06/2015 ID

Transcription

1 Manual en 06/2015 ID

2 Table of contents Table of contents 1 General Information Further documentation CiA specifications Website downloads Technical support Instructions for use Abbreviations, symbols, indexes Trademarks Notes on safety Operation in accordance with its intended use Component part of the product Risk assessment Qualified personnel Working on the machine Disposal Presentation of notes on safety Communication Module CA Installation Electrical installation CAN bus - Network structure Connection Selection of suitable lines SD6 - Terminal X MC6 - CANopen interface States of the bus communication Commissioning - SD6 and MC6 with CANopen DS6: Configure drive controller Activate CA6 and CiA Configure global CANopen settings Check PDO communication Transfer project configuration Save project configuration CODESYS: set up CAN network Install EDS Map CAN bus system Map CANopen Manager Map drive controller Configure data exchange Configure CAN bus system Configure CANopen Manager

3 Table of contents Configure drive controller Compile project configuration Transfer project configuration More about CANopen? CAN bus and CANopen CANopen Communication Emergency Objects - EMCY Object directory - References Communication objects - CiA DS Communication objects - CiA DS Communication objects - STOBER-specific parameters Object directory Network structure CAN message COB-ID Communication objects Process Data Object - PDO Service Data Object - SDO Network Management Object - NMT Error Control Objects - ERROR Synchronization Object - SYNC

4 1 General Information 1 General Information The new SD6 drive controller offers maximum precision and productivity for automation technology and machine manufacturing despite ever more complex functions. Highly dynamic drives ensure the shortest recovery times from fast changes in reference value and load jumps. You also have the option of connecting the drive controllers in a DC intermediate circuit, which improves the energy footprint of the entire system. Properties Large power range using 4 sizes Quick DC-Link: Innovative installation concept for the DC link connection Very good control performance Easy to service Isochronous system bus (in preparation) Modular safety technology (in preparation) Free, graphical programming in accordance with IEC CFC (in preparation) 1.1 Further documentation The documentation listed in the following table provides relevant information on the SD6 drive controller. You can find the latest document versions at Device/software Documentation Contents ID SD6 drive controllers Manual Technical data, installation, connection, setup, commissioning and customer service SD6 drive controllers Controller Based Mode (CBM) application Commissioning instructions Manual Installation and functional test Operation and setup, commissioning MC6 Motion Controller Manual Projecting, installation, connection, setup, customer service and maintenance

5 1 General Information CiA specifications CANopen communication profile; this specification describes the important services and protocols under CANopen: CiA DS 301 V4.02 CANopen application layer and communication profile CANopen Framework for programmable devices: CiA DSP 302 V3.0 CANopen application layer and communication profile CANopen device profiles; these specifications describe the behavior of many device classes: CiA DS 402 V2.0 CANopen device profile drives and motion control, CiA DS 40x Recommendations for cable and plug connector: CiA DRP 303-1, ISO CANopen Standardization as European Norm: EN Part 4: CANopen Website downloads Information about CANopen You can find further general information about CAN and CANopen on the CiA website "CAN in Automation" ( Different CiA specifications as well as a dictionary covering CAN terminology is available in the CAN download area (see SD6 Device description You can get an EDS file for simple integration of the drive controller SD6 in CODESYS at CODESYS programing and project planning software A current version of the CODESYS software as well as detailed software documentation is available in the CODESYS download area at Technical support If you have technical questions that are not answered by this document, please contact: Phone: applications@stoeber.de If you have questions about training sessions, please contact: training@stoeber.de 5

6 1 General Information 1.3 Instructions for use This documentation supports you with the installation and connection of the CA6 communication module for connecting the SD6 drive controller to the CANopen bus system. Special knowledge To be able to put the CA6 communication module into operation with the STOBER MC6 controller, you should know the basics of CANopen. Intensive training on the CiA specifications concerned is not necessary. Technical requirements Before putting the CA6 communication module into operation, you have to wire the SD6 drive controller and initially check its correct function. To do this, follow the instructions in the commissioning instructions of the SD6 drive controller. 1.4 Abbreviations, symbols, indexes Abbreviations CAN CBM CiA COB-ID DBT I/O EMCY GND IGB LSB LSW Controller Area Network Controller Based Mode CAN in Automation Communication Object Identification Distributor Input/Output Emergency Message Ground Integrated Bus Least Significant Byte Least Significant Word Abbreviations MSB MSW NMT PDO RxD RTR SDO PLC SYNC TxD 1.5 Trademarks Most Significant Byte Most Significant Word Network Management Process Data Object Received Data Remote Transmit Request Service Data Object Programmable logic controller Synchronization Message Transmitted Data The following names that are used in conjunction with the device, its optional equipment and its accessories are trademarks or registered trademarks of other companies: Trademarks CANopen, CiA CODESYS Microsoft, Windows, Windows XP, Windows 7 CANopen and CiA are registered Community trademarks of CAN in Automation e.v., Nuremberg, Germany. CODESYS is a registered trademark of 3S-Smart Software Solutions GmbH, Kempten, Germany. Microsoft, Windows, Windows XP and the Windows logo are registered trademarks of Microsoft Corporation in the USA and/or other countries. All other trademarks that are not listed here are the property of their respective owners. 6

7 2 Notes on safety 2 Notes on safety The devices can represent a source of danger. Therefore observe the safety guidelines technical rules and regulations given in the following sections and points. STOBER shall assume no liability for damage resulting from failure to comply with the instruction manual or relevant regulations. We reserve the right to make technical changes for the purpose of improving the devices. 2.1 Operation in accordance with its intended use As defined by DIN EN (previously VDE 0160), the drive controllers are electrical equipment operating as power electronics to control the flow of energy in high voltage systems. They are designed exclusively for installation in switching cabinets, protection class at least IP54, and for supplying synchronous servo motors and asynchronous motors. Designated use does not include connecting other electrical loads! 2.2 Component part of the product The technical documentation is a component part of a product. Since the technical documentation contains important information, always keep it handy in the vicinity of the device until the machine is disposed of. If the product is sold, disposed of, or rented out, always include the technical documentation with the product. 2.3 Risk assessment Before the manufacturer may bring a machine onto the market, he must conduct a risk assessment according to Machine Directive 06/42/EC. As a result, the risks associated with the use of the machine are determined. The risk assessment is a multi-stage and iterative process. On no account can sufficient insight into the Machine Directive be given as part of this documentation. For this reason, seek detailed information about the norms and legal position. When installing the drive controller in machines, commissioning is forbidden until it has been determined that the machine meets the requirements of EC Directive 06/42/EC. 2.4 Qualified personnel Devices may cause residual risks. For this reason, all work on the devices as well as operation and disposal must only be performed by qualified personnel who are aware of the possible dangers. Qualified personnel are persons who have acquired the authorisation to perform these activities by Training from specialists and/or Instruction from specialists In addition, they must have read, understood and observed the applicable regulations, legal provisions, rules and standards and existing technical documentation including the safety information contained in it. 7

8 2 Notes on safety 2.5 Working on the machine Apply the 5 safety rules in the order stated before performing any work on the machine: 1. Disconnect. Also ensure that the auxiliary circuits are disconnected. 2. Protect against being turned on again. 3. Check that voltage is not present. 4. Ground and short circuit. 5. Cover or block off adjacent live parts. Information Note that the discharge time of the DC link capacitors is up to 5 minutes. You can only determine the absence of voltage after this time period. 2.6 Disposal Please comply with the latest national and regional regulations! Dispose of the individual parts separately depending on their nature and currently valid regulations such as, for example: Electronic scrap (PCBs) Plastic Sheet metal Copper Aluminum 2.7 Presentation of notes on safety NOTICE Notice means that property damage may occur if the stated precautionary measures are not taken. CAUTION! Caution with warning triangle means that minor injury may occur if the stated precautionary measures are not taken. WARNING! Warning means that there may be a serious danger of death if the stated precautionary measures are not taken. DANGER! Danger means that serious danger of death exists if the stated precautionary measures are not taken. Information refers to important information about the product or serves to emphasize a section in the documentation to which the reader should pay special attention. 8

9 3 Communication Module CA6 3 Communication Module CA6 With the CA6 communication module, SD6 provides a universal fieldbus interface for a connection of the drive controller to higher-level control systems via CANopen. CA6 fully complies with the CANopen standard and allows direct access to all relevant drive parameters and functions. SD6 itself is parameterized via Service Data Objects (SDO) and controlled via fast cyclic Process Data Objects (PDO) that assign target positions, travel speeds or acceleration specifications, for example. 3.1 Installation Installation work is only admissible when no voltage is present. Observe the 5 safety rules. Remove the additional covers before commissioning so that the device will not overheat. Note the minimum open areas specified in the technical data during installation to prevent the drive controller from overheating. Protect the device against falling parts (bits or strands of wire, pieces of metal, etc.) during installation or other work in the control cabinet. Parts with conductive properties may result in a short circuit or device failure within the drive controller. WARNING! Danger of personal injury and material damage due to electric shock! Always switch off all power supply voltage before working on the drive controller! Note that the discharge time of the DC link capacitors is up to 5 minutes. You can only determine the absence of voltage after this time period. CAUTION! Danger of material damage due for example to electrostatic discharge! Take suitable protective measures when handling open printed circuit boards, for example clothing appropriate for ESD and an environment free of dirt and grease. Do not touch the contact surfaces. CA6 is installed on the upper slot of the drive controller. You need: A Torx screwdriver TX10. The cover and screw included with the communication module. Installation of the communication module 1. Loosen the fastening screw for the dummy cover on the top of the drive controller. 2. Push the communication module into the drive controller on the guide rails. 3. Push the module in so that the pin contacts are pushed into the female connector strip. 4. Insert the tips of the cover included with the communication module into the recess in the front at an angle. 5. Set the cover down on the drive controller so that the tips are resting under the edge. 6. Fasten the cover with the two screws. 9

10 4 Electrical installation 4 Electrical installation 4.1 CAN bus - Network structure CAN operates as standard with a linear topology where all subscribers (masters and slaves) are connected to each other via three shielded lines: CAN-High and CAN-Low; a line for the reference ground between the subscribers is also provided. To prevent superimposed data due to signal reflections at both bus ends and so significantly reduce failure susceptibility, termination resistors of 120 Ω are connected between CAN-H and CAN-L. The following figure abstracts a CANopen network consisting of a MC6 controller as master as well as several SD6 drive controllers as bus subscribers, i.e. slaves. One of the two necessary termination resistors is integrated in the MC6 CANopen interface and permanently activated; the second must be connected to the last subscribing SD6 (X200: sliding switch set to "On"). Connecting the termination resistors is also necessary for very short lines. 4.2 Connection To be able to connect individual drive controllers to each other or to the MC6 controller, CA6 and MC6 each have their own interfaces in the form of 9-pin Sub-D connectors for connecting to the CAN bus system Selection of suitable lines CAN cable and plug connector CAN cable CAN bus lines are available with different sheath materials for different application scenarios and environmental conditions. For the transfer of CAN signals, at least a 3-pin cable with CAN-High, CAN-Low and a reference ground is required. To ensure correct operation particularly at high transfer rates we recommend using bus lines that meet the requirements stated in ISO , for example: Ripple resistance: Ω Maximum mutual capacitance: 60 nf/km Conductor resistance: 70 mω/m Plug connector 9-pin Sub-D connectors with metal housings or housings made of metalized plastic are suitable as plug connectors at the start and at the end of a CAN bus line; plug connectors with two cable inlets are advantageous for looping through. 10

11 4 Electrical installation Shielding Above all, suitable shielding is essential at high transfer rates. The shielding of the CAN cable is mounted under the strain relief of the connector; the shielding is therefore connected to the drive controller via the plug housing and the Sub-D connector. Ensure continual shielding over the entire bus length Transfer speed and line length The maximum length of a CAN bus line is dependent on the transfer speed, i.e. the baud rate. The following table shows the maximum permitted cable lengths (over the entire extension of the bus) in combination with each of the possible baud rates. Note that the sensitivity of serial bus systems increases as the transfer speed increases. Baud rate (kbit/s) Maximum cable length (m) < 30, only with special cable ± 60 nf/km 1000 < 10, only with special cable ± 60 nf/km SD6 - Terminal X200 To be able to connect the drive controllers to each other, the CA6 communication module has a 9-pin Sub-D connector. Terminal description X200 Pin Designation Function Connecto 1 r 2 CAN-L CAN-Low line 3 GND Reference ground CAN-H CAN-High line 8 9 Information All drive controllers that are connected via a CAN network must have the same baud rate. 11

12 4 Electrical installation MC6 - CANopen interface To connect the SD6 drive controller with the MC6 controller, MC6 provides a predefined CANopen interface. The CANopen interface involves a SJA1000 CAN controller with physical layers according to ISO (high-speed CAN). The interface is floating and has a 120 ohm termination resistor that is permanently active and not variable States of the bus communication The state of the bus communication is apparent directly at the communication module. CA6 is fitted with a green and a red LED. Both LEDs display communication-specific states according to CiA DR and thus allow for a quick and easy diagnosis of the bus system directly at the drive controller. Pin Designation Function 1 2 CAN-L CAN-Low line 3 GND Reference ground GND Reference ground 7 CAN-H CAN-High line 8 9 V EXT External supply voltage 12

13 4 Electrical installation Green LED display LED state Off Flashing Single flash On Meaning No error, no warning. Drive controller is ready for parameterization for the preparation of actual operation. "Stopped" NMT state, all communication activities are stopped. "Operational" NMT state, CAN bus is activated, all services are in operation. Red LED display LED state Meaning Measure Off No error, no warning. Single Flash Double flash Triple flash Communication error in operation mode (Warning Level) Node Guard Event SYNC error Check the bus cabling, shielding and compliance with the CAN Specifications regarding this. Check the Node Guard function of the controller. Check the SYNC configuration of the controller. On Bus off The SD6 concerned no longer subscribes to the CAN communication. Check the baud rate and bus cabling and switch off the drive controller and then switch on again. 13

14 5 Commissioning - SD6 and MC6 with CANopen 5 Commissioning - SD6 and MC6 with CANopen You want to operate several SD6 drive controllers in conjunction with the STOBER MC6 Motion Controller via a CANopen network. The following chapter describes the commissioning of the stated systems with the aid of the STOBER DS6 Software DriveControlSuite as well as the CODESYS project planning software from the manufacturer 3S-Smart Software Solutions GmbH. To be able to implement the individual commissioning steps exactly, we require the following system environment: STOBER Motion Controller MC6 STOBER SD6A drive controller with CA6A communication module STOBER DS6 DriveControlSuite from version 6.0-F CODESYS from version 3.5 Commissioning is divided into the following steps: 1. DriveControlSuite: Configure drive controller The CA6 communication module in conjunction with the CiA 402 device controller are activated separately for each subscribing drive controller on the bus system in the DriveControlSuite. Associated CANopen-specific settings such as parameterization and assignment of the process data channels are also configured for data transfer for each drive controller. 5.1 DS6: Configure drive controller To be able to configure all drive controllers of the bus system via the DriveControlSuite, you must record them as part of a project. You then define global CANopen settings and adapt the predefined communication objects and their channels to your requirements. Perform the steps included in the following chapters in the specified order! Activate CA6 and CiA402 We recommend recording all drive controllers in the DriveControlSuite subscribing to the bus system in one project and under one module. 1. Start the DriveControlSuite and click on Create new standard project. The newly created project automatically includes a module, a drive controller and an axis. You can rename these elements as desired. 2. Mark the (first) drive controller in the project tree and click on Project planning. The project planning window opens. 3. Select the Option modules tab and activate the communication module CA6A CANopen. 4. Select the Device controller tab and activate (the latest version of) the device controller CiA 402 CANopen. 5. Confirm with OK and close the subsequent information window. 2. CODESYS: map and configure CAN network CODESYS provides a platform in which the CANopen hardware environment can be mapped, set up and saved as a global project configuration. This project configuration is finally saved in the MC6 controller. The CODESYS software is thus the CAN interface for the connection of all drive controllers in the CAN group to the MC6 controller. 14

15 5 Commissioning - SD6 and MC6 with CANopen Configure global CANopen settings Requirement: You have activated the CA6 module as well as the CiA 402 device controller. 1. Mark the drive controller concerned in the project tree and click on Wizards > CANopen. The CANopen wizard opens. 2. Configure CANopen as follows: A213 Fieldbus scaling A82 CAN baud rate A83 Bus address A203 Guard Time Define how the PDO elements are represented (scaled) for the transfer. Permitted values: Raw value (values are passed without change) or integer (values are converted) Default: raw value Define the transfer rate depending on the bus length. Permitted value range: kbit/s Default: 250 kbit/s Enter the bus address (node ID) of the drive controller. Permitted address range: Default: 1 Define the time between two consecutive remote requests of the controller. Permitted value range: ms (0 = no monitoring) Default: 0 ms Note that the simultaneous use of Guard Time and Heartbeat is not permitted! You can disable both control services or enable one of them. A204 Life Time Factor A210 Producer Heartbeat Time Specify how high the number of remaining remote requests from the controller must be before the drive controller changes to the Fault state. Permitted value range: Default: 0. Note: The Life Time is the product of A203 x A204 and must lie within the value range ms. Define the time between two consecutive heartbeat messages of the drive controller. Permitted value range: ms (0 = deactivated) Default: 200 ms Note that the simultaneous use of Guard Time and Heartbeat is not permitted! You can disable both control services or enable one of them. 15

16 5 Commissioning - SD6 and MC6 with CANopen Check PDO communication The CA6 communication module allows the simultaneous operation of a maximum of four independent PDO channels for each transmission and reception direction. Each of these PDO channels includes a PDO with a maximum of six elements to be transmitted in a defined order. The current default settings are recommendations of STOEBER Antriebstechnik to ensure correct communication between controller and drive controller. The assignment of the COB-ID corresponds to the principle of "Predefined Connection Sets". Only change this if you operate outside of the norm. Due to the restricted transfer rate of the CAN bus, only two channels are active in the CANopen PDO defaults. The STOBER drive controller supports a flexible assignment of the elements to be transmitted to the individual PDO. If you reconfigure this predefined PDO mapping according to your requirements, note that the entire length of the elements to be transmitted may not exceed 8 byte per channel. A221[1] Transmission Type A225[0] A225[5] 1st 6th mapped parameter Resulting length Transmission type of the RxPDO. Elements that are transmitted via the first RxPDO of this channel. The respective position (1st 6th) has information about the associated transmission order. Total length of the elements of the first RxPDO to be transmitted. The value must not exceed 8 byte. To comply with the value, change the type or number of the elements to be transmitted in this channel if necessary. 3. Repeat step 3 for all RxPDO channels that receive the "active" status. 4. Check the activity status of the channels and activate/deactivate it if necessary by clicking on the green status light of a channel Check receive PDO Requirement: You have activated the CA6 module as well as the CiA 402 device controller and configured the global CANopen settings. 1. Mark the drive controller concerned in the project tree and click on Wizards > CANopen > CANopen RxPDO. The CANopen RxPDO wizard opens. 2. Check the default settings for the elements that are transmitted from the controller in the direction of the drive controller. A221[0] COB-ID COB-ID of the first RxPDO that is transmitted via this channel. 16

17 5 Commissioning - SD6 and MC6 with CANopen Check Transmit PDO Requirement: You have activated the CA6 module as well as the CiA 402 device controller and configured the global CANopen settings. 1. Mark the drive controller concerned in the project tree and click on Wizards > CANopen > CANopen TxPDO. The CANopen TxPDO wizard opens. 2. Check the default settings for the elements that are transmitted from the drive controller in the direction of the controller. A229[0] COB-ID A229[1] Transmission Type A229[2] Inhibit Time A233[0] A233[5] 1st 6th mapped parameter Resulting length COB-ID of the first TxPDO that is transmitted via this channel. Transmission type of the TxPDO. Minimum time between the transmission of two PDO elements. Elements that are transmitted via the first TxPDO of this channel. The respective position (1st 6th) has information about the associated transmission order. Total length of the elements of the first TxPDO to be transmitted. The value must not exceed 8 byte. To comply with the value, change the type or number of the elements to be transmitted in this channel if necessary. 5. When you have recorded all drive controllers of your bus system in the current project, continue by saving the project configuration and transfer to the drive controller of your bus system Transfer project configuration To be able to transfer a project configuration to one or more drive controllers as part of an IGB network, you must connect your computer to the network. Requirement: You have recorded all drive controllers of your bus system in the DriveControlSuite in a project and under one module. The drive controller is switched on. 1. Mark the module in the project tree under which you have recorded the drive controller concerned and click on Establish connection. The connection window opens. 2. Direct connection > Column IGB IP address tab: Mark the IP address you want to connect with and confirm with OK. The assignment window opens. 3. For each drive controller, assign the In project column, the Send to drive controller action in the Method column and confirm the assignment with Start. The project file is transferred to the selected drive controller. 3. Repeat step 3 for all TxPDO channels that you want to set to the "active" state. 4. Check the activity status of the channels and activate/deactivate it if necessary by clicking on the green status light of a channel. 17

18 5 Commissioning - SD6 and MC6 with CANopen Save project configuration Requirement: You have transferred the project configuration to a drive controller. 1. Mark the drive controller concerned in the project tree and click on Wizards > Save action values. The storage wizard opens. 2. Save the project configuration in the drive controller by setting A00[0] Start to 1: active. 3. The configuration changes are only effective when the drive controller is restarted. Click on Action System Reset. The restart wizard opens. 4. Restart the drive controller by setting A09[0] Start to 1: active. 5. Restablish a connection to the drive controller. 6. Transfer and save the project configuration to all drive controllers of your bus system. 5.2 CODESYS: set up CAN network CODESYS offers the option to map and configure your real CANopen hardware environment and to make it available as a global project file of your controller. You can get the CODESYS software in the download area of the CODESYS website. Always comply with the following sequence of steps when mapping your CANopen network in CODESYS Install EDS The functions and properties of the STOBER drive controllers are described in the form of numerous objects and summarized in an EDS file. Integrate this "SD6-EDS" in the CODESYS library. Preconditions: You have downloaded the SD6-EDS from the STOBER download area and saved it locally or copy it directly from the CD STOBER ELECTRONICS 6 during the installation process. 1. Start CODESYS, create a standard project and save it. CODESYS opens, the Devices view is active. 2. Click on Tools > Device repository > Install. 3. Navigate to the storage location of the SD6-EDS, mark it and click on Open. The EDS file is integrated in the CODESYS library. 4. Check the installation in the Device repository > Installed device descriptions window: Click on Fieldbuses > CiA CANopen > CiA Remote Device > SD6. The SD6-EDS has been installed. 5. Close the Device repository window. 18

19 5 Commissioning - SD6 and MC6 with CANopen Map CAN bus system Map your real CAN bus system in the project by integrating a corresponding hardware module in the CODESYS device tree. 1. Click in the device tree on Devices > right mouse button > Add device. The Add device window opens. 2. Device > Manufacturer section: Select 3S - Smart Software Solutions GmbH. The devices of the manufacturer 3 S that may be mounted to the current position in the device tree are displayed. 3. Click on CANbus and confirm with Add device. The CAN bus system is mapped in the device tree. 4. Close the Add device window Map CANopen Manager Map your real CANopen Master (CANopen Manager) in the project by integrating a corresponding hardware module in the CODESYS device tree. Preconditions: You have integrated a CAN bus system in the device tree Map drive controller Map all SD6 drive controllers that you operate in your CANopen network in the project by integrating the corresponding hardware modules in the CODESYS device tree. Preconditions: You have integrated the SD6-EDS in the CODESYS library and a CANopen Manager in the device tree. 1. Click in the device tree on CANopen_Manager > right mouse button > Add Device. The Add Device window opens. 2. Device > Vendor section: Select STOEBER ANTRIEBSTECHNIK GmbH &Co. KG. The devices from STOBER that may be mounted to the current position in the device tree are displayed. 3. Click on SD6 and confirm with Add Device. The SD6 drive controller is mapped in the device tree. 4. Repeat step 3 for all drive controllers that exist in your real CANopen network. 5. Close the Add Device window. 1. Click in the device tree on CANbus > right mouse button > Add device. The Add Device window opens. 2. Device > Vendor section: Select 3S - Smart Software Solutions GmbH. The devices of the manufacturer 3 S that may be mounted to the current position in the device tree are displayed. 3. Click on CANopen_Manager and confirm with Add Device. The CANopen Manager is mapped in the device tree. 4. Close the Add Device window. 19

20 5 Commissioning - SD6 and MC6 with CANopen 5.3 Configure data exchange Configure the data exchange between the drive controllers and controller via the CAN bus system Configure CAN bus system Configure the general communication properties of your CAN bus system. 1. Double click in the device tree on the module CANbus > Sub-tab CANbus. The CANbus sub-tab opens. 2. Configure the CAN bus as follows: Network Baudrate (bit/s) Specify the number of the CAN bus system that should be addressed. Default: 0 Specify the baud rate that you have defined in the DriveControlSuite for this CAN bus. Default: Configure CANopen Manager Configure the communication properties of your CANopen Manager. We recommend only changing the default settings when you operate outside of the norm or are prompted to do so in the following step directions. 1. Double click in the device tree on the module CANopen_Manager > Subtab CANopen Manager. The CANopen Manager sub-tab opens. 2. General section: Node ID Autostart CANopenManager Polling of optional slaves Start slaves NMT Start All (if possible) NMT Error Behavior Specify the bus address of the master. Permitted address range: Default: 127 The master changes automatically to operation mode as soon as all necessary drive controllers are ready for use. Default: activated Every second the master queries the status of a drive controller that does not provide a response during the boot sequence until it receives a positive response from it. Default: activated The master is responsible for the start of the drive controller. Default: activated The master starts all drive controllers ready for use with the command NMT Start All. Default: deactivated Defines the behavior in the case of an error during drive controller monitoring. Default: Restart Slave 20

21 5 Commissioning - SD6 and MC6 with CANopen 3. Sync section: Enable Sync Producing Activate this option so that the master SYNC can send messages. Default: deactivated Producer Time (ms) 5. TIME section: Time between two consecutive heartbeat messages. Default: 200 COB-ID (Hex) Cycle Period (μs) ID of the SYNC messages. Permitted value range: Default: 80 Set the time between two consecutive SYNC messages to 4000 μs. Default: 1000 To remove the subsequent CODESYS warning message, click in the project tree on Task configuration > MainTask. Type section: Set the interval time to t#4ms. Return to the CANopen Manager sub-tab. Enable TIME Producing COB-ID (Hex) Producer Time (ms) The master sends TIME messages. Default: deactivated ID of the TIME messages. Permitted value range: Default: 100 Time between two consecutive TIME messages. Default: 1000 Window Length (μs) Time window for synchronous PDO. Default: 1200 Enable Sync Consuming Indicates that the master SYNC messages are received by another device. Default: deactivated 4. Heartbeat section: Enable Heartbeat Producing The master sends heartbeat messages. Default: activated Node ID Specify the bus address of the master that sends the heartbeat messages. Permitted value range: Default:

22 5 Commissioning - SD6 and MC6 with CANopen Configure drive controller Configure the communication settings of the drive controller as described in the following. Note that you must separately define each drive controller existing in the project CANopen Remote Device We recommend only changing the default settings when you operate outside of the norm or are prompted to do so in the following step directions. CANopen Remote Device 1. Double click in the device tree on the (first) module SD6 > Sub-tab CANopen Remote Device. The CANopen Remote Device sub-tab opens. 2. General section: Node ID SDO Channels (1/4 active) Enable Expert Settings Optional Device Specify the bus address of the drive controller. Possible address range Default: 1 Shows the activated SDO channels. Default: 1st channel activated, channels 2 4 deactivated Activate this option to show advanced settings such as the tab for Receive and Transmit PDO mappings, etc. to be able to configure them. Default: deactivated The drive controller is not absolutely necessary for the start of the CANopen network. Default: deactivated Create all SDOs No initialisation Enable Sync Producing 3. Nodeguarding/Heartbeat section: Enable Heartbeat Producing Producer Time (ms) 4. Emergency/TIME section: Enable Emergency All SDOs are loaded in the object directory of the drive controller. Default: deactivated The drive controller starts with a valid configuration; the master does not send SDOs or NMT start commands. Default: deactivated The drive controller sends SYNC messages; if the SYNC mechanism is already activated for the master, this option for the drive controller is not available to you. Default: deactivated The drive controller sends heartbeat messages. The Node Guard function is automatically deactivated for an activated heartbeat service. Default: activated Time between two consecutive heartbeat messages. Specify the time here that you have configured in the DriveControlSuite under CANopen > A210 Producer Heartbeat Time. Default: 200 The drive controller sends EMCY messages in case of internal error. The time function is automatically deactivated for an activated emergency service. Default: activated 22

23 5 Commissioning - SD6 and MC6 with CANopen COB-ID 5. Checks at Startup section: Check Vendor ID Check Product Number Check Revision Number ID of the EMCY messages. Permitted value range: Default: $NODEID + 16#80 The manufacturer ID of the drive controller is read from the firmware at the start and compared with the corresponding entry in the EDS. If the two do not match, the drive controller is not started. Default: activated The product number of the drive controller is compared at the start in the same way as the manufacturer ID. Default: deactivated. The revision number of the drive controller is compared at the start in the same way as the manufacturer ID. Default: deactivated PDO mapping 1. Change to module SD6 > Sub-tab PDO Mapping. PDO Mapping sub-tab opens. 2. Select receive PDO (RPDO) section: Activate in the same way as the RxPDO settings in the DriveControlSuite the channels that you have enabled for the receive PDO 3. Double click on the first active RPDO channel. The PDO Properties window opens. 4. Transmission type: Select cyclic - synchronous (Type 1-240). 5. Repeat step 4 for all other activated RPDO channels. 6. Select send PDO (TPDO) section: Activate in the same way as the TxPDO settings in the DriveControlSuite the channels that you have enabled for the Transmit PDO. 7. Double click on the first active TPDO channel. The PDO properties window opens. 8. Transmission type: Select cyclic - synchronous (Type 1-240). 9. Repeat step 4 for all other activated TPDO channels. 23

24 5 Commissioning - SD6 and MC6 with CANopen Receive and Transmit PDO mapping Transfer the configurations for the CANopen RxPDO as well as TxPDO from the DriveControlSuite in the current CODESYS project. Information You can only carry out the following mapping of the Receive and Transmit PDO in CODESYS expert mode. Receive PDO mapping Transmit PDO Mapping 6. Change to module SD6 > Sub-tab Transmit PDO Mapping. Transmit PDO Mapping sub-tab opens. 7. For the Transmit PDO, proceed in the same way as the Receive PDO and transfer your CANopen TxPDO configuration one to one from the DriveControlSuite to the Transmit PDO in your CODESYS project. 1. Change to module SD6 > Sub-tab Receive PDO Mapping. Receive PDO Mapping sub-tab opens. 2. Mark the first receive PDO 1st receive PDO parameter and click on Add Mapping. Select item from object directory window opens. 3. Select the first element that is transmitted to the DriveControlSuite via the first RxPDO (see A 225[0], Default: A515 Controlword) and confirm with OK. The entry from the object directory is to be assigned to the first receive PDO as the first element to be transmitted. 4. Repeat step 3 for all elements that you defined in the DriveControlSuite for the first RxPDO. Note that the transmission order must be identical. 5. In the same way as your RxPDO configuration in the DriveControlSuite, mark the set-up receive PDO and arrange all elements that you have also assigned in the DriveControlSuite as described in step 3. Note that the transmission order must be identical. 24

25 5 Commissioning - SD6 and MC6 with CANopen 5.4 Compile project configuration Compile the completed project configuration to check it for any errors. 1. Click on Build > Build. The compilation run starts. 2. Click on View > Messages. The message window opens. CODESYS distinguishes between three "message types": errors, warnings and information. 3. Check the compilation status. If your project configuration contains errors, double click on the relevant message and follow the instructions of the CODESYS error wizard. 5.5 Transfer project configuration Transfer the project configuration to MC6. Requirements: The IP addresses of the commissioning PC and the MC6 are not important for a connection. However, it is advantageous if the IP address of the commissioning PC and the MC6 are in a same subnet. The IP address of the commissioning PC must be saved in the gateway setting. 1. Double click in the device tree on Device. The Communication Settings tab opens. 2. If you want to deactivate the search for a DHCP server in the network at startup, specify a fixed IP address. As a result, the MC6 can be accessed more quickly after a restart. 3. Click on Online > Login. The project configuration is transferred to MC6. 25

26 6 More about CANopen? 6 More about CANopen? The following chapter summarizes the important terms, services and relationships concerning CANopen. 6.1 CAN bus and CANopen CAN and the communication in CAN bus The "Controller Area Network" (CAN) bus system involves a real-time fieldbus for serial data transfer. The individual tasks of a CAN bus are defined in so-called layers. The actual CAN protocol complies with the "Data Link Layer" (layer 2) of the ISO/OSI reference model. On this level, simple or manufacturer-specific CAN networks can be established and subscribers (slaves) of different manufacturers can be connected to each other without problem. The data flow itself is controlled by a protocol in the case of a common line that controls access to the individual subscribers regardless of the manufacturer. CAN has many advantages due to its real-time and multi-master capability, its high resistance to interference and its good availability, it serves a wide application layer. Above all CAN is used where high transfer speeds and a simple, cost-effective installation is required CANopen Communication CANopen is intended to bundle all bus subscribers with the same properties in the same classes. Each of these classes has its own "device profile" in which specific features such as standard configurations, runtime behavior or error handling are defined with all associated parameters. All device profiles are organized in a so-called "object directory". All device profiles are based on their own communication profile. Here it is defined how the connected devices in a network based on CAN are addressed and which mechanisms are used to exchange process data or large data volumes Object directory The object directory of each bus subscriber describes its complete scope of functions in the form of various data (standardized data types, objects of the CANopen communication profile and of the device profile, manufacturerspecific objects...). Service Data Objects (SDO) can access entries of the object directory via an index (row address, 16 bit) as well as an additional subindex (column address, 8 bit). This index is in table format and is divided into logical segments. What is CANopen? CANopen is the communication protocol based on CAN and the open standard for the networking of controllers, drives, encoders or sensors, i.e. all subscribers of a CAN bus system. In CANopen, the functionality of the subscribers communicating with each other as well as the basic communication mechanisms are defined. CANopen extends CAN by the so-called application layer (CAN Application Layer, CAL = layer 7 of the ISO/OSI reference model). Since 1996 CANopen is maintained by the CiA (CAN-in-Automation e.v.) organization and is specified as European Norm EN

27 6 More about CANopen? Object directory Structure Index Object 0000 Not used F Static data types F Complex data types F Manufacturer-specific data types F Profile-specific, static data types F Profile-specific, complex data types 00A0 0FFF Reserved FFF Communication profile (CiA 301 and 302) FFF Manufacturer-specific parameters FFF Parameters from standardized profiles (CiA 4xx) A000 AFFF Network variables B000 FFFF Reserved Network structure The topology of a CAN network is generally linear; in a CANopen network, theoretically up to 127 subscribers can be addressed, 64 bus subscribers are physically possible. Concerning the network extension, a length of 1 km is possible for a transfer rate of 50 kbaud, for example; a network extension of 25 m is realistic for a transfer rate of 1 Mbaud. There are generally nine transfer rates available (10 kbaud 1Mbaud). 6.2 CAN message Communication via the CAN protocol occurs in the form of messages (telegrams). The structure of a standardized message "container" is designated as a "Frame". The CAN bus system distinguishes between four different frames: Data Frame... for data transport. Remote Frame... for the requirement of a Data Frame from another bus subscriber. Error Frame... for a known transmission error. Overload Frame... as a forced pause between the sending of Data Frames and Remote Frames. Structure of a standard CAN message A standard CAN message is structured as follows. 27

28 6 More about CANopen? COB-ID The COB-ID (Communication Object Identifier) determines the priority of a message in the network (low COB-ID = high priority). COB-IDs can be changed via SDO access. In a standard message (standard CAN frame), the COB-ID is defined by 11 bits whereby 2032 different logical addresses can be encoded and 2048 different items of information sent. As this number proves to be inadequate, the associated CAN specification extends the identifier to 29 bits whereby the transmission of 536,870,912 different items of information has been enabled (Extended CAN-Frame). Assignment of the COB-ID For the assignment of the COB-ID, there are two mechanisms "Predefined Connection Set" and "Dynamic Distribution" Predefined Connection Set The communication parameters of the drive controller are configured according to the principle of the Predefined Connection Set as supplied at delivery. This assignment enables the easy commissioning of a "standard" CAN Network with a controller and up to 127 drive controllers. If SDO channels 2, 3 and 4 are activated, a maximum of 31 drive controllers can be connected. This method is recommended for most application cases. A COB-ID consists of 11 bits, whereby bits 7 10 are assigned with the function code (4 bit) and bits 0 6 with the node ID (7 bit). A special function code is defined for each type of CAN message. The function code and node ID are added for the Peer-to-Peer objects. This gives rise to the COB-ID for each individual message of a bus subscriber. The Predefined Connection Set is then active when the values of the respective function codes are entered in the communication parameters. The associated Node IDs are then added. The following tables contain the COB-ID of the communication objects according to the Predefined Connection Set. Broadcast objects Object Function code COB-ID Comm. parameter (index) Prio NMT hex 0 Highest SYNC hex TIME hex

29 6 More about CANopen? Peer-to-Peer objects Note that the Node ID of the subscriber concerned must be between 1 and 31 and for the deactivated SDO channels SDO2, 3 and 4 for a max. of 127. Object Function code COB-ID Comm. parameter (index) Prio CAN SD6 EMERGENCY hex + Node-ID 81 hex FF hex hex, 1015 hex A207 High TxPDO hex + Node-ID 181 hex 1FF hex hex A229.0 RxPDO hex + Node-ID 201 hex 27F hex hex A221.0 TxPDO hex + Node-ID 281 hex 2FF hex hex A230.0 RxPDO hex + Node-ID 301 hex 37F hex hex A222.0 TxPDO hex + Node-ID 381 hex 3FF hex hex A231.0 RxPDO hex + Node-ID 401 hex 47F hex hex A223.0 TxPDO hex + Node-ID 481 hex 4FF hex hex A232.0 RxPDO hex + Node-ID 501 hex 5FF hex hex A224.0 TxSDO hex + Node-ID 581 hex 59F hex hex RxSDO hex + Node-ID 601 hex 61F hex hex TxSDO A0 hex + Node-ID 5A1 hex 5BF hex hex A218.1 RxSDO hex + Node-ID 621 hex 63F hex hex A218.0 TxSDO C0 hex + Node-ID 5C1 hex 5DF hex hex A219.1 RxSDO hex + Node-ID 641 hex 65F hex hex A219.0 TxSDO E0 hex + Node-ID 5E1 hex 5FF hex hex A220.1 RxSDO hex + Node-ID 661 hex 67F hex hex A220.0 ERROR CONTROL hex + Node-ID 701 hex 77F hex hex, 1017 hex Low 29

30 6 More about CANopen? Dynamic Distribution In special application cases, it may be necessary to deviate from the default assignment of the COB-ID for certain communication objects and use the Dynamic Distribution service. For this procedure, the COB-IDs are dynamically distributed by a distributor (DBT) that provides a process map of all bus subscribers logged into the network at any time. The procedure offers various possibilities for the optimization of a complex CAN network with different subscribers and tasks. Generally the following objects can be changed: PDO 1 4 (both transmission directions) SDO 2 4 (both transmission directions) SYNC EMERGENCY Deactivate Predefined Connection Set Deactivate the Predefined Connection Set mechanism by changing the default values for the function codes in the respective communication parameters. In this way, you suppress the addition of the Node ID to the function codes and thus connect the formation of the resulting COB-ID. Example You want to activate the second SDO channel and connect less than 64 subscribers via the CAN bus: After the drive controller has been started with bus address 1, only SDO channel 1 is active, RxSDO1 has COB-ID 601 hex and TxSDO1 has COB-ID 581 hex. Via the configuration parameters, change Index/Subindex 1201/1 2 nd Server SDO parameter / COB-ID Client->Server to the value hex and the parameter 1201/2 2 nd Server SDO parameter / COB-ID Server-> to the value C1 hex. When changing to the NMT state "Reset Communication" and a subsequent change to the state "Pre-operational", the Rx- and the Tx direction of the SDO channel are activated. The COB-ID is defined as 641 hex for RxSDO and 5C1 hex for TxSDO. By saving the values, this SDO channel is immediately active after the next restart. To prevent the IDs being used as standard by another subscriber with the Node ID 65 (41 hex ) for SDO channel 1, none of the subscribers may contain a Node ID larger than or equal to 65. Activate Dynamic Distribution If a drive controller is in pre-operational mode, the controller can overwrite the COB-ID. To then activate the new COB-ID, the PDO must be reinitialized by a change in the NMT state "Start" and SDO by one in the NMT state "Reset Communication". If the changes should also remain effective after shutdown of the supply voltage, you have to save them in the respective drive controllers, i.e. set A00[0] Start to 1: active (= save values). At the next start, the drive controller checks whether the values are set to the default in the associated communication parameters. If this is the case, the Predefined Connection Set mechanism is effective. If no standard values are determined, the DBT principle applies. 30

31 6 More about CANopen? 6.3 Communication objects The following communication objects are of significant importance for the data transfer as part of CANopen: Service Data Objects (SDO)... allow access to the object directory and thus enable a device configuration. Process Data Objects (PDO)... transfer real time data such as reference/actual values, control commands or status information in an event-oriented, time-oriented or cyclic manner on request (RTR). Network Management Objects (NMT)... control the state machines of the bus subscriber and monitor them. Synchronization Objects (SYNC)... as a rule achieve a temporal resolution. Messages can with regard to a SYNC object be received or sent. Time Stamp Objects (TIME STAMP)... are used to transfer the current time (local time, no defined time zone). The CA6 communication module does not support this object. Emergency Objects (EMCY)... are triggered for device-internal errors and sent twice, i.e. when the error concerned occurs and is absent. The messages contain the cause of error. Monitoring objects (ERROR CONTROL)... check the CAN network. NODE and LIFE GUARDING messages are amongst other things included with the monitoring objects Process Data Object - PDO Process Data Objects generally transfer fast cyclic data such as target positions, travel speeds or acceleration specifications and are generally used for data exchange in real time. They also enable simultaneous access to several drive parameters.which communication elements are sent and received in which PDOs can be freely selected. However these are preassigned as standard by the Predefined Connection Set. For a PDO transmission, no objects are addressed but content is directly transmitted. The associated data content is saved in the object directory of each bus subscriber. PDOs have a maximum length of 8 byte.they are generally transmitted via socalled process data channels (PDO channels) with a high priority. The assignment as well as the priority of PDO messages is defined via the COB-ID.CANopen distinguishes - as viewed by the respective bus subscriber - between Receive-PDOs (= RxPDO) and Transmit-PDOs (= TxPDO). PDOs are only sent when the communication is in the NMT-state "Operational". Broadcast objects include NMT, SYNC and TIME STAMP that are sent simultaneously by the controller to all subscribers. SDO, PDO, EMCY and ERROR CONTROL are Peer-to-Peer objects and can be exchanged in both directions. 31

32 6 More about CANopen? PDO mapping For a PDO mapping, the communication parameters are mapped from the object directory of a CAN bus subscriber on PDOs and associated transmission channels. According to this, which communication objects (elements) are transmitted via a PDO channel are defined. The CA6 communication module allows the simultaneous operation of a maximum of four independent PDO channels for each transmission direction. Each of these PDO channels includes a PDO with a maximum of six elements to be transmitted in a defined order. The assignment of the associated COB-ID corresponds to the principle "Predefined Connection Sets". The STOBER drive controllers support a flexible assignment of the elements to be transmitted to the individual PDO. If you reconfigure the predefined PDO mapping according to your requirements, note that the entire length of the elements to be transmitted may not exceed 8 byte per channel Transmission type The Transmission Type designates the PDO transmission type and specifies how the transmission of a PDO message with regard to a SYNC object is triggered or how received PDO messages are treated. PDOs can generally be transmitted as five different types whereby combinations are partly possible. Asynchronous Asynchronous PDO messages are not related to SYNC objects, i.e. they are not transmitted synchronously to a SYNC object. A RxPDO is applied immediately after its receipt, in the same way a TxPDO is sent immediately after its triggering (by an Event Timer or a Send Request). Synchronous Synchronous PDO messages are not handled with temporal references to SYNC objects, i.e. periodically or synchronously to a SYNC object. A configured Transmission Type defines the number of SYNCs before PDO messages are transmitted. For example, a RxPDO can be accepted for every fifth SYNC. Acyclic Acyclic PDO messages are transferred synchronously to a SYNC object but only when an internal event has previously occurred. Cyclic Cyclic PDO messages are transmitted synchronously for a certain number of SYNC objects. RTR (Remote Transmission Requests) PDOs are sent for this transmission type only when requested by other subscribers. Synchronous and asynchronous PDO transmission Synchronous PDO transmission Asynchronous PDO transmission 32

33 6 More about CANopen? Synchronous-cyclic and synchronous-acyclic PDO transmission Inhibit Time The transmission delay time defines the minimum time that must be waited when sending two identical PDO messages in a channel. It must be defined separately for each channel. Synchronous-cyclic PDO transmission Asynchronous-cyclic PDO transmission Event Timer The Event Time defines the interval when a bus subscriber sends a TxPDO even if no data exists.. The Event Timer only applies for asynchronous Transmission Types. A separate Event Timer exists for each TxPDO channel. The timer is deactivated when the value entered is zero. The respective PDO transmission type is defined by the entry of a certain value in the relevant Transmission Type parameters. Each channel and each transmission direction has its own transmission type parameter. Value Cycl. Acycl. Synch. Asynch. 0 Yes Yes RxPDOs are accepted with the next SYNC, TxPDOs are sent with the next SYNC Yes Yes Value = number of SYNCs before a RxPDO is received and accepted and a TxPDO is sent Reserved 254 Yes RxPDOs are accepted when received and a TxPDO is then sent 255 Yes Reserved Service Data Object - SDO Service data objects are used to transmit data that is not time-critical and generally enable the configuration of each bus subscriber.sdos directly access the entries in the object list of a subscriber and are thus used for the parameterization of object directory entries. A SDO transmission always consist of at least two messages: As a rule a controller starts a task with a RxSDO message. It selects a communication object via an index and subindex. The object directory of the drive controller includes a list of all accessible parameters that are searched for and processed according to the task sent. The drive controller then confirms with a corresponding TxSDO message. 33

34 6 More about CANopen? The 6th generation of drive controllers offers four independent channels for the transmission of Service Data Objects. The first SDO channel is always active. The associated COB-ID "600 hex + Node ID" and "580 hex + Node ID" cannot be changed. The COB-ID of the remaining channels can be reselected by appropriate parameterization or the channels can be deactivated. They are deactivated by default. The drive controller enables the operation of up to four axes exactly one SDO channel can be used for each axis. The axes are not addressed via the index and subindex but for each SDO channel via parameter A11. Device display SDO channel 1 SDO channel 2 SDO channel 3 SDO channel Expedited Transfer For an Expedited Transfer, the data is transferred according to the Intel format ("Little-Endian"), i.e. the smallest value byte is saved at the start address and first transmitted (see "Big-Endian" or Motorola format where the highest value component is first sent). Initiate Domain Download Request With this message type, the controller initiates the write process of a communication parameter by an "Initiate Domain Download Request". The request is positively confirmed by an "Initiate Domain Download Response" of the drive controller. A11.0 A11.1 A11.2 A11.3 A11.4 Preselection via parameter A11 for editing axis In principle any length can be accepted via SDO data. CANopen distinguishes between two SDO transmission types here: Expedited Transfer... for the data transfer of up to 4 bytes in a single message. Parameterize axis 1 Parameterize axis 2 Parameterize axis 3 Parameterize axis 4 Segmented Transfer... for the data transfer of over 4 bytes where it is distributed on several messages, i.e. segmented. 34

35 6 More about CANopen? Initiate Domain Upload Request For this message type, the controller initiates the read process of a communication parameter by an "Initiate Domain Upload Request". The request is positively confirmed by an "Initiate Domain Upload Response" of the drive controller. Initiate SDO Download Protocol Abort Domain Transfer With this message type, the drive controller answers a download or upload request with an error Segmented Transfer The data is split into segments for a Segmented Transfer. In a so-called initial initiate message ("Initiate SDO Download"), the total number of bytes to be transferred is accepted; the remaining segments then follow ("Download SDO Segment") each with 7 bytes. ccs Client command specifier 1 = Initiate download request scs Server command specifier 3 = Initiate download response n Number of byte Number of bytes in "Data" that do not contain useful data. If e = 0, s= 1, then n = valid, otherwise n = 0 e Transfer type 0 = Normal transfer 1 = Expedited transfer s Size indicator 0 = is not displayed 1 = is displayed m Multiplexor = Index + Subindex d Data If e= 0, s = 0, then d = reserved If e= 0, s = 1, then d = number of bytes to be transferred If e= 1, s = 1, then d = 4-n x Unused x = 0 35

36 6 More about CANopen? Download SDO Segment Protocol Initiate SDO Upload Protocol ccs Client command specifier 0 = Download segment request scs Server command specifier 1 = Download segment response n Number of byte Number of bytes in "Segment data" that do not contain useful data. n = 0: No information about unused data seg- data Segment data 7 bytes useful data c Continue 0 = Further segments follow 1 = Last segment t Toggle Bit t = 0 for segment 1; must change for each segment. Identical values for request and response. x Unused x = 0 ccs Client command specifier 2 = Initiate upload request scs Server command specifier 2 = Initiate upload response n Number of byte Number of bytes in "Data" that do not contain useful data. If e = 0, s= 1, then n = valid, otherwise n = 0 e Transfer type 0 = Normal transfer 1 = Expedited transfer s Size indicator 0 = is not displayed 1 = is displayed m Multiplexor = Index + Subindex d Data If e= 0, s = 0, then d = reserved If e= 0, s = 1, then d = number of bytes to be transferred If e= 1, s = 1, then d = 4-n x Unused x = 0 36

37 6 More about CANopen? Upload SDO Segment Protocol Examples Segment download with 16 bytes of data; content 01, 02, hex ccs Client command specifier 3 = Upload segment request scs Server command specifier 0 = Upload segment response n Number of byte Number of bytes in "Segment data" that do not contain useful data. n = 0: No information about unused data seg- data Segment data 7 bytes useful data c Continue 0 = Further segments follow 1 = Last segment t Toggle Bit t = 0 for segment 1; must change for each segment. Identical values for request and response. x Unused x = 0 Client: IDDReq: 21 idx x (ccs=1, e=0=normal, s=1 -> data=no of bytes) Server: IDDRes: 60 idx x Client: DSegReq: (ccs=0, t=0, n=0, c=0 -> all data bytes are used) Server: DSegRes: Client: DSegReq: A 0B 0C 0D 0E (ccs=0, t=1, n=0, c=0 -> all data bytes are used) Server: DSegRes: Client: DSegReq: 0b 0F (ccs=0, t=0, n=5, c=1 -> 5 data bytes are unused) Server: DSegRes: Segment upload with 16 bytes of data; content 01, 02, hex Client: IDUReq: 40 idx x (ccs=2, rest=0) Server: IDURes: 41 idx x (scs=2, x=0, e=0, s=1 -> data contains no of bytes to be uploaded) Client: USegReq: (ccs=3, t=0) Server: USegRes: (scs=0, t=0, n=0, c=0 -> all data bytes are used) Client: USegReq: (ccs=3, t=1) Server: USegRes: A 0B 0C 0D 0E (scs=0, t=1, n=0, c=0 -> all data bytes are used) Client: USegReq: (ccs=3, t=0) Server: USegRes: 0b 0F (scs=0, t=0, n=5, c=1 -> 5 data bytes are unused) 37

38 6 More about CANopen? SDO Error codes If the response of an SDO service is negative regardless of whether it is an Expedited or Segmented Transfer, the drive controller outputs in the case of an error via the "Abort SDO Transfer Protocol" one of the following error codes. Error code Meaning Toggle bit unchanged SDO protocol Timeout expired Invalid command received Memory insufficient Object access is not supported Attempt to read a "Write only parameter" Attempt to write a "Read only parameter" Object is not included in the object directory Object cannot be mapped to PDO Number or length of the objects being transmitted exceeds the PDO length General parameter incompatibility General internal device incompatibility Access denied Hardware error Incorrect data type or incorrect length of the service parameter Wrong data type or length of the service parameter is too large Wrong data type or length of the service parameter is too small Subindex does not exist Invalid parameter value (only for read only) Parameter value too large Parameter value too small Error code Meaning Maximum value is less than minimum value General error Data cannot be transmitted or saved in the application Data cannot be transmitted or saved due to local controller Data cannot be transmitted or saved due to device state Dynamic generation of the object directory failed or no object directory available 38

39 6 More about CANopen? Network Management Object - NMT Network management objects are responsible for initialization, configuration and error handling in the CAN network. Each subscriber of a CANopen network has a NMT state machine (Network Management State Machine) that can be in different states as well as the Node ID. Possible states State Reset application Reset communication Initializing Pre-operational Operational Stopped Configuration of the drive controller starts, the saved values are loaded. Communication parameters are set to start values. CAN bus activation is initialized. drive controller is ready for parameterization for the preparation of actual operation. CAN bus is active, all associated services are in operation. Almost all communication activities are stopped. Possible state transitions No. CAN message (1) Switch on supply voltage. (2a), (2b), (2c) Switch forward independently after ending the internal action. (3a), (3b) Command NMT_Start_Remote_ Node received. (4a), (4b) Command NMT_Enter_Pre_ Operational received. (5a), (5b) Command NMT_Stop_Remote_ Node received. (6) Command NMT_Reset_Node received. (7) Command NMT_Reset_ Communication received. ID = 0, Byte 1 = 1, Byte 2 = 0 ID = 0, Byte 1 = 128, Byte 2 = 0 ID = 0, Byte 1 = 2, Byte 2 = 0 ID = 0, Byte 1 = 129, Byte 2 = 0 ID = 0, Byte 1 = 130, Byte 2 = 0 39

40 6 More about CANopen? How the NMT command is made up of the byte specified in the table is shown in the following example using command "NMT_Start_Remote_Node": COB-ID Command specifier Node The COB-ID identifies the NMT command. In the "Command specifier" byte, the respective command is entered and which bus subscribers are addressed is defined in the "Node" byte. If the value is 0, all subscribers are addressed. To address an individual subscriber, its Node ID must be entered. Activity of the communication objects The following table shows which communication objects are active in which NMT state. Object Reset App., Reset Com., Initializing Preoperational Operational Stopped SDO Active Active PDO Active NMT Active Active Active SYNC Active Active EMERGENCY Active Active Active Error Control Objects - ERROR To be able to monitor the NMT states of the individual bus subscribers, CANopen offers two ERROR CONTROL services that are based on the periodic transmission of messages: Node/Life Guarding and Heartbeat. The simultaneous use of Guard Time and Heartbeat is not permitted, because the two control services have the same COB-ID. You can disable both or enable one of them. ERROR CONTROL messages have the identifier "NMT_Error_Control" with the associated Node ID Node/Life Guarding The Node/Life Guarding is used as the mutual communication control of the controller and drive controller. A controller queries the internal operating state (operational, pre-operational) of all drive controllers connected via the CAN bus by Remote Request. For a Remote Request, a Remote Frame is sent that only contains the ID of the required message and no data. These Remote-Frames are responded to by the respective drive controllers using corresponding Data Frames. The controller therefore checks whether its own state matches that of the drive controller. In return the drive controllers detect whether the controller is active: if the controller does not send any Remote Frames within a certain time, the drive controller assumes a communication error and initiates the corresponding faults. Only Node/Life Guarding or only Heartbeat can be enabled. Guard Time The Guard Time defines the time interval within which the controller sends Remote Frames to the drive controller. 40

41 6 More about CANopen? Life Time Factor The Life Time Factor specifies how high the number of remaining Remote Frames of the controller must be before the drive controllers change to the fault state. Life Time... is the product of the Life Time Factor and Guard Time, i.e. the monitoring time within which the controller sends Remote Frames and the drive controller responds to each of them with a Data Frame. If either the Life Time Factor or the Guard Time is set to zero, the Life Time is automatically deactivated. Procedure Node/Life Guarding At regular intervals (Guard time) the master as a controller sends the query (Request) as remote transmit telegram (RTR) to each drive controller (NMTslave) to be monitored. Each slave recognizes the query (Indication) and sends 1 byte of data as the response. Bit no. 7 of this byte has a toggle function. It must change its state each time. Bit nos. 0 to 6 contain the state of the NMT state machine. The controller receives the telegram (Confirmation) and can checkthe drive controller. If the drive controller fails to respond or its response is faulty this triggers the event Node Guarding Event on the controller. In reverse, the drive controller monitors the regular queries of the controller. If they are not received for this time period, the drive controller triggers the event Life Guarding Event. 41

42 6 More about CANopen? Heartbeat The Heartbeat control service is an alternative to the Node/Life Guarding. The advantage of this service is that no remote frames must be sent. This reduces the bus load of the CAN network. Procedure Heartbeat Synchronization Object - SYNC Information Note that no synchronization of the CANopen communication is possible with the controller for simultaneous use of the CAN and IGB Motion bus. A SYNC object transmits the high priority SYNC messages that are received by all subscribers. SYNC messages are used for the synchronization of all bus subscribers and cause several inputs to be read in parallel or axes to be synchronized, for example. SYNC messages generally do not contain any data. To be able to detect communication failures, a CAN bus subscriber independently transmits cyclic messages (heartbeat protocols) that indicate its own operating state. The drive controller therefore acts as a producer and the controller as a consumer. During transmission, a defined time interval (Producer Heartbeat Time) must be maintained within which a message must be received. The Consumer expects regular telegrams from the Producer. When the telegrams are not received within the set time, it triggers the event Heartbeat Event Emergency Objects - EMCY Emergency objects indicate device errors, i.e. EMCY message contains a code that clearly identifies an error - according to communication profile CiA 301.If the emergency service is active, the state of the bus subscriber is permanently observed. If a subscriber changes to the "Fault" or "Fault response active" state, the EMCY message is sent once with one of the error codes described below.if a subscriber leaves this state, an additional EMCY message is transmitted with the content "No error".as a result of the process described, the cyclic device state query for the fault by the controller is omitted as it is automatically informed of each fault event with the cause and its elimination. EMCY objects Structure The following example of a "Temperature Motor TMS (E43)" fault message shows the structure of an EMCY error message. 42

43 6 More about CANopen? EMCY objects Possible codings If the fault is eliminated, this state is acknowledged with a corresponding message. The codings of the "Error Code" message in the first and second byte as well as the "Error Register" message in the third byte correspond to the specifications of the CiA/DS-301 and CiA DSP402 profiles.the fourth byte contains the value of the STOBER parameter E82 Event type and the fifth byte the value of the parameter E43 Event cause. Deactivate EMCY service If the A83 Bus address parameter contains the value 0, sending EMCY objects is deactivated as Identifier 128 could disrupt the synchronization of the process data (SYNC object, also Identifier 128). Error code hex: designation 0: NO_ERROR 2110: SHORT_CIRCUIT_EARTH 2230: INTERN_SHORT_EARTH 2310: CONT_OVERCURRENT 5200: DEVICE_HW_CONTROL Error register hex: designation E82 Event type dez: designation 0: No_Err 30: Inactive 2: Current 31: Short/ground 2: Current 32: Short/ground internal 2: Current 33: Overcurrent 1: Generic 34: Hardware fault 6010: SOFTWARE_RESET 1: Generic 35: Watchdog 3110: 4: Voltage 36: Overvoltage MAINS_OVERVOLTAGE 7303: RESOLVER_1_FAULT 4210: TEMPERATUR_DEVICE 4280: TEMPERATUR_DEV_I2T 6320: PARAMETER_ERROR 4310: TEMPERATUR_DRIVE 7110: BRAKE_CHOPPER 1: Generic 37: Motor encoder 8: Tempera 38: Temperature device sensor 8: Tempera 39: Temperature device i2t 1: Generic 40: Invalid data 8: Tempera 41: Temperature motor sensor 8: Tempera 42: Temperature breaking resistor i2t 43

44 6 More about CANopen? Error code hex: designation Error register hex: designation E82 Event type dez: designation Error code hex: designation Error register hex: designation E82 Event type dez: designation FF09: MANUFACTORER_ SPEC_ : TEMPERATUR_DRIVE_I2T 3120: MAINS_UNDERVOLTAGE 8311: EXCESS_TORQUE 1000: GENERIC_ERROR 8600: POSITIONING_ CONTROLLER 7500: COMMUNICATION 8500: POSITION_CONTROL 8611: FOLLOWING_ERROR 5200: DEVICE_HW_CONTROL 8400: VELO_SPEED_CONTROL 6010: SOFTWARE_RESET 7304: RESOLVER_2_FAULT 1: Generic 44: External fault 8: Tempera 45: Overtemperature motor i2t 4: Voltage 46: Undervoltage 11: Generic 47: M-Max Limit 1: Generic 48: Release monitoring 1: Generic 51: VM limit switch 10: Communi 52: Communication 1: Generic 53: Limit switch 1: Generic 54: Following error 1: Generic 55: Option board 1: Generic 56: Overspeed 1: Generic 57: Second activation 1: Generic 58: Encoder simulation 4280: TEMPERATUR_DEV_ I2T FF00 FF07: MANUFACTURER_SPEC_ FF0A: MANUFACTURER_SPEC_ 0A 7120: MOTOR 6320: PARAMETER_ERROR 7110: BRAKE_CHOPPER 7110: BRAKE_CHOPPER 7110: BRAKE_CHOPPER 7110: BRAKE_CHOPPER 7304: RESOLVER_2_FAULT 7304: RESOLVER_2_FAULT 8700: SYNC_CONTROLLER 8: Tempera 59: Temperature device i2t fault 1: Generic 60 67: Application event 1 7 1: Generic 68: External fault 2 1: Generic 69: Motor connection 1: Generic 70: Parameterconsistency 1: Generic 72: Brake test timeout 1: Generic 73: Breake test timeout Ax2 1: Generic 74: Brake test timeout Ax3 1: Generic 75: Brake test timeout Ax4 1: Generic 76: Position encoder 1: Generic 77: Master encoder 1: Generic 78: Cycl. reference values 44

45 6 More about CANopen? Error code hex: designation 7304: RESOLVER_2_FAULT 1000: GENERIC_ERROR 7120: MOTOR 1000: GENERIC_ERROR Error register hex: designation E82 Event type dez: designation 1: Generic 79: Motor position monitor 1: Generic 80: Impermissible action 1: Generic 81: Motor assignment 1: Generic x: All remaining 45

46 7 Object directory - References 7 Object directory - References 7.1 Communication objects - CiA DS 301 The following table contains the communication objects of the object directory index range FFF, communication profile (CiA DS 301 V4.02 CANopen application layer and communication profile) as well as its mapping to the corresponding STOBER-specific parameters. Index Subindex Name Parameter STOBER Comment Device type Error register E Manufacturer status register E Predefined error field, highest sub-index supported hex - A hex Predefined error field, standard error field hex COB-ID SYNC-message hex Communication cycle period hex Synchronous window length Manufacturer device name hex Manufacturer hardware version 1 A A A202 E50 E52[1] Index Subindex Name 100A 0 Manufacturer software version E52[3] 100C 0 Guard time A C * 100D = 100D 0 Life time factor A204 Guard time in ms Store parameters supported, highest sub-index supported Store parameters supported, save all parameters A00[0] ASCII "save" initiates save COB-ID emergency A207 Default: 80hex + Node-ID Inhibit time emergency A208 Time in 100 µs Producer heartbeat time Identity object, Highest sub-index supported Identity object: Vendor ID Identity object: Product code Identity object: Revision number Identity object: Serial number Parameter STOBER A210 4 Time in 1 ms B9 = No. for STOBER Nominal output in 0.1 kw Software build number E52 Comment 46

47 7 Object directory - References Index Subindex Name Parameter STOBER Comment Index Subindex Name Parameter STOBER Comment st server SDO parameter, highest sub-index supported rd server SDO parameter, COB-ID Server -> Client (tx) A219[1] 5C0 hex + Node-ID st server SDO parameter, COB-ID Client -> Server (rx) 600hex + Node-ID rd server SDO parameter, Node-ID Client A219[2] st server SDO parameter, COB-ID Server -> Client (tx) 580hex + Node-ID th server SDO parameter, highest sub-index supported nd server SDO parameter, Highest sub-index supported th server SDO parameter, COB-ID Client -> Server (rx) A220[0] 660 hex + Node-ID nd server SDO parameter, COB-ID Client -> Server (rx) A218[0] 620hex + Node-ID th server SDO parameter, COB-ID Server -> Client (tx) A220[1] 5E0 hex + Node-ID nd server SDO parameter, COB-ID Server -> Client (tx) A218[1] 5A0 hex + Node-ID th server SDO parameter, Node-ID Client A220[2] nd server SDO parameter, Node-ID Client A218[2] st receive PDO parameter, highest sub-index supported rd server SDO parameter, highest sub-index supported st receive PDO parameter, COB-ID used by PDO A221[0] 200 hex + Node-ID rd server SDO parameter, COB-ID Client -> Server (rx) A219[0] 640 hex + Node-ID st receive PDO parameter, transmission type A221[1] 1-240,

48 7 Object directory - References Index Subindex Name Parameter STOBER Comment Index Subindex Name Parameter STOBER Comment nd receive PDO parameter, COB-ID used by PDO st receive PDO mapping, highest sub-index supported nd receive PDO parameter, COB-ID used by PDO A222[0] 300 hex + Node-ID st receive PDO mapping, mapping object A225[0] - A225[5] nd receive PDO parameter, transmission type A222[1] 1-240, nd receive PDO mapping, highest sub-index supported rd receive PDO parameter, highest sub-index supported nd receive PDO mapping, mapping object A226[0] - A226[5] rd receive PDO parameter, COB-ID used by PDO A223[0] 400 hex + Node-ID rd receive PDO mapping, highest sub-index supported rd receive PDO parameter, transmission type A223[1] 1-240, rd receive PDO mapping, mapping object A227[0] - A227[5] th receive PDO parameter, highest sub-index supported th receive PDO mapping, highest sub-index supported th receive PDO parameter, COB-ID used by PDO A224[0] 500 hex + Node-ID th receive PDO mapping, mapping object A228[0] - A228[5] th receive PDO parameter, transmission type A224[1] 1-240, st transmit PDO parameter, highest sub-index supported 5 48

49 7 Object directory - References Index Subindex Name Parameter STOBER Comment Index Subindex Name Parameter STOBER Comment st transmit PDO parameter, COB-ID used by PDO A229[0] 180 hex + Node-ID rd transmit PDO parameter, highest sub-index supported st transmit PDO parameter, transmission type A229[1] 1-240, rd transmit PDO parameter, COB-ID used by PDO A231[0] 380 hex + Node-ID st transmit PDO parameter, inhibit time A229[2] Time in n * 100 µs rd transmit PDO parameter, transmission type A231[1] 1-240, st transmit PDO parameter, event timer A229[3] Time in ms rd transmit PDO parameter, inhibit time A231[2] Time in n * 100 µs nd transmit PDO parameter, highest sub-index supported rd transmit PDO parameter, event timer A231[3] Time in ms nd transmit PDO parameter, COB-ID used by PDO A230[0] 280 hex + Node-ID th transmit PDO parameter, highest sub-index supported nd transmit PDO parameter, transmission type A230[1] 1-240, th transmit PDO parameter, COB-ID used by PDO A232[0] 480 hex + Node-ID nd transmit PDO parameter, inhibit time A230[2] Time in n * 100 µs th transmit PDO parameter, transmission type A232[1] 1-240, nd transmit PDO parameter, event timer A230[3] Time in ms th transmit PDO parameter, inhibit time A232[2] Time in n * 100 µs 49

50 7 Object directory - References Index Subindex Name th transmit PDO parameter, event timer 1A st transmit PDO mapping, highest sub-index supported 1A st transmit PDO mapping, mapping object 1A nd transmit PDO mapping, highest sub-index supported 1A nd transmit PDO mapping, mapping object 1A rd transmit PDO mapping, Highest sub-index supported 1A rd transmit PDO mapping, mapping object 1A th transmit PDO mapping, highest sub-index supported 1A th transmit PDO mapping, mapping object Parameter STOBER A232[3] 6 A233[0] - A233[5] 6 A234[0] - A234[5] 6 A235[0] A235[5] 6 A236[0] - A236[5] Comment Time in ms 7.2 Communication objects - CiA DS 402 The following table contains the communication objects of the object directory index range FF, parameters from standardized profiles (CiA 402 Drives and motion control device profile) as well as their mapping to the corresponding STOBER-specific parameters. The communication parameters are used in the STOBER applications "CiA 402 Controller Based Mode", "CiA 402 Controller Based Mode HiRes Motion" and "CiA 402 Drive Based Mode". Index Subindex Name Parameter STOBER 603F 0 Error code A Control word A Status word A A 0 Quick stop option code A E 0 Fault reaction option code A Modes of operation A Modes of operation A542 display Position actual value A Following error window A Following error time out A C 0 Velocity actual value A Target torque A Max torque A559 Comment 50

51 7 Object directory - References Index Subindex Name Torque actual value A A 0 Target position A B 0 Position range limit, highest sub-index supported 2 607B 1 Position range limit, min. position range limit 607B 2 Position range limit, max. position range limit A568[0] A568[1] 607C 0 Home offset A D 0 Software position limit, highest subindex supported 607D 1 Software position limit, min. position range limit A570[0] 607D 2 Software position limit, max. position range limit Parameter STOBER A570[1] Comment Not used Used as circular length Index Subindex Name 607E 0 Polarity A571 Bit 7 position polarity is used for the reference and actual values of position, speed and torque/force 607F 0 Max profile velocity A Quick stop deceleration A Gear ratio, Highest sub-index supported Gear ratio, motor revolutions Gear ratio, shaft revolutions Feed constant, Highest sub-index supported Parameter STOBER 2 A584[0] A584[1] Feed constant, feed A585[0] Feed constant, shaft A585[1] revolutions Homing method A Homing speeds, highest sub-index supported 2 Comment 51

52 7 Object directory - References Index Subindex Name Homing speeds, speed during search for switch Homing speeds, speed during search for zero A587[0] A587[1] 609A 0 Homing acceleration A588 60B1 0 Velocity offset A592 60B2 0 Torque offset A593 60B8 0 Touch probe function A594 60B9 0 Touch probe status A595 60BA 0 Touch probe pos1 A596 pos value 60BB 0 Touch probe pos1 neg value 60BC 0 Touch probe pos2 pos value 60BD 0 Touch probe pos2 neg value 60C0 0 Interpolation sub mode select 60C1 0 Interpolation data record, highest sub-index supported 60C1 1 Interpolation data record, 1st set-point Parameter STOBER A597 A598 A599 A600 2 A601[0] Comment Not used Index Subindex Name 60C1 2 Interpolation data record, 2nd set-point 60C2 0 Interpolation time period, highest subindex supported 60C2 1 Interpolation time period, interpolation time period value 60C2 2 Interpolation time period, interpolation time index 60C4 0 Interpolation data configuration, highest sub-index supported 60C4 1 Interpolation data configuration, max.buffer size 60C4 2 Interpolation data configuration, actual buffer size 60C4 3 Interpolation data configuration, buffer organisation 60C4 4 Interpolation data configuration, buffer position Parameter STOBER A601[1] 2 A602[0] A602[1] 5 A603[0] A603[1] A603[2] A603[3] Comment Not used Not used Not used Not used Not used 52

53 7 Object directory - References Index Subindex Name 60C4 5 Interpolation data configuration, size of data record A603[4] 60C5 0 Max. acceleration A604 60C6 0 Max. deceleration A605 60E3 0 Supported homing methods, highest sub-index supported 19 60E Supported homing methods, 1 st - 19 th supported homing method 60E4 0 Additional position actual value, highest sub-index supported 60E4 1 Additional position actual value, 1 st additional position actual value Parameter STOBER A619[0] - A619[19] 1 A620 60F4 0 Following error A632 actual value 60FD 0 Digital inputs A636 60FE 0 Digital outputs, highest sub-index supported 60FE 1 Digital outputs, A637 physical outputs Supported drive modes Comment Not used 7.3 Communication objects - STOBERspecific parameters The following table contains the communication objects of the object directory index range FFF, manufacturer-specific parameters as well as their mapping to the corresponding STOBER-specific parameters. Index STOBER parameter range FF A00 A FF B00 B FF C00 C FF D00 D FF E00 E511 2A00 2BFF F00 F511 2C00 2DFF G00 G511 2E00 2FFF H00 H FF I00 I FF J00 J FF K00 K FF L00 L FF M00 M511 3A00 3BFF N00 N511 3C00 3DFF O00 O511 3E00 3FFF P00 P FF Q00 Q FF R00 R FF S00 S FF T00 T511 53

54 7 Object directory - References Index FF U00 U511 4A00 4BFF V00 V511 4C00 4DFF W00 W511 4E00 4FFF X00 X FF Y00 Y FF Z00 Z FFF Reserved To calculate the index, the decimal line number of a parameter is added hexadecimal to the respective start index. The subindex corresponds to the element number of the parameter that is always 0 for normal parameters (only significant for array and record parameters). Example You want to reach parameter A STOBER parameter range Calculation Start index of parameter group A: 2000 hex Line of the parameter: 154 dez = 9A hex The index and subindex arise as follows: Index: 2000 hex + 9A hex = 209A hex Subindex: 2 54

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56 STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Technische Änderungen vorbehalten Errors and changes excepted ID Kieselbronner Str PFORZHEIM GERMANY Tel Fax h Service Hotline