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Kollmorgen AKD User Manual

AKD™
CAN-BUS Communication
Edition: H, November 2012
Valid from firmware version 1.8
Part Number 903-200004-00
Original Documentation
Keep all manuals as a product component during the life span of the product. Pass all manuals to future users and owners of the product.
Revision Remarks
- ,11/2009 Beta launch version
-, 12/2009 Objects 2018&60FE added, Object dictionary, formatting updated
A, 04/2010 Termination connector "optional", several new objects, Object dictionary split
B, 07/2010 Part number added, several new objects, object dictionary expanded
C, 01/2011 HW Rev. C, new objects, object dictionary expanded
D, 04/2011 Object dictionary updated, baudrate setup
E, 10/2011
Cover layout & error table & object dictionary updated, objects 3474 & 3475 & 3496 & 6091 added
Touch Probe objects 60B8 to 60BD & 60D0 added, object 2071 & 2077 added, PVT inter-
F, 03/2012
polation added, 60C0 & 60C1 & 60C4 & 6041 bit 9 updated, object dictionary updated, error codes updated, object 1011h added
G, 08/2012 Object dictionary updated, error codes updated
H, 11/2012 Object dictionary updated, error codes updated, new object 345A
Trademarks
l AKD is a registered trademark of Kollmorgen™ Corporation l EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH l EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH l Ethernet/IP is a registered trademark of ODVA, Inc. l Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation l HIPERFACE is a registered trademark of Max Stegmann GmbH l PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI) l SIMATIC is a registered trademark of SIEMENS AG l Windows is a registered trademark of Microsoft Corporation
Current patents
l US Patent 5,162,798 (used in control card R/D) l US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface) l US Patent 6,118,241 (used in control card simple dynamic braking) l US Patent 8,154,228 (Dynamic Braking For Electric Motors) l US Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)
Technical changes which improve the performance of the device may be made without prior notice!
Printed in the United States of America This document is the intellectual property of Kollmorgen™. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis­tributed by electronic means without the written permission of Kollmorgen™.
2 Kollmorgen™ | November 2012
AKD CANopen | Table of Contents

1 Table of Contents

1 Table of Contents 3 2 General 9
2.1 About this Manual 10
2.2 Target Group 10
2.3 Symbols used 11
2.4 Abbreviations used 12
3 Safety 13
3.1 Safety Instructions 14
3.2 Use As Directed 14
3.3 Prohibited Use 14
4 Installation and Setup 15
4.1 Safety Instructions 16
4.2 CAN-Bus Interface (X12/X13) 17
4.2.1 CAN-Bus activation with AKD-CC models 18
4.2.2 Baudrate for CAN-Bus 19
4.2.3 Node Address for CAN-Bus 20
4.2.4 CAN-Bus Termination 20
4.2.5 CAN-Bus Cable 20
4.2.6 CAN-Bus Wiring 21
4.3 Guide to Setup 22
5 CANopen Basics 23
5.1 Basic Features implemented by CANopen 24
5.1.1 Setup and general functions: 24
5.1.2 Positioning functions: 24
5.1.3 Data transfer functions: 24
5.2 Transmission Rate and Procedure 24
5.3 Response to BUSOFF Communication Faults 25
5.4 Important Configuration Parameters 25
6 CANopen Communication Profile 26
6.1 General Description of CAN 27
6.2 Construction of the Communication Object Identifier 28
6.3 Definition of the Used Data Types 29
6.3.1 Basic data types 29
6.3.1.1 Unsigned Integer 29
6.3.1.2 Signed Integer 30
6.3.2 Mixed data types 30
6.3.3 Extended data types 31
6.3.3.1 Octet String 31
6.3.3.2 Visible String 31
6.4 Communication Objects 31
6.4.1 Network Management Objects (NMT) 32
6.4.2 Synchronization Object (SYNC) 32
6.4.3 Time-Stamp Object (TIME) 32
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AKD CANopen | Table of Contents
6.4.4 Emergency Object (EMCY) 33
6.4.4.1 Application of the Emergency Object 33
6.4.4.2 Composition of the Emergency Object 33
6.4.5 Service Data Objects (SDO) 34
6.4.5.1 Composition of the Service Data Object 34
6.4.5.2 Initiate SDO Download Protocol 36
6.4.5.3 Download SDO Segment Protocol 36
6.4.5.4 Initiate SDO Upload Protocol 36
6.4.5.5 Upload SDO Segment Protocol 36
6.4.5.6 Abort SDO Protocol 36
6.4.6 Process Data Object (PDO) 37
6.4.6.1 Transmission modes 38
6.4.6.2 Trigger modes 38
6.4.7 Nodeguard 39
6.4.8 Heartbeat 40
7 CANopen Drive Profile 41
7.1 CANopen Emergency Messages and Error Codes 42
7.2 General Definitions 46
7.2.1 General objects 46
7.2.1.1 Object 1000h: Device Type (DS301) 46
7.2.1.2 Object 1001h: Error register (DS301) 47
7.2.1.3 Object 1002h: Manufacturer Status Register (DS301) 48
7.2.1.4 Object 1003h: Predefined Error Field (DS301) 49
7.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301) 50
7.2.1.6 Object 1006h: Communication Cycle Period (DS301) 50
7.2.1.7 Object 1008h: Manufacturer Device Name (DS301) 51
7.2.1.8 Object 1009h: Manufacturer Hardware Version 51
7.2.1.9 Object 100Ah: Manufacturer Software Version (DS301) 51
7.2.1.10 Object 100Ch: Guard Time (DS301)Response monitoring 52
7.2.1.11 Object 100Dh: Lifetime Factor (DS301) 52
7.2.1.12 Object 1010h: Store Parameters (DS301) 53
7.2.1.13 Object 1011h: Restore Default Parameters DS301 54
7.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301) 55
7.2.1.15 Object 1016h: Consumer Heartbeat Time 55
7.2.1.16 Object 1017h: Producer Heartbeat Time 56
7.2.1.17 Object 1018h: Identity Object (DS301) 56
7.2.1.18 Object 1026h: OS Prompt 58
7.2.2 Manufacturer specific objects 59
7.2.2.1 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO 59
7.2.2.2 Object 2018h: Firmware Version 60
7.2.2.3 Object 2026h: ASCII Channel 61
7.2.2.4 Object 20A0h: Latch position 1, positive edge 62
7.2.2.5 Object 20A1h: Latch position 1, negative edge 62
7.2.2.6 Object 20A2h: Latch position 2, positive edge 62
7.2.2.7 Object 20A3h: Latch position 2, negative edge 63
7.2.2.8 Object 20A4h: Latch Control Register 63
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AKD CANopen | Table of Contents
7.2.2.9 Object 20A5h: Latch Status Register 64
7.2.2.10 Object 20A6h: Latch position 1, positive or negative edge 64
7.2.2.11 Object 20B8h: Reset of changed input information 65
7.2.2.12 Object 345Ah: Brake Control 66
7.2.2.13 Object 3474h: Parameters for digital inputs 68
7.2.2.14 Object 3475h: Parameters for digital outputs 69
7.2.2.15 Object 3496h: Fieldbus synchronization parameters 70
7.2.3 Profile specific objects 72
7.2.3.1 Object 60B8h: Touch probe function 72
7.2.3.2 Object 60B9h: Touch probe status 73
7.2.3.3 Object 60BAh: Touch probe 1 positive edge 74
7.2.3.4 Object 60BBh: Touch probe 1 negative edge 74
7.2.3.5 Object 60BCh: Touch probe 2 positive edge 74
7.2.3.6 Object 60BDh: Touch probe 2 negative edge 75
7.2.3.7 Object 60D0h: Touch probe source 75
7.2.3.8 Object 60FDh: Digital inputs (DS402) 76
7.2.3.9 Object 60FEh: Digital outputs (DS402) 77
7.2.3.10 Object 6502h: Supported drive modes (DS402) 78
7.3 PDO Configuration 79
7.3.1 Receive PDOs (RXPDO) 80
7.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301) 80
7.3.1.2 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) 81
7.3.1.3 Default RXPDO definition 82
7.3.2 Transmit PDOs (TXPDO) 83
7.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) 83
7.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301) 85
7.3.2.3 Default TXPDO definition 86
7.4 Device Control (dc) 87
7.4.1 Status Machine (DS402) 87
7.4.1.1 States of the Status Machine 88
7.4.1.2 Transitions of the status machine 89
7.4.2 Object Description 90
7.4.2.1 Object 6040h: Control word (DS402) 90
7.4.2.2 Object 6041h: Status word (DS402) 91
7.4.2.3 Object 6060h: Modes of Operation (DS402) 93
7.4.2.4 Object 6061h: Modes of Operation Display (DS402) 94
7.5 Factor Groups (fg) (DS402) 94
7.5.1 General Information 94
7.5.1.1 Factors 94
7.5.1.2 Relationship between Physical and Internal Units 94
7.5.2 Objects for velocity scaling 95
7.5.2.1 Object 204Ch: PV Scaling Factor 95
7.5.3 Objects for position calculation 96
7.5.3.1 Object 608Fh: Position encoder resolution (DS402) 96
7.5.3.2 Object 6091h: Gear Ratio (DS402) 97
7.5.3.3 Object 6092h: Feed constant (DS402) 98
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AKD CANopen | Table of Contents
7.6 Profile Velocity Mode (pv) (DS402) 99
7.6.1 General Information 99
7.6.1.1 Objects that are defined in this section 99
7.6.1.2 Objects that are defined in other sections 99
7.6.2 Object description 99
7.6.2.1 Object 606Ch: Velocity actual value (DS402) 99
7.6.2.2 Object 60FFh: Target velocity (DS402) 100
7.7 Profile Torque Mode (tq) (DS402) 101
7.7.1 General Information 101
7.7.1.1 Objects that are defined in this section 101
7.7.1.2 Objects that are defined in other sections 101
7.7.2 Object description 101
7.7.2.1 Object 2071h: Target Current 101
7.7.2.2 Object 2077h: Current ActualValue 101
7.7.2.3 Object 6071h: Target torque (DS402) 102
7.7.2.4 Object 6073h: Max current (DS402) 102
7.7.2.5 Object 6077h: Torque actual value (DS402) 102
7.8 Position Control Function (pc) (DS402) 103
7.8.1 General Information 103
7.8.1.1 Objects that are defined in this section 103
7.8.1.2 Objects that are defined in other sections 103
7.8.2 Object Description 103
7.8.2.1 Object 6063h: position actual value* (DS402) 103
7.8.2.2 Object 6064h: position actual value (DS402) 104
7.8.2.3 Object 6065h: Following error window 104
7.8.2.4 Object 60F4h: Following error actual value (DS402) 104
7.9 Interpolated Position Mode (ip) (DS402) 105
7.9.1 General information 105
7.9.1.1 Objects defined in this section 105
7.9.1.2 Objects defined in other sections 105
7.9.2 Object description 105
7.9.2.1 Object 60C0h: Interpolation sub mode select 105
7.9.2.2 Object 60C1h: Interpolation data record 106
7.9.2.3 Object 60C2h: Interpolation time period 107
7.9.2.4 Object 60C4h: Interpolation data configuration 108
7.10 Homing Mode (hm) (DS402) 110
7.10.1 General information 110
7.10.1.1 Objects that are defined in this section 110
7.10.1.2 Objects that are defined in other sections 110
7.10.2 Object Description 110
7.10.2.1 Object 607Ch: Homing offset (DS402) 110
7.10.2.2 Object 6098h: Homing method (DS402) 110
7.10.2.3 Object 6099h: Homing speeds (DS402) 112
7.10.2.4 Object 609Ah: Homing acceleration (DS402) 112
7.10.2.5 Homing Mode Sequence 113
7.11 Profile Position Mode (DS402) 114
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AKD CANopen | Table of Contents
7.11.1 General Information 114
7.11.1.1 Objects that are defined in this section 114
7.11.1.2 Objects that are defined in other sections 114
7.11.2 Object Description 115
7.11.2.1 Object 607Ah: Target position (DS402) 115
7.11.2.2 Object 607Dh: Software position limit (DS402) 115
7.11.2.3 Object 6081h: Profile velocity (DS402) 116
7.11.2.4 Object 6083h: Profile acceleration (DS402) 116
7.11.2.5 Object 6084h: Profile deceleration (DS402) 116
7.11.2.6 Functional Description 117
8 Appendix 119
8.1 Object Dictionary 119
8.1.1 Float Scaling 119
8.1.2 Communication SDOs 119
8.1.3 Manufacturer specific SDOs 122
8.1.4 Profile specific SDOs 136
8.2 Examples 138
8.2.1 Examples, setup 138
8.2.1.1 Basic testing of the connection to the AKD controls 138
8.2.1.2 Example: Operating the Status Machine 139
8.2.1.3 Example: Jog Mode via SDO 140
8.2.1.4 Example: Torque Mode via SDO 140
8.2.1.5 Example: Jog Mode via PDO 141
8.2.1.6 Example: Torque Mode via PDO 143
8.2.1.7 Example: Homing via SDO 144
8.2.1.8 Example: Using the Profile Position Mode 146
8.2.1.9 Example: ASCII Communication 149
8.2.1.10 Test for SYNC telegrams 150
8.2.2 Examples, special applications 151
8.2.2.1 Example: External Trajectory with Interpolated Position Mode 151
8.2.2.2 Example: PVT Interpolation 156
9 Index 159
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AKD CANopen | Table of Contents
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8 Kollmorgen™ | November 2012
AKD CANopen | 2 General

2 General

2.1 About this Manual 10
2.2 Target Group 10
2.3 Symbols used 11
2.4 Abbreviations used 12
Kollmorgen™ | November 2012 9
AKD CANopen | 2 General

2.1 About this Manual

This manual, AKD CAN-Bus Communication, This manual describes the installation, setup, range of functions, and software protocol for the CANopen AKD product series. All AKD CANopen drives have built-in CANopen functionality; therefore an additional option card is not required.
A digital version of this manual (pdf format) is available on the DVD included with your drive. Manual updates can be downloaded from the Kollmorgen™ website.
Related documents for the AKD series include:
l AKD Quick Start (also provided in hard copy). This guide provides instructions for initial drive setup and con-
nection to a network.
l AKD Installation Manual (also provided in hard copy for EU customers). This manual provides instructions for
installation and drive setup.
l AKD Users Manual. This manual describes how to use your drive in common applications. It also provides
tips for maximizing your system performance with the AKD.
l AKD Parameter and Command Reference Guide. This guide provides documentation for the parameters and
commands used to program the AKD.
l Accessories Manual. This manual provides documentation for accessories like cables and regen resistors
used with AKD. Regional versions of this manual exist.
Additional documentation:
l CAN Application (CAL) for Industrial Applications (publisher CiA e.V.) l Draft Standards 301 (from Version 4.0), 402 (publisher CiA e.V.) l CAN Specification Version 2.0 (publisher CiA e.V.) l ISO 11898 ... Controller Area Network (CAN) for high-speed communication

2.2 Target Group

This manual addresses personnel with the following qualifications:
l Installation: only by electrically qualified personnel. l Setup : only by qualified personnel with extensive knowledge of electrical engineering
and drive technology
l Programming: Software developers, project-planners
The qualified personnel must know and observe the following standards:
l ISO 12100, IEC 60364 and IEC 60664 l National accident prevention regulations
During operation there are deadly hazards, with the possibility of death, severe injury or material damage. The operator must ensure that the safety instructions in this manual are followed. The operator must ensure that all per­sonnel responsible for working with the servo drive have read and understand the manual.
10 Kollmorgen™ | November 2012

2.3 Symbols used

Warning Symbols
Symbol Indication
Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
This is not a safety symbol. Indicates situations which, if not avoided, could result in property damage.
This is not a safety symbol. This symbol indicates important notes.
Drawing symbols
Symbol Description Symbol Description
Signal ground Diode
AKD CANopen | 2 General
Chassis ground Relays
Protective earth Relays switch off
delayed
Resistor Normal open contact
Fuse Normal closed contact
Kollmorgen™ | November 2012 11
AKD CANopen | 2 General

2.4 Abbreviations used

Abbreviation Meaning
BTB/RTO Ready to operate (standby)
COB Communication Object
COB-ID Communication Object Identifier
EEPROM Electrically erasable/programmable memory
EMC Electromagnetic compatibility
EMCY Emergency Objects
ISO International Standardization Organization
km 1000 m
LED Light-emitting diode
LSB Low significant Byte (or Bit)
MSB Main significant Byte (or Bit)
MB Megabyte
NMT Network Management Objects
NSTOP Limit switch for negative (left) rotation
PC Personal Computer
PDO Process Data Object
PSTOP Limit switch for positive (right) rotation
RAM Volatile memory
ROD Incremental position encoder
RXPDO Receive PDO
SDO Service Data Object
SYNC Synchronization Objects
TXPDO Transmit PDO
12 Kollmorgen™ | November 2012
AKD CANopen | 3 Safety

3 Safety

3.1 Safety Instructions 14
3.2 Use As Directed 14
3.3 Prohibited Use 14
Kollmorgen™ | November 2012 13
AKD CANopen | 3 Safety

3.1 Safety Instructions

During operation there are deadly hazards, with the possibility of death, severe injury or material damage. Do not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation. Touch­ing the equipment is allowed during installation and commissioning for prop­erly qualified persons only.
Electronic equipment is basically not failure-proof. The user is responsible for ensuring that, in the event of a failure of the drive, the drive is set to a state that is safe for both machinery and personnel, for instance with the aid of a mechanical brake.
Drives with drives and CANopen expansion cards are remote-controlled machines. They can start to move at any time without previous warning. Take appropriate measures to ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot result in dangerous situations for personnel or machinery. Software limit-switches are not a substitute for the hardware limit-switches in the machine.
l During operation, drives may have uncovered live components, depending
on their level of enclosure protection.
l Control and power connections may be live, even though the motor is not
rotating.
l Drives may have hot surfaces during operation. Heat sink can reach tem-
peratures above 80°C.
Install the drive as described in the Installation Manual. The wiring for the analog setpoint input and the positioning interface, as shown in the wiring diagram in the Installation Manual, is not required. Never break any of the electrical connections to the drive while it is live. This action can result in destruction of the electronics

3.2 Use As Directed

Drives are components that are built into electrical plants or machines and can only be operated as integral com­ponents of these plants or machines. The manufacturer of the machine used with a drive must generate a risk assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause personnel injury or property damage.
Please observe the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual.
The CANopen interface serves only for the connection of the AKD to a master via the CAN bus.

3.3 Prohibited Use

Other use than that described in chapter “Use as directed” is not intended and can lead to personnel injuries and equipment damage. The drive may not be used with a machine that does not comply with appropriate national directives or standards. The use of the drive in the following environments is also prohibited:
l potentially explosive areas l environments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors, dusts l ships or offshore applications
14 Kollmorgen™ | November 2012
AKD CANopen | 4 Installation and Setup

4 Installation and Setup

4.1 Safety Instructions 16
4.2 CAN-Bus Interface (X12/X13) 17
4.3 Guide to Setup 22
Kollmorgen™ | November 2012 15
AKD CANopen | 4 Installation and Setup

4.1 Safety Instructions

Never undo any electrical connections to the drive while it is live. There is a danger of electrical arcing with damage to contacts and serious personal injury. Wait at least seven minutes after disconnecting the drive from the main supply power before touch­ing potentially live sections of the equipment (e.g. contacts) or undoing any con­nections.
Capacitors can still have dangerous voltages present up to 7 minutes after switching off the supply power. To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 40 V.
Control and power connections can still be live, even if the motor is not rotating.
Electronic equipment is basically not failure-proof. The user is responsible for ensur­ing that, in the event of a failure of the drive, the drive is set to a state that is safe for both machinery and personnel, for instance with the aid of a mechanical brake.
Drives with drives and CANopen are remote-controlled machines. They can start to move at any time without previous warning. Take appropriate measures to ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot result in dangerous situations for personnel or machinery. Soft­ware limit-switches are not a substitute for the hardware limit-switches in the machine.
Install the drive as described in the Installation Manual. The wiring for the analog set- point input and the positioning interface, as shown in the wiring diagram in the Instal- lation Manual, is not required. Never break any of the electrical connections to the drive while it is live. This action can result in destruction of the electronics.
The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the FAULT contact in series into the emergency stop circuit of the installation. The emergency stop circuit must operate the supply contactor.
It is permissible to use the setup software to alter the settings of the drive. Any other alterations will invalidate the warranty.
Because of the internal representation of the position-control parameters, the position controller can only be operated if the final limit speed of the drive does not exceed:
rotary
at sinusoidal² commutation: 7500 rpm at trapezoidal commutation: 12000 rpm.
linear
at sinusoidal² commutation: 4 m/s at trapezoidal commutation: 6.25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values. Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted.
16 Kollmorgen™ | November 2012
AKD CANopen | 4 Installation and Setup

4.2 CAN-Bus Interface (X12/X13)

Two 6-pin RJ-12 connectors X12/X13 are used for CAN-Bus connection.
Conn. Pin Signal Conn. Pin Signal
X12 1 Internal Termination Resistor X13 1 Internal Termination Resistor
X12 2 CAN Shield X13 2 CAN Shield
X12 3 CANH in X13 3 CANH out
X12 4 CANL in X13 4 CANL out
X12 5 GND X13 5 GND
X12 6 Internal Termination Resistor X13 6 Internal Termination Resistor
Kollmorgen™ | November 2012 17
AKD CANopen | 4 Installation and Setup

4.2.1 CAN-Bus activation with AKD-CC models

AKD-CC drive models are Drives, which support EtherCAT and CAN fieldbus types within one common soft­ware. These CC drive models allow selecting a fieldbus support by setting the DRV.TYPE parameter to a certain value. CC drive models are delivered with EtherCAT set active. To activate CANopen, the DRV.TYPE parameter must be changed
1. by software: connect the PC to the AKD and change the parameter DRV.TYPE in the WorkBench terminal screen (see DRV.TYPE parameter documentation) or
2. by hardware: with the rotary switches S1 & S2 at the front and the button B1 on the top side of the Drive.
The following steps are needed for changing the fieldbus type from EtherCAT to CAN with the rotary switches.
1. Set the rotary switches on the front side of the AKD to the value of 89.
Set S1 to 8 and S2 to 9
2. Press the button B1 for about 3 seconds (starts DRV.NVSAVE).
The seven segment display shows Cn during the process of changing DRV.TYPE to CAN.
Do not switch off the 24[V] power supply while the seven segment shows Cn!
3. Wait until the seven segment display goes back to the original state, no the drive is prepared for CAN.
4. Power cycle the drive by switching the 24 V power supply off and then on again.
The seven segment display shows Er (Error) in case that the DRV.TYPE instruction failed. In this case please power cycle the drive and contact the Kollmorgen™ customer support for further help.
18 Kollmorgen™ | November 2012
AKD CANopen | 4 Installation and Setup
4.2.2 Baudrate for CAN-Bus
The user can decide to use a fixed baud rate or an auto baud detection algorithm for the startup behaviour of the drive. The transmission rate can be set via the parameter FBUS.PARAM01. The parameter FBUS.PARAM01 can either be set via WorkBench or via a special mechanism with the rotary switches in the AKD front.
Baudrate
[kBit/s] FBUS.PARAM01
Upper rotary
switch S1
Lower rotary
switch S2
auto 0 9 0
125 125 9 1
250 250 9 2
500 500 9 3
1000 1000 9 4
In case of a fix baud rate, the drive sends the boot up message with the baud rate saved in the drive's non volatile memory after a power cycle. In case of auto baud detection, the drive listens for a valid CAN frame on the bus. When a valid frame is received, the drive sends the boot up message with the measured bit time. Afterwards the baud rate can either be stored to non volatile memory via object 1010 sub 1, or the auto baud mechanism is used always.
For reliable auto baud detection, it is recommended to use suitable cabling of the CAN-Bus (two terminators, GND connection etc.). Spikes or other noise effects on the CAN-Bus can disturb the measurement. The drive needs to be disabled, if auto baud is in use.
For setting the baudrate with rotary switches, follow the procedure below (drive state disabled):
1. Disable the drive. Set the rotary switches to one of the addresses 90 to 94 (see above table).
Set S1 to 9 and S2 to either 0 or 4
2. Push the button B1 on the AKDfor at least 3 seconds until the rotary switch setting is displayed on the AKD­display.
3. When the display blinks with the set rotary switch setting stop pushing B1 and wait until the blinking stops. During that time the parameter FBUS.PARAM01 is set to the new value and all parameters are stored to the non volatile memory. The new setting will be taken with the next power-up of the drive.
If an error occurred, the following error messages will flash 5 times:
l E1 - Drive is enabled l E2 - Non-volatile storage of the new setting failed l E3 - Invalid rotary switch selection
Kollmorgen™ | November 2012 19
AKD CANopen | 4 Installation and Setup
4.2.3 Node Address for CAN-Bus
After changing the node address, you must turn off the 24 V auxiliary supply for the drive and then turn it on again.
During setup, use the rotary switches on the AKD front panel to preset the station address for communication.
The rotary switches on the front of the AKD (S1&S2) correspond to the CAN node address.
The S1&S2 switches also correspond to the IP address setting of the drive. Both CAN and IP network address schemes have to be configured to account for this dependence if both TCP/IP and CAN networks are running at the same time in an application. Example:
S1 (MSB) S2 (LSB) CAN address IP address
4 5 45 192.168.0.45
The IP address setting can be decoupled from the Rotary switches using settings in the drive. Use Settings -> Fieldbus-> TCP/IP to adjust these settings.
4.2.4 CAN-Bus Termination
The last bus device on both ends of the CAN-Bus system must have termination resistors. The AKD has built-in 132 ohms resistors that can be activated by connecting pins 1 and 6. An optional termination plug is available for AKD (P-AKD-CAN-TERM). The optional termination plug is an RJ-12 connector with an enclosed wire jumper between pins 1&6. A plug should be inserted into the X13 connector of the last drive in the CAN network.
Remove the termination connector if the AKD is not the last CAN-Bus device and use X13 for connecting the next CAN node.

4.2.5 CAN-Bus Cable

To meet ISO 11898, a bus cable with a characteristic impedance of 120 ohms should be used. The maximum usable cable length for reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which Kollmorgen™ has measured; however, these values are not assured limits:
l Characteristic impedance: 100–120 ohms l Cable capacitance max.: 60 nF/km l Lead loop resistance: 159.8 ohms/km
Cable length, depending on the transmission rate:
Transmission Rate (kBaud) Maximum Cable Length (m)
1,000 10
500 70
250 115
Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop resistance, 115 ohms/1000m) make it possible to achieve greater distances. (Characteristic impedance 150 ± 5 ohms requires terminating resistor 150 ± 5 ohms).
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4.2.6 CAN-Bus Wiring

AKD CANopen | 4 Installation and Setup
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AKD CANopen | 4 Installation and Setup

4.3 Guide to Setup

Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the drive.
Make sure that any unintended movement of the drive cannot endanger machinery or personnel.
1. Check assembly/installation. Check that all the safety instructions in the product manual for the drive and this manual have been observed and implemented. Check the setting for the station address and baud rate.
2. Connect PC,start WorkBench. Use the setup software WorkBench to set the parameters for the drive.
3. Setup basic functions. Start up the basic functions of the drive and optimize the current, speed and position controllers. This section of the setup is described in the in the online help of the setup software.
4. Save parameters. When the parameters have been optimized, save them in the drive.
5. Start up communication. The altered parameters will only become effective after a reboot (switch off 24V and switch on again). Adjust the transmission rate of the AKD to match the master.
6. Test communication. Check for the bootup-message, when you switch on the drive. Do an SDO read access on index 0x1000 subindex 0 (DeviceType).
7. Setup position controller. Setup the position controller, as described in the WorkBench online help.
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AKD CANopen | 5 CANopen Basics

5 CANopen Basics

5.1 Basic Features implemented by CANopen 24
5.2 Transmission Rate and Procedure 24
5.3 Response to BUSOFF Communication Faults 25
5.4 Important Configuration Parameters 25
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AKD CANopen | 5 CANopen Basics

5.1 Basic Features implemented by CANopen

It is assumed that the basic operating functions of the communication profile are known and available as ref­erence documentation. When working with the position controller that is integrated in AKD, the following func­tions are available:

5.1.1 Setup and general functions:

l Homing, set reference point l Provision of a digital setpoint for speed and torque control l Support of the following modes of the CANopen Profile DS402:
l Profile position mode l Homing mode l Profile torque mode l Interpolated position mode l Profile velocity mode l Cyclic synchronous position mode

5.1.2 Positioning functions:

l Execution of a motion task from the motion block memory of the drive l Execution of a direct motion task l Absolute trajectory, ip-Mode or csp-Mode

5.1.3 Data transfer functions:

l Transmit a motion task to the drive's motion block memory. A motion task consists of these elements:
l Position setpoint (absolute task) or path setpoint (relative task) l Speed setpoint l Acceleration time, braking time l Type of motion task (absolute/relative)
l Number of a following task (with or without pause) l Read a motion task from the motion block memory of the drive l Read actual values l Read the error register (Emergency error codes) l Read the status register l Read/write control parameters

5.2 Transmission Rate and Procedure

l Bus connection and bus medium: CAN-standard ISO 11898 (CAN high-speed) l Transmission rate: max. 1Mbit/s l Possible settings for the drive: 125 (default), 250, 500 and 1000 kbit/s l The baudrate is set with the AKD - parameter FBUS.PARAM01. It gets effective by saving this parameter to
NVRAM and re-starting the drive.
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AKD CANopen | 5 CANopen Basics

5.3 Response to BUSOFF Communication Faults

The communication fault BUSOFF is directly monitored and signaled by Level 2 (CAN controller). This message may have various causes. A few examples:
l Telegrams are transmitted, although there is no other CAN node connected l CAN nodes have different transmission rates l The bus cable is faulty l Faulty cable termination causes reflections on the cable.
A BUSOFF is only signaled by the AKD, if another CAN node is connected and at least one object was suc­cessfully transmitted to start off with. The BUSOFF condition is signaled by the error message 702. If the output stage is enabled at the moment when this fault occurs, the output stage is disabled.

5.4 Important Configuration Parameters

FBUS.PARAM01 see "Transmission Rate and Procedure" on p.24
FBUS.PARAM02 0 - no PLL used for synchronization
1 - PLL used for synchronized modes, IP (7), CSP (8), generates a warning n125, when PLL is unlocked
FBUS.PARAM04 0 - arrival of SYNC-messages in cyclic-synchronized application is not supervised
1 - arrival of SYNC-messages in cyclic-synchronized application is supervised (after 3 miss­ing SYNC-telegrams the fault F125 is generated)
FBUS.PARAM05 description for bits 0 to 3 as in AKD - command reference
Bit 0 1: Faults can only be reset using DS402 control word bit 7. 0 = 0: The reset can also be done via telnet or digital input and the DS402 state machine reflects this condition.
Bit 1 1: The state of the hardware enable does not change the state machine state Operation Ena­ble. 0: If the state Operation Enable or Switched on is active it falls back to the state switched On Disabled, if the Hardware enable goes to 0.
Bit 2 1: Workbench/Telnet can not software enable the drive, when CANopen/EtherCAT are Oper­ational. 0: Workbench/Telnet can software enable the drive.
Bit 3 1: DS402-state machine is not influenced, if the software-enable is taken away via Telnet. 0: DS402-state machine is influenced, if the software-enable is taken away via Telnet.
Bit 4 1: Scaling is done via special DS402 - objects (independent on units) 0: Scaling for position, velocity and acceleration objects is done via UNIT parameters
Bit 5 used in EtherCAT, reserved for CAN
Bit 6 1: Bit 0 of parameter MT.CNTL (object 35D9 sub 0) can be accesse 0: Bit 0 of parameter MT.CNTL (object 35D9 sub 0) is exclusively used for DS402 con­trolwordd
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AKD CANopen | 6 CANopen Communication Profile

6 CANopen Communication Profile

6.1 General Description of CAN 27
6.2 Construction of the Communication Object Identifier 28
6.3 Definition of the Used Data Types 29
6.4 Communication Objects 31
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AKD CANopen | 6 CANopen Communication Profile
6.1 General Description of CAN
This chapter describes the basic services and communication objects of the CANopen communication profile DS 301, which are used in the AKD.
It is assumed that the basic operating functions of the communication profile are known, and available as reference documentation.
The transmission method that is used here is defined in ISO 11898 (Controller Area Network CAN for high-speed communication).
The Layer-1/2 protocol (Physical Layer/Data Link Layer) that is implemented in all CAN modules provides, amongst other things, the requirements for data.
Data transport or data request is made by means of a data telegram (Data Frame) with up to 8 bytes of user data, or by a data request telegram (Remote Frame).
Communication objects (COBs) are labeled by an 11-bit Identifier (ID) that also determines the priority of objects.
A Layer-7 protocol (Application Layer) was developed, to decouple the application from the communication. The service elements that are provided by the Application Layer make it possible to implement an application that is spread across the network. These service elements are described in the CAN Application Layer (CAL) for Indus­trial Applications. The communication profile CANopen and the drive profile are mounted on the CAL.
The basic structure of a communication object is shown in the following diagram:
S
COB-ID R O M
SOM Start of message COB-ID Communication Object Identifier (11-bit) RTR Remote Transmission Request CTRL Control Field (e.g. Data Length Code) Data Segment 0 to 8byte (Data-COB)
CRC Cyclic Redundancy Check ACK Acknowledge slot EOM End of message
CTRL Data Segment CRC A T R
0byte (Remote-COB)
EOM C K
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AKD CANopen | 6 CANopen Communication Profile

6.2 Construction of the Communication Object Identifier

The following diagram shows the layout of the COB Identifier (COB-ID). The Function Code defines the inter­pretation and priority of the particular object.
10 9 8 7 6 5 4 3 2 1 0
Function-Code Module-ID
Bit 0 .. 6
Module ID (drive's CAN-bus address, range 1 to 127; is set up in WorkBench or the drive,)
Bit 7 to 10
Function Code (number of the communication object that is defined in the server)
If an invalid station number (=0) is set, then the module will be set internally to 1.
The following tables show the default values for the COB Identifier after switching on the drive. The objects, which are provided with an index (Communication Parameters at Index), can have a new ID assigned after the initialization phase. The indices in brackets are optional.
Predefined broadcast objects (send to all nodes):
Object Function code (binary) Resulting COB-IDs Communication parameters
Dec. Hex.
NMT 0000 0 0 —
SYNC 0001 128 80 (1005)
TIME 0010 256 100 not supported
at index
Predefined Peer-to-Peer objects (node sends to node):
Object Function code (binary) Resulting COB-IDs Communication parameters
Dec. Hex.
EMERGENCY 0001 129..255 81..FF — high
TPDO 1 0011 385..511 181..1FF 1800
RPDO 1 0100 513..639 201..27F 1400
TPDO 2 0101 641..767 281..2FF 1801
RPDO 2 0110 769..895 301..37F 1401
TPDO 3 0110 897..1023 381..3FF 1802
RPDO 3 1000 1025..1151 401..47F 1402
TPDO 4 1001 1153..1279 481..4FF 1803
RPDO 4 1010 1281..1407 501..57F 1403
SDO (tx*) 1011 1409..1535 581..5FF
SDO (rx*) 1100 1537..1663 601..67F
Nodeguard 1110 1793..1919 701..77F (100E) low
*tx = direction of transmission: AKD => Master rx = direction of transmission: Master => AKD
at index
Priority
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AKD CANopen | 6 CANopen Communication Profile

6.3 Definition of the Used Data Types

This chapter defines the data types that are used. Each data type can be described by bit- sequences. These bit­sequences are grouped into "Octets” (bytes). The so-called "Little – Endian” format (a.k.a. Intel format) is used for numerical data types (see also: DS301 Application Layer "General Description of Data Types and Encoding Rules”).

6.3.1 Basic data types

6.3.1.1 Unsigned Integer
Data in the basic data type UNSIGNEDn define exclusively positive integers. The value range is from 0 to 2n-1. The bit sequence b = b0to b UNSIGNEDn(b) = b
n-1
n-1
2
+ to + b121+ b02
0
Example: the value 266 = 10Ah is transmitted in the data type UNSIGNED16, in the form of two octets (1stoctet = 0Ah, 2ndoctet = 01h).
Transmission syntax for the data type UNSIGNEDn
Octet number 1. 2. 3. 4.
UNSIGNED8 b7to b
UNSIGNED16 b7to b
UNSIGNED24 b7to b
UNSIGNED32 b7to b
UNSIGNED40 b7to b
UNSIGNED48 b7to b
UNSIGNED56 b7to b
UNSIGNED64 b7to b
0
0
0
0
0
0
0
0
b15to b
b15to b
b15to b
b15to b
b15to b
b15to b
b15to b
8
8
8
8
8
8
8
b23to b
b23to b
b23to b
b23to b
b23to b
b23to b
defines the value
n-1
16
16
16
16
16
16
b31to b
b31to b
b31to b
b31to b
b31to b
24
24
24
24
24
Octet number 5. 6. 7. 8.
UNSIGNED8
UNSIGNED16
UNSIGNED24
UNSIGNED32
UNSIGNED40 b39to b
UNSIGNED48 b39to b
UNSIGNED56 b39to b
UNSIGNED64 b39to b
32
32
32
32
b47to b
b47to b
b47to b
40
40
40
b55to b
b55to b
48
48
b63to b
56
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AKD CANopen | 6 CANopen Communication Profile
6.3.1.2 Signed Integer
Data in the basic data type INTEGERn define both positive and negative integers. The value range is from-2 INTEGERn(b) = b
n-2
n-2
2
n-1
+ to + b121+ b020with b
-1 to 2
n-1
-1. The bit sequence b = b0to b = 0
n-1
defines the value
n-1
Negative numbers are represented as 2’s complement, which means: INTEGERn(b) = - INTEGERn(b) - 1 with b
n-1
= 1
Example: the value -266 = FEF6h is transmitted in the data type INTEGER16, in the form of two octets (1stoctet = F6h, 2ndoctet = FEh).
Transmission syntax for the data type INTEGERn
Octet number 1. 2. 3. 4.
INTEGER8 b7to b
INTEGER16 b7to b
INTEGER24 b7to b
INTEGER32 b7to b
INTEGER40 b7to b
INTEGER48 b7to b
INTEGER56 b7to b
INTEGER64 b7to b
0
0
0
0
0
0
0
0
b15to b
b15to b
b15to b
b15to b
b15to b
b15to b
b15to b
8
8
8
8
8
8
8
b23to b
b23to b
b23to b
b23to b
b23to b
b23to b
16
16
16
16
16
16
b31to b
b31to b
b31to b
b31to b
b31to b
24
24
24
24
24
Octet number 5. 6. 7. 8.
INTEGER8
INTEGER16
INTEGER24
INTEGER32
INTEGER40 b39to b
INTEGER48 b39to b
INTEGER56 b39to b
INTEGER64 b39to b
32
32
32
32
b47to b
b47to b
b47to b
40
40
40
b55to b
b55to b
48
48
b63to b
56
6.3.2 Mixed data types
Mixed data types combine basic data types (INTEGERn, UNSIGNEDn, REAL). Two types of mixed data are dis­tinguished:
l STRUCT: This data type is composed of elements with different data types. l ARRAY: This data type is composed of elements of the same data type.
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