference Manual

51 Communication Objects Sub-Index 002 Transmission Type Unsigned8 Default Value 255 Range 0 to 255 Not Applicable Sub-Index 003 Inhibit Time Unsigned16 Range 0 to µs Reference Manual 51

52 Communication Objects MaxTune 1600h Receive PDO Mapping Parameter 1 Index 1600 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables.these entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. Record PDO_MAPPING Sub-Index 000 Number of entries Unsigned8 Mandatory Read/Write Default Value 1 Range 0 to 64 Not Applicable Sub-Index 001 Mapping entry 1 Unsigned32 Read/Write Default Value Range 0 to Not Applicable 52 Reference Manual

53 Communication Objects Sub-Index 002 Mapping entry 2 Unsigned32 Range 0 to Not Applicable Sub-Index 003 Mapping entry 3 Unsigned32 Range 0 to Not Applicable Sub-Index 004 Mapping entry 4 Unsigned32 Range 0 to Not Applicable Reference Manual 53

54 Communication Objects MaxTune 1601h Receive PDO Mapping Parameter 2 Index 1601 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Sub-Index 000 Number of entries Unsigned8 Mandatory Read/Write Default Value 2 Range 0 to 64 Not Applicable 54 Reference Manual

55 Communication Objects Sub-Index 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Not Applicable Sub-Index 002 Mapping entry 2 Unsigned32 Default Value Range 0 to Not Applicable Sub-Index 003 Mapping entry 3 Unsigned32 Range 0 to Not Applicable Reference Manual 55

56 Communication Objects MaxTune Sub-Index 004 Mapping entry 4 Unsigned32 Range 0 to Not Applicable 56 Reference Manual

57 1602h Receive PDO Mapping Parameter 3 Communication Objects Index 1602 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Sub-Index 000 Number of entries Unsigned8 Mandatory Read/Write Default Value 1 Range 0 to 64 Not Applicable Reference Manual 57

58 Communication Objects MaxTune Sub-Index 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Not Applicable Sub-Index 002 Mapping entry 2 Unsigned32 Range 0 to Not Applicable Sub-Index 003 Mapping entry 3 Unsigned32 Range 0 to Not Applicable 58 Reference Manual

59 Communication Objects Sub-Index 004 Mapping entry 4 Unsigned32 Range 0 to Not Applicable Reference Manual 59

60 Communication Objects MaxTune 1603h Receive PDO Mapping Parameter 4 Index 1603 Contains the mapping for the PDOs the device is able to receive. Sub-index 0: Defines the number of valid entries in the mapping record. This number of entries is also the number of the application variables that are received with the corresponding PDO. Sub-indices 1 to number of entries: Contain information about the mapped application variables. These entries describe the PDO contents by their index, sub-index and length. All three values are hexadecimal coded. The length entry defines the length of the object in bits. This parameter can be used to verify the overall mapping length. It is mandatory. Record PDO_MAPPING Sub-Index 000 Number of entries Unsigned8 Mandatory Read/Write Default Value 1 Range 0 to 64 Not Applicable 60 Reference Manual

61 Communication Objects Sub-Index 001 Mapping entry 1 Unsigned32 Default Value Range 0 to Not Applicable Sub-Index 002 Mapping entry 2 Unsigned32 Range 0 to Not Applicable Sub-Index 003 Mapping entry 3 Unsigned32 Range 0 to Not Applicable Reference Manual 61

62 Communication Objects MaxTune Sub-Index 004 Mapping entry 4 Unsigned32 Range 0 to Not Applicable 62 Reference Manual

63 Communication Objects 1800h Transmit PDO Communication Parameter 1 Index 1800 Contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0: Defines the number of PDO-parameters implemented. Sub-index 1: Describes the COB-ID. If bit 31 is set, the PDO is disabled. Sub-index 2: Defines the transmission type. Sub-index 3: Defines the inhibit time. Sub-index 4: Reserved Sub-index 5: Defines the event time Sub-index 6: Defines the SYNC start value. Record Start value 0 = SYNC message has no data content. Start value 1 to 240 = SYNC message has 1 byte data. This data byte is considered a counter value. The SYNC message whose counter value equals the SYNC start value is considered the first received SYNC message. PDO_COMM_PAR Sub-Index 000 Number of entries Unsigned8 Read Only Default Value 6 Range 2 to 6 Not Applicable Reference Manual 63