CANOpen DS402 at KEBA

CANOpen DS402 at KEBA Description author: sue version date: 26.5.2008 actual version: V 1.0 printed: 26.5.08 23:14 filename: d:\projekte\cn\canopen_ds402_driver\canopen-ds402 at keba.doc

Index of changes version datum description author V 1.0 15.05.2008 initial writing sue V 1.1 16.05.2008 additional infos sue _en 26.05.2008 englisch translation by kw kw Nur für den internen Gebrauch bei KEBA bestimmt. For internal use at KEBA only. Änderungen im Sinne der technischen Weiterentwicklung vorbehalten. Angaben erfolgen ohne Gewähr.

CANOpen-DS402 at KEBA Inhalt Index 1 Introduction... 5 1.1 General Information... 5 1.2 Content... 5 2 Operational Behaviour... 6 2.1 Run-Up... 6 2.1.1 Drive Initialization... 7 2.2 Cyclic Process Data... 7 2.2.1 Post-Update Mechanism... 8 2.3 Error Reaction... 9 2.3.1 Bus-Warning... 9 2.3.2 Bus-Passive... 9 2.3.3 Bus-Off... 9 2.4 Referencing / Homing Mode... 9 3 Communication... 10 3.1 Process Data Objects PDO s... 10 3.1.1 Configuration... 10 3.1.2 Mapping... 11 3.1.2.1 RXPDO-Mapping without an additional configured actual-value... 11 3.1.2.2 RXPDO-Mapping with an additional configured actual-value... 11 3.1.2.3 TXPDO-Mapping without an additional configured set-value... 11 3.1.2.4 TXPDO-Mapping with an additional configured set-value... 11 3.1.2.5 RXPDO-Mapping for digital Inputs... 12 3.1.2.6 TXPDO-Mapping for digital Outputs... 12 3.1.3 Rules for mapping Control- & Stateword... 12 3.1.3.1 Controlword... 12 3.1.3.2 Stateword... 12 3.2 Node-Guarding... 13 3.3 LSS/LMT Funktionality... 13 4 Supported Modes of Operation... 14 4.1.1 Profile Position Mode... 14 4.1.2 Interpolated Position Mode... 14 4.1.3 Homing Mode... 14 5 Appendix... 15 5.1 Additional Literature... 15 Description V 1.0 3

Index CANOpen DS402 at KEBA 4 Description V 1.0

CANOpen DS402 at KEBA Introduction 1 Introduction 1.1 General Information The folowing documet sumarizes the functionalities of the CANOpen-DS402-Profil, supported by the KEBA-CANOpen-DS402-driver. This covers the configuration and the operation of CAN-busses as well as a realization of the CANOpen driver. The CANOpen driver covers a basis for equipment-connecting up as well as the implementation of a DS402-drive-driver. 1.2 Content The document describes the basic functionality of a CANOpen application and the algorithm blocks for the realization of drivers for foreign devices, which can be operated at this control, as well as detailierte information for CANOpen implementation such as bus telegrams, timing, etc. from the view of the KEBA I/O system. Description V 1.0 5

Operational Behaviour CANOpen DS402 at KEBA 2 Operational Behaviour The operational behaviour of a CAN bus is partly specified by the application-specifically programmed drivers. In the following a typical behaviour from the view of the KEBA control is described. 2.1 Run-Up CANopen devices can be switched through different modes of operation by using the network-management service (NMT). This service is nexessary for providing a new, foreign device-driver. By using fully-integrated devices in the system (as DS402 drives) the switching of the modes of operation is done automatically by the IO-system. mode of operation initialization pre-operational (disconnected) stopped operational (connected) description main initialization; CANopen devices automatically switch to this mode objects of the devices an be read and written, the device can be configured; no (cyclic) process data can be exchanged; CANopen devices automatically switch to this mode forther objects of the devices an be read and written, the device can be configured; no (cyclic) process data can be exchanged; additionaly the device is not allowed to send error-messages the device is ready to exchange process data; several objects cannot be changed anymore (e.g. cycle-time); 6 Description V 1.0

CANOpen DS402 at KEBA Operational Behaviour Initialization 5 6 1 Pre-Operational 3 2 3 4 4 Stopped Operational 2 transition command 1 automatically done by drive 2 start through NMT-command by control 3 pre operational 4 stop through NMT-command of control 5 reset node 6 reset communication 2.1.1 Drive Initialization The operating mode of a device automatically changes to pre-operational after initialization. In this phase of the run-up the CAN devices on the CAN-bus are checked an parameterized of the control. The data-exchange is done by SDO communication. initialization with nmt-command reset bus-scan for detecting configured devices by using object: 0x1000 configuration of PDO-mapping mode of operation and check of dependent configuration reading of device-informations by reading objects 0x1009, 0x100A, 0x1018 sending configured SDOs to device 2.2 Cyclic Process Data The transfer of the process-data is started by NMT-commands after parameters are written via SDO to the drive. To syncronize process-data exchange the sync-telegram with CAN-ID 0x80 is used. In the cyclic process-data exchanged the actual-values (desigated as RX-PDO in the following) are evaluated and the set-values (designated as TX-PDO in the following) are formed. Description V 1.0 7

Operational Behaviour CANOpen DS402 at KEBA In the Interpolated Position Mode RX- and TX-PDO are cyclic transmitted possible interpolation-buffers of the drive-device are not used. In the Profile Position Mode these PDOs are only trynsmittet on changes of the values. The state of the connection can be monitored via heartbeat-mechanism. The application can interrupt PDO-communication. 2.2.1 Post-Update Mechanism the post-update mechanism is used for the data transfer of synchronously cyclic receive- PDOs. The behavior before introduction of the post-update task mechansim presented itself as follows: Tick Tick CPU IO PU IO T C,PU T C CAN S T R R R R T T T T C T C,PU IO PU S T R Zykluszeit Verschiebung Post-Update IO-Update-Zeitpunkt Post-Update-Zeitpunkt Sync TX-PDO RX-PDO Timing diagram in the cyclic update Immediately after setting the Sync, the IO-system tried to read the input data of the last cycle from the bus too. It could occur, particularly with weaker CPUs, that the receive data of the current cycle were already read. These were not available with the next cycle any longer, which led without configured error-tolerance to the error message "NO cyclic DATA received". The input data are read now not at the beginning of the next cycle anymore, but already before in the context of the post-update task. It is guaranteed by the choice of a suitable post update time that on the one hand the input data in this cycle were already sent away by the DEVICE at the bus and on the other hand the input data of the next cycle yet are not written. The fact that the CAN cycle for the receive data assumption is divided, must be considered with the choice of the cycle time. The granularity of the system clock has a strong influence on it. 8 Description V 1.0

CANOpen DS402 at KEBA Operational Behaviour 2.3 Error Reaction Wird das CANOpen Gerät in den Zustand Operational übergeführt ist, dann startet es automatisch mit dem Prozessdatentransfer. Schaltet das Gerät zufolge eines Fehlers in einen anderen Betriebszustand, so wird das durch eine Meldung mitgeteilt. Wenn CAN-Geräte Fehler erkennen und noch in der Lage sind, Emergency Messages absetzen zu können, dann senden sie diese mit Informationen zum aufgetretenen Fehler. Diese Meldung wird, wie alle anderen Systemmeldungen, vom System als GeneralErrorEvent an die Applikation weitergegeben und kann dann im gerätespezifischen Treiber behandelt werden. Diese Reaktionen obliegen dem Einfluss des Applikateurs. Der KEBA-CANOpen-Treiber unterstützt diese Emergency Messages und bildet eine Fehlermeldung im System darauf ab. reaction to errors the CANOpen equipment into the condition operational is transferred, then it starts automatically with the process data transfer. Switches according to equipment an error into another operating condition, then by a message one communicates. If CAN devices recognize errors and still able are to be able to set Emergency off Messages then they send these with information to the arisen error. This message becomes, as are passed on all other system messages, by the system than general error vent to the application and can then in the device-specific driver treated. These reactions are incumbent on the influence of the Applikateurs. The KEBA CANOpen driver supports this Emergency Messages and illustrates an error message in the system on it. 2.3.1 Bus-Warning warniung is set by io-system 2.3.2 Bus-Passive error is set by io-system all transmit buffers are cleared, waitingforsendcb = FALSE further sending-trials return false 2.3.3 Bus-Off all transmit buffers are cleard; waitingforsendcb = FALSE further sending-trials return false with a multiple-value of the cycle-time the control tries to reconnect with the bus 2.4 Referencing / Homing Mode For referehncing the drive the operation-mode is switched temporary to the Homing Mode. Values for referencing linke velocitiy and referencing-mode are written by SDO communication. These settings are not given by the driver in the io-system, but has to be done in the application. The control is done in the control-word (operation-mode depoendend bits). Description V 1.0 9

Communication CANOpen DS402 at KEBA 3 Communication The follwing figure shows the communication between the control an the CANopen device. 3.1 Process Data Objects PDO s 3.1.1 Configuration The direction of the PDOs ia always seen by the control, transmittion PDOs (TX-PDOs) are sent by the control, receive PDOs (RX-PDOs) are received by the control. Tha CAN-IDs for possible PDOs (the shema is leande on Beckoff s CANopen bus-coupler): PDO RXPDO-ID TXPDO-ID possible adresses 1 385 (181h) - 511 (1FFh) 513 (201h) - 639 (27Fh) 1-127 2 641 (281h) - 767 (2FFh) 769 (301h) - 895 (37Fh) 1-127 3 897 (381h) - 1023 (3FFh) 1025 (401h) - 1151 (47Fh) 1-127 4 1153 (481h) - 1279 (4FFh) 1281 (501h) - 1407 (57Fh) 1-127 10 Description V 1.0

CANOpen DS402 at KEBA Communication 3.1.2 Mapping The mapping of the process-dara is sent to the devices via SDO on every new connection. One TX- and RX-PDO is always used by the control to transmit State-, Control-word and Position-Information (depending on the operatin mode). These objects are always mapped into the PDO. There is the possibility to configure a second, 2-byte value (e.g. torque-feed-forward-control) to be mapped to the PDOs. The objects 0x1400, 0x1600, 0x1800 und 0x1A00 define the mode of operation. 3.1.2.1 RXPDO-Mapping without an additional configured actual-value PDO Byte object-nr description Byte 0 0x6041 stateword Byte 1 0x6041 stateword Byte 2 0x6064 position-actual value Byte 3 0x6064 position-actual value Byte 4 0x6064 position-actual value Byte 5 0x6064 position-actual value 3.1.2.2 RXPDO-Mapping with an additional configured actual-value PDO Byte object-nr Description Byte 0 0x6041 stateword Byte 1 0x6041 stateword Byte 2 0xyyyy configured object Byte 3 0xyyyy configured object Byte 4 0x6064 position-actual value Byte 5 0x6064 position- actual value Byte 6 0x6064 position- actual value Byte 7 0x6064 position- actual value 3.1.2.3 TXPDO-Mapping without an additional configured set-value PDO Byte object-nr description Byte 0 0x6040 controlword Byte 1 0x6040 controlword Byte 2 0x60C1/0x607A set-value (depending on operating mode) Byte 3 0x60C1/0x607A set-value (depending on operating mode) Byte 4 0x60C1/0x607A set-value (depending on operating mode) Byte 5 0x60C1/0x607A set-value (depending on operating mode) 3.1.2.4 TXPDO-Mapping with an additional configured set-value PDO Byte object-nr description Byte 0 0x6040 controlword Byte 1 0x6040 controlword Byte 2 0xyyyy configured object Byte 3 0xyyyy configured object Byte 4 0x60C1/0x607A set-value (depending on operating mode) Description V 1.0 11

Communication CANOpen DS402 at KEBA Byte 5 0x60C1/0x607A set-value (depending on operating mode) Byte 6 0x60C1/0x607A set-value (depending on operating mode) Byte 7 0x60C1/0x607A set-value (depending on operating mode) The transmission of data of digital inputs and outputs can be activated in the configuration of the PLC. When using digital inputs a second RX-PDO with the length of 4 bytes is used, when using digital outputs a second TX-PDO with the length of 4 bytes is used. In the objects 0x1401, 0x1601, 0x1801 and 0x1A01 the transmittion mode of the IO-PDOs is configured. 3.1.2.5 RXPDO-Mapping for digital Inputs PDO Byte object-nr description Byte 0 0x60FD digital input Byte 1 0x60FD digital input Byte 2 0x60FD digital input Byte 3 0x60FD digital input 3.1.2.6 TXPDO-Mapping for digital Outputs PDO Byte object-nr description Byte 0 0x60FE digital output Byte 1 0x60FE digital output Byte 2 0x60FE digital output Byte 3 0x60FE digital output 3.1.3 Rules for mapping Control- & Stateword Both, KEBA CANOpen and CiA 402 define 16 bits long status and control words. The driver maps the bits of the status and control words to the shared memory of the IO-system following: 3.1.3.1 Controlword Bits Beschreibung CiA402 KEBA-CANOpen Bit 0 Switch on SwitchOn Bit 1 Enable voltage DisableVoltage Bit 2 Quick stop QuickStop Bit 3 Enable operation EnableOperation Bit 4...6 Operationmode specific 0 Bit 7 Fault reset ResetFault Bit 8 Halt 0 Bit 9, 10 Reserved 0 Bit 11 15 Manufacturer specific 0 3.1.3.2 Stateword Bits Beschreibung CiA402 KEBA-CANOpen Bit 0 Ready to switch on ReadyToSwitchOn Bit 1 Switched on SwitchedOn Bit 2 Operation enabled OperationEnabled Bit 3 Fault Fault Bit 4 Voltage enabled VoltageDisabled Bit 5 Quick stop QuickStop Bit 6 Switch on disabled SwitchOnDisabled Bit 7 Warning Warning 12 Description V 1.0

CANOpen DS402 at KEBA Communication Bit 8 Manufacturer specific Info Bit 9 Remote Remote Bit 10 Target reached TargetReached Bit 11 Internal limit active InternalLimitActive Bit 12, 13 Operationmode specific OpModeSpec Bit 14, 15 Manufacturer specific ManufSpec 3.2 Node-Guarding Not used for the CANopen devices in the KEBA CANOpen driver. Instead Node-Guarding the Heartbeat mechanism is used in the Profile Position Mode. 3.3 LSS/LMT Funktionality Fundamental is to be referred for LSS and LMT-functionality to the specifications of the CiA. the LSS Adress conatins four UINT32 values: UINT32 CiA402 description Wert 0 Vendor-Id vendor id ; given from CiA Wert 1 Product code product code of drive Wert 2 Revision number revision number Wert 3 Serial number serial number Die LMT Adresse contains three strings: String CiA402 description String 0 Manufacturer Name name of manufacturer String 1 Product Name product name String 2 Serial number serial number (max. 14 chars, 0-9 BCD-Code) Description V 1.0 13

Supported Modes of Operation CANOpen DS402 at KEBA 4 Supported Modes of Operation 4.1.1 Profile Position Mode this mode can be adjusted over the control configuration. During the entire process this positioning mode of operation is then used. In this mode of operation for the monitoring of the connection to the equipment the Heartbeat mechanism is used, with which over the object 0x1017 the Heartbeat time can be configured 4.1.2 Interpolated Position Mode Also this mode can be adjusted over the control configuration. During the entire KeMotion process this positioning mode of operation is then used. The monitoring of the connection success over the cyclically transferred RX PDOs. With the objects 0x60C4/6 the IP Buffer is not used and is not deleted at the beginning. The Sync time can be stopped with the objects 0x60C2/1 and 0x60C2/2. 4.1.3 Homing Mode In diesen Mode wird temporär für das Referencing umgeschaltet. Nach erfolgter Referenzierung wird wieder in die konfigurierte Positionier-Betriebsart zurück geschaltet. Die dafür verwendeten Objekte sind 0x6060 und 0x6061. into this mode temporarly is switched for the referencing the drives. After referencing it s turned back again into the positioning mode. The objects used for it are 0x6060 and 0x6061. 14 Description V 1.0

CANOpen DS402 at KEBA Appendix 5 Appendix 5.1 Additional Literature [CiA 2002] CANopen - Draft Standard Proposal 402 (Device Profile Drives and Motion Control) Description V 1.0 15