LinMot CANopen SG5, CANopen SG7, CANopen SG6 User Manual

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August 2018

CANopen Interface for

SG5, SG6 and SG7

This document applies to the following drives:

E12x0-xx-xx-xxx (SG5)

E14x0-xx-xx-xxx (SG5)

E14x0V2-xx-xx-xxx (SG6)

C11x0-xx-xx-xxx (SG7)

A11x0-xx-xx-xxx (SG7)

(with CANopen Interface SW installed)

Manual

CANopen SG5 to SG7

Doc.: 0185-1076-E_2V3_MA_CANopenSG5toSG7

2 / 55 NTI AG / LinMot

© 2018 NTI AG This work is protected by copyright. Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying, recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the prior written consent of NTI AG.

LinMot® is a registered trademark of NTI AG.

Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation. NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product improvement.

NTI AG LinMot Bodenaeckerstrasse 2 CH-8957 Spreitenbach

Tel.: +41 56 419 91 91

Fax.: +41 56 419 91 92

Email: office@LinMot.com

Homepage: www.LinMot.com

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System overview ................................................................................................... 5

Connecting the CAN bus ...................................................................................... 5

2.1 Pin assignment of the CMD Connector (X7, X8) .................................................. 5

2.2 Pin assignment of the Control Connector (X42, X43) .......................................... 6

2.3 Pin assignment of the Mot / Periph I/O Connector (X44) ..................................... 6

2.4 CAN Termination .................................................................................................... 6

2.4.1 Activating the termination resistor (E12xx) ................................................... 7

2.4.2 Activating the termination resistor (E14xx) ................................................... 7

2.4.3 Activating the termination resistor (C11xx) .................................................. 7

2.4.4 Activating the termination resistor (A11xx) ................................................... 7

CANopen Parameters ........................................................................................... 8

3.1 Dis-/Enable ............................................................................................................. 8

3.2 Baud Rate ............................................................................................................... 8

3.2.1 Baud Rate Source Select ................................................................................ 8

3.2.2 Baud Rate Parameter Definition ..................................................................... 9

3.3 Node-ID ................................................................................................................... 9

3.3.1 Node-ID Source Select .................................................................................... 9

3.4 PDO Configuration ............................................................................................... 10

3.4.1 TxPDO 1..4 Enable ......................................................................................... 10

3.4.1.1 Transmission Type ................................................................................................ 10

3.4.1.2 No. of SYNC msgs between transmissions ......................................................... 10

3.4.1.3 Inhibit Time [us] ..................................................................................................... 10

3.4.1.4 Event Time [ms] ..................................................................................................... 10

3.4.2 RxPDO 1..4 Enable ........................................................................................ 11

3.4.2.1 Transmission Type ................................................................................................ 11

3.5 PDO Mapping ........................................................................................................ 11

3.5.1 TxPDO 1 ......................................................................................................... 11

3.5.2 TxPDO 2 ......................................................................................................... 11

3.5.3 TxPDO 3 ......................................................................................................... 12

3.5.4 TxPDO 4 ......................................................................................................... 13

3.5.5 RxPDO 1 ......................................................................................................... 13

3.5.6 RxPDO 2 ......................................................................................................... 13

3.5.7 RxPDO 3 ......................................................................................................... 14

3.5.8 RxPDO 4 ......................................................................................................... 14

3.6 NMT Error Control ................................................................................................ 15

3.6.1 Node Guarding Protocol ............................................................................... 15

3.6.2 Heartbeat Protocol ........................................................................................ 15

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3.7 Legacy Sync Watchdog ....................................................................................... 16

3.7.1 Watchdog Enable .......................................................................................... 16

3.7.2 LSW monitored Cycle Time .......................................................................... 16

CANopen Variables ............................................................................................ 17

Mapping of the PDOs ......................................................................................... 18

5.1 Default Mapping ................................................................................................... 18

5.1.1 Default Mapping of the Receive PDOs ......................................................... 18

5.1.2 Default Mapping of the Transmit PDOs ....................................................... 18

5.1.3 Default Identifier ............................................................................................ 18

5.2 Using the Motion Command Interface in asynchronous transmission

modes ................................................................................................................... 19

Object Dictionary ................................................................................................ 20

6.1 Communication Profile Area (1000h - 1FFFh) .................................................... 20

6.2 Manufacturer specific Profile Area (2000h – 5FFFh) ......................................... 25

6.2.1 UPID Commands ........................................................................................... 25

6.2.2 System Commands ....................................................................................... 29

6.2.3 Curve Service Commands ............................................................................ 31

6.2.4 Error Log Commands ................................................................................... 38

6.2.5 Command Table Commands ........................................................................ 41

Examples ............................................................................................................. 47

7.1 Homing and motion commands .......................................................................... 47

Reset Parameters to default values .................................................................. 49

Configuration of the drive with an EDS File ..................................................... 50

9.1 Configuring a PDO variable by UPID with the EDS file ..................................... 50

9.1.1 Setting the UPIDs of the parameter to map to a PDO ................................. 50

9.1.2 Getting UPID PDO data into PLC variables ................................................. 50

9.1.3 Example ......................................................................................................... 50

10.

RT LEDs ............................................................................................................... 52

11.

Interface Error Codes ......................................................................................... 53

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1 System overview

The LinMot CANopen drives comply with the following specifications:

CiA 102 DS V2.0 CAN physical layer for industrial applications

CiA 301 DS V4.0.2 – CANopen application layer and communication profile

CiA 303-3 DR V1.3: CANopen additional specification – Part 3: Indicator specification

CiA 306 DS V1.3: Electronic data sheet specification for CANopen

Further information on specifications can be found under: http://www.can-cia.org/

The following resources are available:

4 TxPDO

4 RxPDO

1 TxSDO

1 RxSDO

The supported protocols include:

NMT Error Control (Node Guarding Protocol or Heartbeat Protocol)

PDO (Transmission types 1-240, 250, 253 and 254)

SDO Upload and Download

NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication)

Boot-Up Message

An EDS (Electronic Data Sheet) file is provided for convenient configuration of all CANopen functions of the drive via a PLC.

2 Connecting the CAN bus

The CANopen bus can be connected either via X7/8, X42/X43 or X44 depending on the drive type.

2.1 Pin assignment of the CMD Connector (X7, X8)

2 x RJ45 with 1:1 connected signals. Standard twisted pairs: 1/2, 3/6, 4/5, 7/8. Use Ethernet cables according the EIA / TIA 568A standard.

Pin 1

RS485 A

Pin 2

RS485 B

Pin 3

RS485 Y

Pin 4/5

Ground

Pin 6

RS485 Z

Pin 7

CAN H

Pin 8

CAN L

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2.2 Pin assignment of the Control Connector (X42, X43)

2 x RJ45 with 1:1 connected signals. Standard twisted pairs: 1/2, 3/6, 4/5, 7/8. Use Ethernet cables according the EIA / TIA 568A standard.

Pin 1

C Dig IN 1

Pin 2

C Dig IN 2

Pin 3

C Dig IN 3

Pin 4/5

Ground

Pin 6

C Dig OUT 1

Pin 7

CAN H

Pin 8

CAN L

2.3 Pin assignment of the Mot / Periph I/O Connector (X44)

Molex Micro-Fit 3.0™ (Molex Art.Nr.: 43045-1000). Use shielded cables with twisted pairs for CAN signals. Connect the shield as close as possible to the drive to PE.

Pin 1

DGND

Pin 2

MP DIG IN 1

Pin3

MP DIG IN 2

Pin 4

CAN GND

Pin 5

CAN H

Pin 6

24VDC OUT

Pin 7

MP DIG OUT 1

Pin 8

MP DIG IN 3

Pin 9

AnIn

Pin 10

CAN L

2.4 CAN Termination

The CAN-bus must be terminated by two 120 Ohm resistors at both ends of the bus line, according to the following figure:

For easy installation, the LinMot CANopen drives has built-in termination resistors, which can be activated, if the LinMot drive is at the end of the bus line, and if there is no termination in the connector.

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2.4.1 Activating the termination resistor (E12xx)

Switch 1:

AnIn2 pull-down (4k7Ω Pulldown on X4.4). Set to ON, if X4.4 is

used as digital output

Switch 2:

Termination resistor for RS485 on CMD (120Ω between pin 1

and 2 on X7/X8) on/off

Switch 3:

CAN termination on CMD (120Ω between pin 7 and 8 on

X7/X8) on/off

Switch 4:

CAN termination on ME (120Ω between pin 7 and 8 on

X10/X11) on/off

( Factory setting: all switches “off” )

To activate the built-in termination resistors, switch 3 of S5 has to be set to ON.

2.4.2 Activating the termination resistor (E14xx)

Switch 1:

AnIn2 pull-down (4k7Ω Pulldown on X4.4). Set to ON, if X4.4 is

used as digital output

Switch 2:

Termination resistor for RS485 on CMD (120Ω between pin 1

and 2 on X7/X8) on/off

Switch 3:

CAN termination on CMD (120Ω between pin 7 and 8 on

X7/X8) on/off

Switch 4:

CAN termination on ME (120Ω between pin 7 and 8 on

X10/X11) on/off

Switch 5:

Bootstrap: Must be off for normal operation

Switch 6:

Override Configuration Ethernet to DHCP

To activate the built-in termination resistors, switch 3 of S5 has to be set to ON.

2.4.3 Activating the termination resistor (C11xx)

Switch 1:

RS232 / RS485 select

Switch 2:

Termination resistor for RS485 on CMD (120Ω between pin 1

and 2 on X7/X8) on/off

Switch 3:

Bootstrap

Switch 4:

Bootstrap

( Factory setting: all switches “off” )

To activate the built-in termination resistors, switch 3 of S4 has to be set to ON.

2.4.4 Activating the termination resistor (A11xx)

Switch 1:

CAN termination (120Ω between CANL and CANH) on/off

Switch 2:

Set all drive parameters to default

Switch 3:

Bootstrap

( Factory setting: all switches “off” )

To activate the built-in termination resistors, switch 1 of S5 has to be set to ON.

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3 CANopen Parameters

The CANopen drives have an additional parameter tree branch, which can be configured with the distributed LinMot-Talk software. With these parameters, the CANopen behaviour can be defined. The LinMot-Talk1100 software can be downloaded from http://www.linmot.com.

Depending on the specific drive type used, not all parameters may be present.

It is also possible to configure the drive via a PLC by writing to the appropriate CANopen dictionary entries. This has to be done when the drive is in the preoperational state.

If the PLC reconfigures the drive, the changes are not reflected in the parameter section of the LinMot-Talk software. The values sent via the PLC will take precedence over the configuration seen in the LinMot-Talk software!

3.1 Dis-/Enable

With the Dis-/Enable parameter the LinMot drive can be run without the CANopen interface going online. So in a first step the system can be configured and run without any bus connection.

CANopen Interface\ Dis-/Enable

Default Value

Disable

The drive does not take part in the CANopen communication.

Enable

The drive takes part in the CANopen communication.

3.2 Baud Rate

In this section the parameters for the baud rate selection are located.

3.2.1 Baud Rate Source Select

Defines the source of the baud rate definition.

CANopen Interface\ Baud Rate \Baud Rate Source Select

Defaul t Value

By Hex Switch S1

CAN bus baud rate dependent on S1:

0 = SG5-6: By BTR SG7: By Autodetection 1 = 125 kBit/s 2 = 250 kBit/s 3 = 500 kBit/s 4 = 1 Mbit/s 5 = SG5-6: By BTR SG7: By Autodetection 6 = SG5-6: By BTR SG7: By Autodetection 7 = SG5-6: By BTR SG7: By Autodetection

By Parameter

The CAN bus baud rate is selected by the “Baudrate Parameter”:

125 kBit/s [1]

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CANopen Interface\ Baud Rate \Baud Rate Source Select

Defaul t Value

250 kBit/s [2]

500 kBit/s [3]

1 Mbit/s [4]

By BTR

CAN bus baud rate is defined according to the Bit Timing Register.

By Autodetection (SG7 only)

CAN bus baud rate is detected automatically (125, 250, 500 and 1000 k/Bits supported).

3.2.2 Baud Rate Parameter Definition

The baud rate parameter defines the CAN bus baud rate for the CANopen connection.

CANopen Interface\ Baud Rate\ Baud Rate Parameter Definition

Default Value

125 kBit/s

CAN bus baud rate = 125 kBit/s

250 kBit/s

CAN bus baud rate = 250 kBit/s

500 kBit/s

CAN bus baud rate = 500 kBit/s

1 Mbit/s

CAN bus baud rate = 1 Mbit/s

Advanced Bit Timing Setting

For special applications where no standard setting for the baud rate works, this parameter defines the bit timing for the CAN bus. The setting of the baud rate by Bit Timing Register is only necessary on special bus configurations: For example, if there are devices on the bus that have slow optocouplers. The default BTR value is equal to the 'By Parameter' setting of 500kBit/s.

3.3 Node-ID

In this section the Node-ID can be configured.

3.3.1 Node-ID Source Select

This parameter defines from which source the Node-ID is taken.

CANopen Interface\ Node-ID\ Node-ID Source Select

Default Value

By Hex Switch S2

The Node-ID is determined by the hex switch S2.

By Hex Switches S1 and S2

The Node-ID is determined by the two hex switches S1 and S2.

By Parameter

The Node-ID is determined via an additional parameter.

CANopen Interface\ Node-ID\ Node-ID Parameter Value

Default Value

Node-ID Parameter Value

Used Node-ID, when “By Parameter” is selected as source.

Note: If 'Baud Rate Source Select' is set to 'By Hex Switch S1' and Node-ID Source Select is set to 'By Hex switch S2' and all switches are off, the Node-ID is set to the Node-ID Parameter Value (Default = 63).

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If 'Baud Rate Source Select' is set to 'By Hex Switch S1' and the Value of S1 is greater or equal 8, the Node-ID is incremented by 16.

3.4 PDO Configuration

3.4.1 TxPDO 1..4 Enable

Selector for enabling/disabling the transmit PDO 1..4.

CANopen Interface\ PDO Configuration\ TxPDO 1..4\ TxPDO

1..4 Enable

Default Value

Disable

The PDO is deactivated

Enable

The PDO is activated

3.4.1.1

Transmission Type

CANopen Interface\ PDO Configuration\ TxPDO 1..4\ Transmission Type

Default Value

Asynchronous with inhibit time

Transmission type is set to 'Asynchronous with inhibit time'.

Asynchronous RTR only

Transmission type is set to 'Asynchronous RTR only'.

Cyclic synchronous

Transmission type is set to 'Cyclic synchronous'.

Poll-Request / Poll-Response

Transmission type is set to 'PollRequest / Poll-Response'.

This defines the transmission type according to DS 301. Type 253 (Asynchronous

RTR only) and 254 (Asynchronous with inhibit time) are supported as well.

The transmission type 250 is LinMot specific (it is reserved according to DS 301). If the transmission type 250 is selected, the transmit PDO is sent immediately after reception of the corresponding receive PDO (TxPDO 1 corresponds to RxPDO 1 and so on). It can be used to realize a simple Poll-Request / Poll-Response type bus structure.

3.4.1.2

No. of SYNC msgs between transmissions

Defines how many SYNC messages have to be received before the TxPDO is sent

again (this configures transmission types 1-240).

3.4.1.3

Inhibit Time [us]

Defines the minimal time between two send events in multiples of 100us.

3.4.1.4

Event Time [ms]

Defines the maximal time between two send events in ms.

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3.4.2 RxPDO 1..4 Enable

Selector for enabling/disabling the receive PDO 1..4.

CANopen Interface\ PDO Configuration\ RxPDO 1..4\RxPDO

1..4 Enable

Default Value

Disable

The PDO is deactivated

Enable

The PDO is activated

3.4.2.1

Transmission Type

CANopen Interface\ PDO Configuration\ RxPDO 1..4\ Transmission Type

Default Value

Asynchronous with inhibit time

Transmission type is set to 'Asynchronous with inhibit time'.

Cyclic synchronous

Transmission type is set to 'Cyclic synchronous'.

Poll-Request / Poll-Response

Transmission type is set to 'PollRequest / Poll-Response'.

This defines the transmission type according to DS 301. Type 254 (Asynchronous

with inhibit Time) is supported as well.

The transmission type 250 is LinMot specific (its reserved according to DS 301). If

the transmission type 250 is selected, the transmit PDO is sent immediately after reception of the corresponding receive PDO (TxPDO 1 corresponds to RxPDO 1 and so on). It can be used to realize a simple Poll- Request / Poll-Response type bus structure.

3.5 PDO Mapping

3.5.1 TxPDO 1

These parameters define the mapping of the transmit PDO 1. Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ TxPDO 1

Default Value

Status Word [16Bit]

If this Boolean parameter is set, the status word is transmitted with TxPDO 1.

State Var [16Bit]

If this Boolean parameter is set, the state var (high byte = state / low byte = sub state) is transmitted with TxPDO 1.

X Actual Position [32Bit]

If this Boolean parameter is set, the 32-bit actual position is transmitted with TxPDO 1.

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to TxPDO 1 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in TxPDO 1 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.5.2 TxPDO 2

These parameters define the mapping of the transmit PDO 2. Eight bytes can be mapped in total.

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CANopen Interface\ PDO Mapping\ TxPDO 2

Default Value

Demand Position [32Bit]

If this Boolean parameter is set, the 32-bit demand position is transmitted with TxPDO 2.

Demand Current [32Bit]

If this Boolean parameter is set, the 32-bit demand current value (= motor current) is transmitted with TxPDO 2.

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to TxPDO 2 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in TxPDO 2 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.5.3 TxPDO 3

These parameters define the mapping of the transmit PDO 3. Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ TxPDO 3

Default Value

Warn Word [16Bit]

If this Boolean parameter is set, the warn word (= bit coded warnings) is transmitted with TxPDO 1.

X Logged Error Code [16Bit]

If this Boolean parameter is set, the logged error code is transmitted with TxPDO 1.

Motion Cmd Status [16Bit]

Feedback of the motion command header (toggle, etc..)

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to TxPDO 3 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in TxPDO 3 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

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3.5.4 TxPDO 4

These parameters define the mapping of the transmit PDO 4. Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ TxPDO 4

Default Value

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to TxPDO 4 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in TxPDO 4 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.5.5 RxPDO 1

These parameters define the mapping of the receive PDO 1. Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ RxPDO 1

Default Value

Control Word [16Bit]

If this Boolean parameter is set, the control word has to be transmitted with RxPDO 1.

Motion Cmd Header [16Bit]

Motion command interface header.

Motion Cmd Par Byte 0..3 [32Bit]

The first 4 bytes of the command parameters of the motion command interface.

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to RxPDO 1 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in RxPDO 1 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.5.6 RxPDO 2

These parameters define the mapping of the receive PDO 2. Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ RxPDO 2

Default Value

Motion Cmd Slave Header [16Bit]

To ensure data consistency with asynchronous communication modes, the slave headers have to be used when spreading motion commands across several PDOs.

Motion Cmd Par Byte 4..7 [32Bit]

The second 4 bytes of the command parameters of the motion command interface.

Motion Cmd Par Byte 8..9 [16Bit]

The first half of the third 4 bytes of the command parameters of the motion command interface.

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CANopen Interface\ PDO Mapping\ RxPDO 2

Default Value

Motion Cmd Par Byte 8..11 [32Bit]

The third 4 bytes of the command parameters of the motion command interface.

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to RxPDO 2 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in RxPDO 2 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.5.7 RxPDO 3

These parameters define the mapping of the receive PDO 3. Eight bytes can be mapped in total.

CANopen Interface\ PDO Mapping\ RxPDO 3

Default Value

Motion Cmd Slave Header [16Bit]

To ensure data consistency with asynchronous communication modes, the slave headers have to be used when spreading motion commands across several PDOs.

Motion Cmd Par Byte 10..13 [32Bit]

The fourth 4 bytes of the command parameters of the Motion Command Interface.

Motion Cmd Par Byte 14..15 [16Bit]

The second half of the fourth 4 bytes of the command parameters of the Motion Command Interface.

Motion Cmd Par Byte 12..15 [32Bit]

The fifth 4 bytes of the command parameters of the Motion Command Interface.

Motion Cmd Par Byte 16..19 [32Bit]

The sixth 4 bytes of the command parameters of the Motion Command Interface.

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to RxPDO 3 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in RxPDO 3 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.5.8 RxPDO 4

These parameters define the mapping of the receive PDO 4. Eight bytes can be mapped in total.

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CANopen Interface\ PDO Mapping\ RxPDO 4

Default Value

Motion Cmd Slave Header [16Bit]

To ensure data consistency with asynchronous communication modes, the slave headers have to be used when spreading motion commands across several PDOs.

Motion Cmd Par Byte 16..19 [32Bit]

The sixth 4 bytes of the command parameters of the motion command interface.

By UPID [8-32Bit]

This parameter can be used for free mapping of any parameter or variable to RxPDO 4 (mapping through Unique Parameter ID = UPID, 0 = no mapping). The corresponding data size in RxPDO 4 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean.

0x0000

3.6 NMT Error Control

The heartbeat mechanism takes precedence over the node guarding protocol. If object 1017h of the object dictionary (Producer Heartbeat Time) is different from zero, the heartbeat protocol is used. If this entry is zero and the guard time multiplied with the life time factor is not zero, the node guarding protocol is used instead. If all of these values are zero, no error control mechanism will be active.

The drive is also capable of consuming a heartbeat. If object 1016h sub 1 of the object dictionary (Consumer Heartbeat Time 1) is different from zero, a heartbeat is consumed with the node-ID and time (given in ms) taken from this entry.

3.6.1 Node Guarding Protocol

Directory for configuring the node guarding protocol.

CANopen Interface\ NMT Error Control\ Node Guarding Protocol

Default Value

Guard Time

The guard time in ms, when the node guarding mechanism is active.

0ms Life Time Factor

Multiplier used with the Guard Time.

The total time that has to pass for a node to trigger a failure is called the node life time. The node life time is the guard time multiplied by the life time factor. Node Guarding starts with the reception of the first guarding message.

3.6.2 Heartbeat Protocol

These parameters configure the heartbeat protocol.

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CANopen Interface\ NMT Error Control\ Heartbeat Protocol

Default Valule

Producer Time

Cycle time for producing a heartbeat in ms.

0ms Consumer Time

Time for the consumed heartbeat in ms.

0ms

Consumed Node-ID (Master)

Node-ID of the master, who's heartbeat is monitored.

3.7 Legacy Sync Watchdog

These parameters configure the legacy watchdog of the sync telegram. This can be used together with heartbeat or node guarding. This feature is not part of the DS 301 specifications and is LinMot specific. The time between the arrival of two sync telegrams is measured. If the measured time exceeds 1.5 * LSW monitored cycle time an error is generated. The Legacy Sync Watchdog is only active while the NMT-State of the drive is operational. Monitoring via the LSW starts automatically on the transition from PreOperational to Operational state.

3.7.1 Watchdog Enable

Enabling/Disabling the legacy sync watchdog feature.

CANopen Interface\ NMT Error Control\ Legacy Sync Watchdog\ LSW Enable

Default Value

Disable

The sync watchdog is deactivated.

Enable

The sync watchdog is activated.

3.7.2 LSW monitored Cycle Time

The real expected sync cycle time can be configured here.

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4 CANopen Variables

CANopen

These variables show information about the status of the CANopen communication:

CANopen

NMT State

Shows the NMT state of the drives. (INITIALISING, STOPPED, PREOPERATIONAL, OPERATIONAL)

Node-ID

Active node-ID of the drive.

Baud Rate

Active baud rate of the drive.

Active Error Control Protocol

Shows if a guarding protocol is active. (None, Heartbeat Protocol, Node Guarding Protocol)

SyncCycle

Time in [us] between the reception of two SYNC messages.

CAN Bit Timing

Value of the CAN Bit Timing Register.

CANopen: Object Dictionary

All supported object dictionary entries can be read here.

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5 Mapping of the PDOs

5.1 Default Mapping

The PDOs are mapped by default according to the following scheme:

5.1.1 Default Mapping of the Receive PDOs

RxPDO 1

Length

Control Word

[16Bit]

Motion Cmd Header

[16Bit]

Motion Cmd Par Byte 00..03

[32Bit]

RxPDO 2

Length

Motion Cmd Par Byte 04..07

[32Bit]

Motion Cmd Par Byte 08..11

[32Bit]

RxPDO 3

Length

Motion Cmd Par Byte 12..15

[32Bit]

Motion Cmd Par Byte 16..19

[32Bit]

RxPDO 4

Length

A maximum of 4 parameters with a total maximum length of 64 Bit can be mapped by UPID

[64Bit]

5.1.2 Default Mapping of the Transmit PDOs

TxPDO 1

Length

Status Word

[16Bit]

State Var

[16Bit]

Actual Position

[32Bit]

TxPDO 2

Length

Demand Position

[32Bit]

Demand Current

[32Bit]

TxPDO 3

Length

Warn Word

[16Bit]

Logged Error Code

[16Bit]

A maximum of 4 parameters with a total maximum length of 32 Bit can be mapped by UPID

[32Bit]

TxPDO 4

Length

A maximum of 4 parameters with a total maximum length of 64 Bit can be mapped by UPID

[64Bit]

If the application requires it, the mapping can be completely changed by the PDO Mapping parameter settings. Many applications do not require to use all resources.

5.1.3 Default Identifier

The default identifiers (11 bit identifier) are allocated by the following scheme:

109876543210

Function Code

Node ID

This results in the following table:

19 / 55NTI AG / LinMot

Object

Function Code (binary)

COB ID (hex)

COB ID (dec)

Object for Comm. Parameter / Mapping

NMT

0000b

00h0-

SYNC

0001b

80h

128

1005h / 1006h / 1007h

Emergency

0001b

81h – FFh

129-255

1014h

TxPDO 1

0011b

181h – 1FFh

385-511

1800h / 1A00h

TxPDO 2

0101b

281h – 2FFh

513-639

1801h / 1A01h

TxPDO 3

0111b

381h – 3FFh

641-767

1802h / 1A02h

TxPDO 4

1001b

481h – 4FFh

769-895

1803h / 1A03h

RxPDO 1

0100b

201h – 27Fh

897-1023

1400h / 1600h

RxPDO 2

0110b

301h – 37Fh

1025-1151

1401h / 1601h

RxPDO 3

1000b

401h – 47Fh

1153-1279

1402h / 1602h

RxPDO 4

1010b

501h – 57Fh

1281-1407

1403h / 1603h

TxSDO

1011b

581h – 5FFh

1409-1535

RxSDO

1100b

601h – 67Fh

1537-1663

NMT Error Control (NodeGuarding, Heartbeat)

1110b

701h – 77Fh

1793-1919

100Ch / 100Dh (NG)

1016h / 1017h (Heartbeat)

5.2 Using the Motion Command Interface in asynchronous transmission modes

Because the CMD interface of the LinMot drives consists of more than 8 bytes, it is necessary to link two or more RxPDOs together to ensure data consistency. This is done by the “Motion CMD Slave Header”. In order to execute a command, the toggle bits of all headers have to be changed to the same new value. On the slave header only the last 4 bits are evaluated, so it is possible to simply copy the “CMD Header” from RxPDO 1 to the “Motion CMD Slave Header” of RxPDOs 2-4.

20 / 55 NTI AG / LinMot

6 Object Dictionary

In this chapter all entries in the object dictionary, which are supported by the drives, are listed.

6.1 Communication Profile Area (1000h - 1FFFh)

Index

SubIndex

Name

Access Type

Data Type

1000h

Device Type

Unsigned32

Always zero (= no standardized device profile).

1001h

Error register

Unsigned8

Only bit 0 is supported, which indicates a generic error.

1005h

COB-ID SYNC

Unsigned32

Defines the COB-ID of the Synchronization Object (SYNC).

1006h

Communication cycle period

Unsigned32

This object defines the communication cycle period in µ s. This period defines the

SYNC interval. It is 0 if not used. The object is only relevant for SYNC producers and

is not used in CANopen slaves.

1007h

Synchronous window length

Unsigned32

Contains the length of the time window for synchronous PDOs in µ s. It is 0 if not used.

This parameter is for compatibility only, it is not used in the LinMot drive.

1008h

Manufacturer Device Name

const

String

Contains the Device Name (including HW Revision) as an ASCII string.

1009h

Manufacturer HW Version

const

String

Contains the Device Serial Number as an ASCII string.

100Ah

Manufacturer SW Version

const

String

Contains the version of the installed firmware as an ASCII string.

100Ch

Guard Time

Unsigned16

Contains the Guard Time used in the node guarding protocol.

100Dh

Life Time Factor

Unsigned8

Contains the Life Time Factor used in the node guarding protocol.

1014h

COB-ID Emergency Object

Unsigned32

Defines the COB-ID of the emergency object (EMCY).

1016h

Consumer heartbeat time

--0h

Number of Entries

Unsigned8

Consumer heartbeat time 1

Unsigned32

The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device

producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If

the consumer heartbeat time is 0 the corresponding entry is not used. The time has to

be a multiple of 1ms.

1017h

Producer heartbeat time

Unsigned16

The producer heartbeat time defines the cycle time of the heartbeat. If not used it is to

be set to 0. The time has to be a multiple of 1ms.

1018h

Identity Object

--0h

Number of Entries

Unsigned8

Vendor ID

Unsigned32

The vendor ID contains a unique value allocated to each manufacturer of CANopen

devices. The vendor ID of LinMot is 0000 0156h.

Product Code

Unsigned32

Contains the drive type.

Revision Number

Unsigned32

Contains the drive version.

21 / 55NTI AG / LinMot

Index

SubIndex

Name

Access Type

Data Type

Serial Number

Unsigned32

Contains the last four ASCII characters of the serial number.

1400h

Receive PDO Communication Parameter 0 (RxPDO 1)

Number of Entries

Unsigned8

COB-ID

Unsigned32

313029

28-11

10-0

0: PDO is valid 1: PDO is invalid

0: RTR allowed 1: no RTR allowed

0: (11-bit ID) 1: (29-bit ID)

All 0 if 11-bit identifier

11-bit identifier

The PDO valid/not valid bit allows to select which PDOs are used in the operational

state. Only this bit can be changed by writing to this parameter. The identifiers

themselves cannot be changed. The default ID is 200h + Node-ID.

Transmission type

Unsigned8

Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250 (poll-

request / poll-response) are supported. Type 250 is LinMot specific and not part of the

CANopen standard. The Default is 1 (cyclic synchronous).

1401h

Receive PDO Communication Parameter 1 (RxPDO 2)

Number of Entries

Unsigned8

COB-ID

Unsigned32

The default ID is 300h + Node-ID. See 1400h sub 1h for additional details.

Transmission type

Unsigned8

The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.

1402h

Receive PDO Communication Parameter 2 (RxPDO 3)

Number of Entries

Unsigned8

COB-ID

Unsigned32

The default ID is 400h + Node-ID. See 1400h sub 1h for additional details.

Transmission type

Unsigned8

The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.

1403h

Receive PDO Communication Parameter 3 (RxPDO 4)

Number of Entries

Unsigned8

COB-ID

Unsigned32

The default ID is 500h + Node-ID. See 1400h sub 1h for additional details.

Transmission type

Unsigned8

The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.

1600h

Receive PDO Mapping Parameter 0 (RxPDO 1)

--0h

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for RxPDO 1. A mapping entry is built as follows:

16-31

8-15

0-7

index

sub-index

Object length

1601h

Receive PDO Mapping Parameter 1 (RxPDO 2)

22 / 55 NTI AG / LinMot

Index

SubIndex

Name

Access Type

Data Type

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for RxPDO 2 See 1600h sub 1-8h for additional details.

1602h

Receive PDO Mapping Parameter 2 (RxPDO 3)

--0h

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for RxPDO 3 See 1600h sub 1-8h for additional details.

1603h

Receive PDO Mapping Parameter 3 (RxPDO 4)

--0h

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for RxPDO 4 See 1600h sub 1-8h for additional details.

1800h

Transmit PDO Communication Parameter 0 (TxPDO 1)

Number of Entries

Unsigned8

COB-ID

Unsigned32

313029

28-11

10-0

0: PDO is valid 1: PDO is invalid

0: RTR allowed 1: no RTR allowed

0: (11-bit ID) 1: (29-bit ID)

All 0's if 11-bit identifier

11-bit identifier

The PDO valid/not valid bit allows to select which PDOs are used in the operational

state. Only this bit can be changed by writing to this parameter. The identifiers

themselves cannot be changed. The default ID is 180h + Node-ID.

Transmission type

Unsigned8

Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250 (poll-

request / poll-response) are supported. Type 250 is LinMot specific and not part of the

CANopen standard. The Default is 1 (cyclic synchronous).

Inhibit time

Unsigned16

This time is a minimum interval for PDO transmission in asynchronous modes. The

value is defined as multiple of 100µ s.

Reserved

Unsigned8

Event timer

Unsigned16

In asynchronous modes additionally an event time can be used for TPDOs. If an

event timer exists for a TPDO (value not equal to 0) the elapsed timer is considered to

be an event. The event timer elapses as a multiple of 1 ms . This event will cause the

transmission of this TPDO in addition to otherwise defined events.

1801h

Transmit PDO Communication Parameter 1 (TxPDO 2)

Number of Entries

Unsigned8

COB-ID

Unsigned32

The default ID is 280h + Node-ID. See 1800h sub 1h for additional details.

Transmission type

Unsigned8

23 / 55NTI AG / LinMot

Index

SubIndex

Name

Access Type

Data Type

The default is 1 (cyclic synchronous). See 1800h sub 2h for additional details.

Inhibit time

Unsigned16

See 1800h sub 3h for additional details.

Reserved

Unsigned8

Event timer

Unsigned16

See 1800h sub 5h for additional details.

1802h

Transmit PDO Communication Parameter 2 (TxPDO 3)

Number of Entries

Unsigned8

COB-ID

Unsigned32

The default ID is 380h + Node-ID. See 1800h sub 1h for additional details.

Transmission type

Unsigned8

The default is 1 (cyclic synchronous). See 1800h sub 2h for additional details.

Inhibit time

Unsigned16

See 1800h sub 3h for additional details.

Reserved

Unsigned8

Event timer

Unsigned16

See 1800h sub 5h for additional details.

1803h

Transmit PDO Communication Parameter 3 (TxPDO 4)

Number of Entries

Unsigned8

COB-ID

Unsigned32

The default ID is 480h + Node-ID. See 1800h sub 1h for additional details.

Transmission type

Unsigned8

The default is 1 (cyclic synchronous). See 1800h sub 2h for additional details.

Inhibit time

Unsigned16

See 1800h sub 3h for additional details.

Reserved

Unsigned8

Event timer

Unsigned16

See 1800h sub 5h for additional details.

1A00h

Transmit PDO Mapping Parameter 0 (TxPDO 1)

--0h

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for TxPDO 1 See 1600h sub 1-8h for additional details.

1A01h

Transmit PDO Mapping Parameter 1 (TxPDO 2)

--0h

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for TxPDO 2 See 1600h sub 1-8h for additional details.

1A02h

Transmit PDO Mapping Parameter 2 (TxPDO 3)

--0h

Number of mapped application objects in PDO

Unsigned8

24 / 55 NTI AG / LinMot

Index

SubIndex

Name

Access Type

Data Type

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for TxPDO 3 See 1600h sub 1-8h for additional details.

1A03h

Transmit PDO Mapping Parameter 3 (TxPDO 4)

--0h

Number of mapped application objects in PDO

Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

1h-8h

PDO Mapping Entry 1-8

Unsigned32

Contains the mapping for TxPDO 4 See 1600h sub 1-8h for additional details.

25 / 55NTI AG / LinMot

6.2 Manufacturer specific Profile Area (2000h – 5FFFh)

6.2.1 UPID Commands

Parameters can be modified via their UPIDs (Unique Parameter ID) via CANopen. To use a UPID command, an SDO read or write has to be performed on the index “2000h + UPID”. The sub-index specifies the command which is performed.

Index

Sub-Index

Description

Access Type

Data Type

2000h + UPID

01h

RAM Value

Bool - Unsigned32

Read / Write the RAM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written.

Read RAM Value by UPID

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

40h

yyh

01h----

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID

Write RAM Value by UPID

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

yyh

01h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)

26 / 55 NTI AG / LinMot

Index

Sub-Index

Description

Access Type

Data Type

2000h + UPID

02h

ROM Value

Bool - Unsigned32

Read / Write the ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written. If a value in the ROM is changed, it is not immediately reflected in the RAM. Values are read from the ROM to the RAM on startup of the drive. Use the “RAM/ROM Write” command (sub-index 06h) to change both values at the same time.

Read ROM Value by UPID

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

40h

yyh

02h----

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID

Write ROM Value by UPID

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

yyh

01h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)

Index

Sub-Index

Description

Access Type

Data Type

2000h + UPID

03h

Min Value

Bool - Unsigned32

The minimal possible value of the UPID is returned.

Read Min Value by UPID

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

40h

yyh

03h----

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID

Index

Sub-Index

Description

Access Type

Data Type

2000h + UPID

04h

Max Value

Bool - Unsigned32

The maximal possible value of the UPID is returned.

Read Max Value by UPID

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

40h

yyh

04h----

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID

27 / 55NTI AG / LinMot

Index

Sub-Index

Description

Access Type

Data Type

2000h + UPID

05h

Default Value

Bool - Unsigned32

The default value of the UPID is returned.

Read Default Value by UPID

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

40h

yyh

05h----

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID

Index

Sub-Index

Description

Access Type

Data Type

2000h + UPID

06h

RAM/ROM Write

Bool - Unsigned32

Write the RAM and ROM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be written.

Write RAM/ROM Value by UPID

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-Index

Data

23h

yyh

06h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID xx xx xx xx: Value to write (size depends on the UPID that will be written)

Index

Sub-Index

Description

Access Type

Data Type

2000h

20h

Start Getting UPID List

Unsigned16

With this command, the starting UPID can be set from which the command “Get Next UPID List item” begins returning info when called. This command has to be sent at least once before information on UPIDs can be retrieved via the “Get Next UPID List item” command.

Start getting UPID List

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

yyh

20h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data yy yy: 2000h + UPID

28 / 55 NTI AG / LinMot

Index

Sub-Index

Description

Access Type

Data Type

2000h

21h

Get Next UPID List item

Unsigned 32

With this command information on UPIDs can be read. After the initialization with the command “Start getting UPID List”, information on UIPIDs can be read with this command. The command can be repeatedly issued. With each new command, the information on the next existing UPID is sent. When the end of the list is reached, the UPID FFFFh is sent.

Get Next UPID List item

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-Index

Data

40h

yyh

21h----

Byte

01 (LSB)

02030405060708 (MSB)

yy yy: 2000h + UPID

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

SubIndex

Address Usage

UPID found

Data

42h

yyh

21h

yyh

xxh

Byte

01 (LSB)

02030405060708 (MSB

yy yy: Address Usage xx xx: UPID which was found

Address Usage is interpreted as follows:

Index

Sub-Index

Description

Access Type

Data Type

2000h

22h

Start Getting Modified UPID List

Unsigned16

This command is used in the same way as the “Start Getting UPID List” command

(2000h sub 20h). Only UPIDs with values that differ from their default values are

returned.

Index

Sub-Index

Description

Access Type

Data Type

2000h

23h

Get Next Modified UPID List item

Unsigned32

This command is used the in same way as the “Get Next UPID List item” command

(2000h sub 21h). Only UPIDs with values that differ from their default values are

returned.

29 / 55NTI AG / LinMot

6.2.2 System Commands

Index

SubIndex

Description

Access Type

Data Type

2000h

07h

Set ROM to default (OS)

Unsigned8 Unsigned32

Set all parameters of the OS to default values. The execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (OS)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-Index

Data

23h

00h

20h

07h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

Index

SubIndex

Description

Access Type

Data Type

2000h

08h

Set ROM to default (MC SW)

Unsigned8 Unsigned32

Set all parameters of the MC SW to default values. he execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (MC SW)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

08h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

Inde x

SubIndex

Description

Access Type

Data Type

2000h

09h

Set ROM to default (Interface)

Unsigned8 Unsigned32

Set all parameters of the Interface to default values. he execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (Interface)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

09h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

30 / 55 NTI AG / LinMot

Index

Sub-Index

Description

Access Type

Data Type

2000h

0Ah

Set ROM to default (Application)

Unsigned8 Unsigned32

Set all parameters of the Application to default values. He execution of this command can take several seconds. Any data can be written for the command to be executed.

Set ROM to default (Application)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

0Ah

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

Index

Sub-Index

Description

Access Type

Data Type

2000h

0Bh

Reset Drive

Unsigned8 Unsigned32

Initiates a software reset of the drive. Any data can be written for the command to be executed.

Reset Drive

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

0Bh

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

Index

Sub-Index

Description

Access Type

Data Type

2000h

35h

Stop MC and APPL Software

Unsigned8 Unsigned32

MC SW and Application SW are stopped. Any data can be written for the command to be executed.

Stop MC and APPL Software

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

35h

xxh

Byte

01 (LSB)

02030405060708 (MSB

xx xx xx xx: Any Data

31 / 55NTI AG / LinMot

Index

Sub-Index

Description

Access Type

Data Type

2000h

36h

Start MC and APPL Software

Unsigned8 Unsigned32

MC SW and Application SW are started. Any data can be written for the command to be executed.

Start MC and APPL Software

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

36h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

6.2.3 Curve Service Commands

See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of curve commands and a description of the content of the curve info and data blocks.

Index

SubIndex

Description

Access Type

Data Type

2000h

40h

Curve Service: Save to Flash (only available on SG5)

Unsigned8 Unsigned32

All curves are saved from the RAM to the flash and are thus permanently saved. MC SW and application have to be stopped in order for this command to work (see command 2000h sub 35: Stop MC and Application Software). Any data can be written for the command to be executed.

Curve Service: Save to Flash

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

40h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

32 / 55 NTI AG / LinMot

Index

Sub-Index

Description

Access Type

Data Type

2000h

41h

Curve Service: Delete all Curves

Unsigned8 Unsigned32

All curves in the RAM (SG5) are deleted. This does NOT delete curves from the flash on SG5. On SG7 devices the curves are deleted directly from the flash.After a system reset, the curves are loaded again from the flash to the RAM on SG5 devices. Any data can be written for the command to be executed.

Curve Service: Delete all Curves

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

SubIndex

Data

23h

00h

20h

41h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any Data

Index

Sub-Index

Description

Access Type

Data Type

2000h

42h

Curve Service: Poll Flash (only available on SG5)

Unsigned8

Read Parameter to get the status of a flash operation:

Result = 00h : State = Idle Result = 04h : State = Busy This command can be used to check if a flash operation is still ongoing (e.g.command 2000h sub 40h: Curve Service:save to flash)

Curve Service: Poll Flash

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

00h

20h

42h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Result

Data

42h

00h

20h

42h

xxh--

Byte

01 (LSB)

02030405060708 (MSB)

xx: Result

33 / 55NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h

43h

Curve Service: Get Last Curve Service Command Result

Unsigned32

This command is used the get the results of curve service commands which are initiated with an SDO write command from the PLC. The result of the last executed curve service command is given in the following format:

Get Last Curve Service Command Result

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

00h

20h

43h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Result

CSCindex

CSCsu

b-index

Data

42h

00h

20h

43h

zzh

yyh

xxh

Byte

01 (LSB)

02030405060708 (MSB

zz: Result of the executed command. See the corresponding command for details on how to interpret these results, as its meaning differs from command to command. yy yy: Index of the last executed curve service command which can have a result.

xx: Sub-Index of the last executed curve service command which can have a result.

Index

SubIndex

Description

Access Type

Data Type

2000h + CurveID

50h

Curve Service: Add Curve

Unsigned32

With this command a curve with the ID “CurveID” will be created. Up to 100 curves can be programmed into the drive. If a curve with the same ID already exists, an error will be generated which can be checked with the “Get Last Curve Service Command Result” command:

00h: No Error D4h: Curve already exists

Curve Service: Add Curve

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

InfoBlockSize

DataBlockSize

Data

23h

CurveID

20h

50h

xxh

yyh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx: Size of the curve info block in bytes yy yy: Size of the curve data block in bytes

34 / 55 NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + CurveID

53h

Curve Service: Add Curve Data (32 Bit)

Unsigned32

The Curve Data Block can be written in increments of 4 Bytes at a time. This way one setpoint (32Bit) can be written at a time. To write the Data Block, this command has to be repeatedly called, with each call containing the next setpoint of the Data Block. With the “Get Last Curve Service Command Result” command, one can check if the Info Block has already been written:

00h: Data Block is finished 04h: Data Block is not finished D0h: Error: Data Block was already finished

Curve Service: Add Curve Data (32Bit)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

InfoBlock Data

Data

23h

CurveID

20h

53h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Curve data block data: one setpoint as a 32Bit value

Index

SubIndex

Description

Access Type

Data Type

2000h + CurveID

54h

Curve Service: Add Curve Info Block (32 Bit)

Unsigned32

The Curve Info Block can be written in increments of 4 bytes at a time. To write the info block, this command has to be repeatedly called, with each call containing the next 4 bytes of the info block. With the “Get Last Curve Service Command Result” command, one can check if the info block has already been written:

00h: Info Block is finished 04h: Info Block is not finished D0h: Error: Info Block was already finished

Curve Service: Add Curve Info Block (32Bit)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-Index

InfoBlock Data

Data

23h

CurveID

20h

54h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Curve info block data

35 / 55NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + CurveID

60h

Curve Service: Get Curve

Unsigned32

The “Get Curve” command has to executed first in order to read a curve from the drive via SDO. With the commands “Get Curve Info Block” and “Get Curve Data Block” the corresponding blocks of the curve can be read afterwards.

Curve Service: Get Curve

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

CurveID

20h

60h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Inde

Result

CSInfo

BlockSize

CSData

BlockSize

Data

42h

CurveID

20h

60h

xxh

yyh

zzh

Byte

01 (LSB)

02030405060708 (MSB)

xx: Result:

00h = Curve exists D4h = Curve does not exist

yy: Curve Info Block Size in Bytes zz zz: Curve Data Block Size in Bytes

36 / 55 NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + CurveID

61h

Curve Service: Get Curve Info Block

Unsigned32

The Curve Info Block can be read in increments of 4 Bytes. To read the Info Block, this command has to be repeatedly called, with each call one can read the next 4 Bytes of the Info Block. With the “Get Last Curve Service Command Result” command, one can check if the Info Block has already been read:

00h: Info Block is finished 04h: Info Block is not finished D0h: Error: Info Block was already finished

Curve Service: Get Curve Info Block

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

CurveID

20h

61h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

InfoBlock Data

Data

42h

CurveID

20h

61h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Info Block Data

37 / 55NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + CurveID

62h

Curve Service: Get Curve Data

Unsigned32

The Curve Data Block can be read in increments of 4 Bytes. To read the Data Block, this command has to be repeatedly called, with each call one can read the next 4 Bytes of the Data Block. With the “Get Last Curve Service Command Result” command, one can check if the Data Block has already been read:

00h: Data Block is finished 04h: Data Block is not finished D0h: Error: Info Block was already finished

Curve Service: Get Curve Data Block

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

CurveID

20h

62h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

DataBlock Data

Data

42h

CurveID

20h

62h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Data Block Data

38 / 55 NTI AG / LinMot

6.2.4 Error Log Commands

With these commands the error log of a drive can be read.

Index

SubIndex

Description

Access Type

Data Type

2000h

70h

Get Error Log Entry Counter

Unsigned32

This command returns the number of logged errors as well as the total number of occurred errors.

Get Error Log Entry Counter

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

00h

20h

70h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

NrOfLoggedErr

NrOfOccErr

Data

42h

00h

20h

70h

xxh

yyh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx: Number of logged errors yy yy: Number of occurred errors

39 / 55NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

71h

Get Error Log Entry Error Code

Unsigned32

This command returns the corresponding error code to the entry number.

Get Error Log Entry Error Code

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

EntryNr

20h

71h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

SourceID

Error Code

Data

42h

EntryNr

20h

71h

xxh

yyh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx:

SourceID: ID of the part of the firmware

1: OSwhich triggered the error:

Motion Control Software

Interface (e.g. CANopen)

Application (e.g. EasySteps)

yy yy:

Error Code: Further Information on the meaning of the error codes can be found in the manuals of the respective firmware parts.

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

72h

Get Error Log Entry Time low

Unsigned32

This command returns the lower 32 bits of the drive's system time when the error has occurred.

Get Error Log Entry Time low

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

EntryNr

20h

72h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Time Low

Data

42h

EntryNr

20h

72h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Lower 32 Bits of the system time the error occurred.

40 / 55 NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

73h

Get Error Log Entry Time high

Unsigned32

This command returns the higher 32 bits of the drive's system time when the error happened.

Get Error Log Entry Time high

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

EntryNr

20h

73h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Time High

Data

42h

EntryNr

20h

73h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Higher 32 Bits of the system time the error occurred.

41 / 55NTI AG / LinMot

6.2.5 Command Table Commands

See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of the command table and a description of the CT entry format.

Index

SubIndex

Description

Access Type

Data Type

2000h

80h

CT: Save to Flash (only available on SG5)

Unsigned8 Unsigned32

Write any data with this command to save the command table which is in the RAM to the FLASH. The command table is loaded on startup from the FLASH to the RAM. Any data can be written for the command to be executed.

Command Table: Save to Flash

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

InfoBlock Data

Data

23h

00h

20h

80h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any data

Index

SubIndex

Description

Access Type

Data Type

2000h

80h

CT: Poll Flash (only available on SG5)

Unsigned8

Read Parameter to get the status of a flash operation: Result = 00h: State = Idle Result = 04h: State = Busy This command can be used to check if a flash operation is still ongoing (e.g.command 2000h sub 80: CT: save to flash)

Command Table: Poll Flash

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

00h

20h

80h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Result

Data

42h

00h

20h

80h

xxh--

Byte

01 (LSB)

02030405060708 (MSB)

xx: Result

42 / 55 NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h

81h

CT: Delete all Entries

Unsigned32

Write anything to delete the complete Command Table in the RAM on SG5, or in the FLASH on SG7. On SG5 drives the command “CT: Save to Flash” has to be issued afterwards to save the CT permanentely.

Command Table: Delete all Entries

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

23h

00h

20h

81h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any data

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

82h

CT: Delete Entry (Entry Nr.)

Unsigned32

Write anything to delete the CT entry with the corresponding number in the RAM. The ROM entry of the CT entry is not deleted this way.

Command Table: Delete Entry (Entry Nr.)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

23h

EntryNr

20h

82h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Any data

43 / 55NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

83h

CT: Write Entry (Entry Nr.)

Unsigned32

This command has to be executed first if one wants to write a CT entry to the RAM (SG5) or FLASH (SG7). This command writes the block size of the CT entry. Afterwards the data for the entry can be written with the command “CT: Write Entry Data”. The result of this command can be checked with the “CT: Get Last CT Service Command Result” command:

00h: No Error D1h: Invalid block size D4h: Invalid entry number

Command Table: Write Entry (Entry Nr.)

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Block Size

Data

23h

EntryNr

20h

83h

xxh

xxh--

Byte

01 (LSB)

02030405060708 (MSB)

xx xx: Block size of CT entry

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

84h

CT: Write Entry Data

Unsigned32

The CT entry data can be written in increments of 4 Bytes. To write the entry data, this command has to be repeatedly called, while each call contains the next 4 bytes of data. The entry will be activated when the last byte of the entry data has been written. This can be checked with the “CT: Get Last CT Service Command Result” command:

00h: Entry Data Block is finished 04h: Entry Data Block is not finished D0h: Error: Entry Data Block was already finished

Command Table: Write Entry Data

COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

CT Entry Data

Data

23h

EntryNr

20h

84h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: CT entry Data

44 / 55 NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

85h

CT: Get Entry (Entry Nr.)

Unsigned32

Read the block size of a CT Entry.

Command Table: Get Entry (Entry Nr.)

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

EntryNr

20h

85h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Block Size

Data

42h

EntryNr

20h

85h

xxh

xxh--

Byte

01 (LSB)

02030405060708 (MSB)

xx xx: Block size

Index

SubIndex

Description

Access Type

Data Type

2000h + EntryNr

86h

CT: Get Entry Data

Unsigned32

The CT entry data can be read in increments of 4 Bytes. To read the entry data, this command has to be repeatedly called, while the response to each call contains the next 4 bytes of data.

Command Table: Get Entry Data

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

EntryNr

20h

86h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

Sub-

Index

Entry Data

Data

42h

EntryNr

20h

86h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Entry data

45 / 55NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h

87h

CT: Get Entry List (Entry 0..31)

Unsigned32

With this command a bitfield is read, which indicates the presence of a CT entry (0 = CT entry present, 1 = No CT entry present).

CT: Get Entry List (Entry 0..31)

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

00h

20h

87h----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

SubIndex

Entry presence bitfield

Data

42h

00h

20h

87h

xxh

Byte

01 (LSB)

02030405060708 (MSB)

xx xx xx xx: Entry presence bitfield

Index

SubIndex

Description

Access Type

Data Type

2000h

88h

CT: Get Entry List (Entry 32..63)

Unsigned32

See command 2000h sub 87h for details.

Index

SubIndex

Description

Access Type

Data Type

2000h

89h

CT: Get Entry List (Entry 64..95)

Unsigned32

See command 2000h sub 87h for details.

Index

SubIndex

Description

Access Type

Data Type

2000h

8Ah

CT: Get Entry List (Entry 96..127)

Unsigned32

See command 2000h sub 87h for details.

Index

SubIndex

Description

Access Type

Data Type

2000h

8Bh

CT: Get Entry List (Entry 128..159)

Unsigned32

See command 2000h sub 87h for details.

Index

SubIndex

Description

Access Type

Data Type

2000h

8Ch

CT: Get Entry List (Entry 160..191)

Unsigned32

See command 2000h sub 87h for details.

46 / 55 NTI AG / LinMot

Index

SubIndex

Description

Access Type

Data Type

2000h

8Dh

CT: Get Entry List (Entry 192..223)

Unsigned32

See command 2000h sub 87h for details.

Index

SubIndex

Description

Access Type

Data Type

2000h

8Eh

CT: Get Entry List (Entry 224..255)

Unsigned32

See command 2000h sub 87h for details.

Index

SubIndex

Description

Access Type

Data Type

2000h

8Fh

CT: Get Last CT Service Command Result

Unsigned32

This command is used the get the results of command table commands which are initiated with an SDO write command from the PLC. The result of the last executed command table service command is returned in the following format:

Get Last Command Table Service Command Result

COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive:

SDO CS

Index

Sub-

Index

Data

40h

00h

20h

8Fh----

Byte

01 (LSB)

02030405060708 (MSB)

Return Value

COB-ID 580 + Node-ID, Response from LinMot Drive to PLC:

SDO CS

Index

SubIndex

Result

CSCindex

CSCsub

-index

Data

42h

00h

20h

8Fh

zzh

yyh

xxh

Byte

01 (LSB)

02030405060708 (MSB)

47 / 55NTI AG / LinMot

7 Examples

7.1 Homing and motion commands

For details on the use of motion commands, consult the manual “Usermanual MotionCtrlSW 1100”.

The following example shows the homing procedure and execution of a motion command via CANopen with the default PDO mapping:

Homing (Control Word = 083Fh)

RxPDO 1

Control Word

MC Header

MC Par Bytes 0..3

Data

3Fh

08h

00h

Byte

01 (LSB)

02030405060708 (MSB)

Enter Operational State (Control Word = 003Fh)

RxPDO 1

Control Word

MC Header

MC Par Bytes 0..3

Data

3Fh

00h

Byte

01 (LSB)

02030405060708 (MSB)

Execute Motion Command : VAI 16Bit Go To Pos (090xh)

CMD Header

0901h

Par Byte 0…1

Target Position :

50mm01F4h

Par Byte 2…3

Maximal Velocity :

1m/s

03E8h

Par Byte 4…5

Acceleration :

10m/s

0064h

Par Byte 6…7

Deceleration :

10m/s

0064h

RxPDO 1

Control Word

MC Header

MC Par Bytes 0..3

Data

3Fh

00h

01h

09h

F4h

01h

E8h

03h

Byte

01 (LSB)

02030405060708 (MSB)

RxPDO 2

MC Par Bytes 4..7

MC Par Bytes

8..11

Data

64h

00h

64h

00h

Byte

01 (LSB)

02030405060708 (MSB)

48 / 55 NTI AG / LinMot

In the LinMot-Talk1100 Control Panel, one can check the last executed motion command by pressing the «Read Command» button. It should look like this now that the command has been executed:

49 / 55NTI AG / LinMot

8 Reset Parameters to default values

There are three options to reset the parameters of a LinMot drive to default values:

By manipulating the two rotary hex switches (resets ALL parameters):

Power off the drive

Set the switches to FFh or set the Para Def. switch to on

Power on the drive (Error and Warn LEDs flash alternating)

Set the switches to 00h or set the Para Def. switch to off

Wait until Enable and Warn LED start to turn off and on

Power off the drive

(not available on all drive types)

By writing index 2000h sub-index 7h, 8h, 9h, Ah of the object dictionary. After resetting the ROM values, a reset should be performed either by sending a “NMT Reset” command or by turning the drive off and on again. This has to be done to reload the RAM values from the ROM.

Reinstalling the firmware will always reset all parameters to default values

50 / 55 NTI AG / LinMot

9 Configuration of the drive with an EDS File

The EDS file for the LinMot drives is compliant with the standard: “CiA 306 DS V1.3: Electronic data sheet specification for CANopen”. Visit http://www.can-cia.org/ for detailed information.

The EDS file is part of the Lintalk1100 software which can be downloaded from

http://www.LinMot.com.

The EDS file is located at “..\Firmware\Interfaces\CanOpen\EDS” in the installation folder of the LinMot-Talk1100 software.

Consult the user manual of your PLC for details on how to use an EDS file with it.

If an EDS file is used, in most cases the PLC will automatically download this configuration via SDO commands to the drive. This is done before the drive is set to the operational state. Any configuration settings that have been done in the LinMot-Talk1100 software are overwritten this way!

9.1 Configuring a PDO variable by UPID with the EDS file

For every PDO a maximum of 4 parameters can be mapped by their UPIDs. If a parameter is configured to a PDO via its UPID, the used space in the PDO is dependent on the data type of the configured parameter. If a boolean variable is configured, one byte of the PDO is used.

9.1.1 Setting the UPIDs of the parameter to map to a PDO

The UPIDs to map can be set via the dictionary entries 4F01h sub 1-4h for RxPDO1 to 4F08h sub 1-4h for TxPDO4. The drive automatically maps those parameters to the PDOs. If too much data would be mapped to one PDO, an error is generated.

9.1.2 Getting UPID PDO data into PLC variables

Since any parameter with a UPID can be mapped this way, it is not possible to reflect this with the EDS file. The user has to configure the PDO mapping on the PLC with dummy variables for the UPIDs. This way the PLC recognizes that data will be transmitted at the according bytes in the PDO. For every PDO there are several of those placeholders (Objects 4F01h sub 5-Ah for RxPDO1 to 4F08h sub 5-Ah for TxPDO4). The mapping entries in the object dictionary contain the entries for mapped UPIDs (4F01h – 4F08h) and NOT the placeholder-objects for the PLC.

9.1.3 Example

Configuration of TxPDO4 to transmit the following parameters:

X4.4 Analog Voltage (UPID 1CA4h), UInt16

Diff Analog Voltage (UPID 1CA6h), SInt16

Difference Velocity (UPID 1B91h), Sint32

Configuring the UPIDs:

Object dictionary entry to write

Value

4F08h sub 1h (TPDO4 UPIDs 1)

1CA4h

4F08h sub 2h (TPDO4 UPIDs 2)

1CA6h

4F08h sub 3h (TPDO4 UPIDs 3)

1B91h

Set the PDO mapping in the PLC:

51 / 55NTI AG / LinMot

Object dictionary entry to map

Map entry to

4F08h sub 7h (TPDO4 2 Byte UPID mapped)

TPDO4

4F08h sub 8h (TPDO4 2 Byte UPID mapped)

TPDO4

4F08h sub 9h (TPDO4 4 Byte UPID mapped)

TPDO4

The TxPDO4 now contains the following data:

TxPDO 4

X4.4 Analog Voltage

Diff Analog Voltage

Difference Velocity Data

xxh

yyh

zzh

Byte

01 (LSB)

02030405060708 (MSB)

The PDO mapping entries in the object dictionary look like this:

Mapping entry

Value

1A03h sub 1h (Transmit PDO Mapping Parameter 3: PDO mapping entry 1)

4F080110h

1A03h sub 2h (Transmit PDO Mapping Parameter 3: PDO mapping entry 2)

4F080210h

1A03h sub 3h (Transmit PDO Mapping Parameter 3: PDO mapping entry 3)

4F080320h

52 / 55 NTI AG / LinMot

10 RT LEDs

Error Codes

RT Bus Error LED

OK LED

RT Bus Error

Description

Flickering

AutoBitrate Detection is active

Single Flash

NMT State is „Stopped“

Blinking

NMT State is „Preoperational”

On-NMT State is „Operational“

-OnBus is in “Bus off” State. Check error message entry for details.

Double Flash

Nodeguarding or Heratbeat related error

Blinking

Invalid PDO Configuartion

Off:

constantly off.

On:

constantly on.

Flickering:

equal on and off times with a frequency of approximately 10 Hz.

Blinking:

equal on and off times with a frequency of approximately 2,5 Hz.

Single Flash:

one short flash followed by a long off phase.

Double Flash:

a sequence of two short flashes, separated by an off phase. The sequence is finished by a long off phase.

Triple Flash:

a sequence of three short flashes, separated by an off phase. The sequence is finished by a long off phase.

Quadruple Flash:

a sequence of three short flashes, separated by an off phase. The sequence is finished by a long off phase.

53 / 55NTI AG / LinMot

11 Interface Error Codes

Please refer to “Usermanual Motion Control Software” for the error codes of the MC software. The CANopen interface has the following additional error codes:

Error Code

Error Description

Recommended Actions

C1h

The drive is not compatible with CANopen

The drive does not support CANopen interface software. Download an appropriate firmware to the drive.

C2h

The configured ID is not valid (switches or parameter)

Select a valid node address.

C5h

CANopen Error: Bus error

Check CAN termination, baud rate and cabling.

C6h

CANopen Error: general Bus error

Check CAN termination, baud rate and cabling.

C7h

CANopen Error: Bus error, stuff error

Check CAN termination, baud rate and cabling.

C8h

CANopen Error: Bus error, form error

Check CAN termination, baud rate and cabling.

C9h

CANopen Error: Bus error, ack error

Check CAN termination, baud rate and cabling.

CAh

CANopen Error: Bus error, bit 1 error

Check CAN termination, baud rate and cabling.

CBh

CANopen Error: Bus error, bit 0 error

Check CAN termination, baud rate and cabling.

CCh

CANopen Error: Bus error, CRC error

Check CAN termination, baud rate and cabling.

CDh

CANopen Error: Error Control Timeout

CANopen Timeout. Is the master running?

CFh

CANopen Error: Invalid ID by Hex Switch S1

Invalid baud rate selected by S1. Check S1. Only 1..4 are valid settings.

D0h

CANopen Error: Invalid Mapping in TxPDO 1

More than 8 byte data mapped into TPDO 1. Verify the mapping (by UPID should be 0 to be deactivated).

D1h

CANopen Error: Invalid Mapping in TxPDO 2

More than 8 byte data mapped into TPDO 2. Verify the mapping (by UPID should be 0 to be deactivated).

D2h

CANopen Error: Invalid Mapping in TxPDO 3

More than 8 byte data mapped into TPDO 3. Verify the mapping (by UPID should be 0 to be deactivated).

D3h

CANopen Error: Invalid Mapping in TxPDO 4

More than 8 byte data mapped into TPDO 4. Verify the mapping (by UPID should be 0 to be deactivated).

D4h

CANopen Error: Invalid Mapping in RxPDO 1

More than 8 byte data mapped into RPDO 1. Verify the mapping (by UPID should be 0 to be deactivated).

D5h

CANopen Error: Invalid Mapping in RxPDO 2

More than 8 byte data mapped into RPDO 2. Verify the mapping (by UPID should be 0 to be deactivated).

54 / 55 NTI AG / LinMot

Error Code

Error Description

Recommended Actions

D6h

CANopen Error: Invalid Mapping in RxPDO 3

More than 8 byte data mapped into RPDO 3. Verify the mapping (by UPID should be 0 to be deactivated).

D7h

CANopen Error: Invalid Mapping in RxPDO 4

More than 8 byte data mapped into RPDO 4. Verify the mapping (by UPID should be 0 to be deactivated).

D8h

CANopen Error: Invalid UPID in TxPDO 1 Mapping

Check the UPID, which is configured by “mapping by UPID”.

D9h

CANopen Error: Invalid UPID in TxPDO 2 Mapping

Check the UPID, which is configured by “mapping by UPID”.

DAh

CANopen Error: Invalid UPID in TxPDO 3 Mapping

Check the UPID, which is configured by “mapping by UPID”.

DBh

CANopen Error: Invalid UPID in TxPDO 4 Mapping

Check the UPID, which is configured by “mapping by UPID”.

DCh

CANopen Error: Invalid UPID in RxPDO 1 Mapping

Check the UPID, which is configured by “mapping by UPID”.

DDh

CANopen Error: Invalid UPID in RxPDO 2 Mapping

Check the UPID, which is configured by “mapping by UPID”.

DEh

CANopen Error: Invalid UPID in RxPDO 3 Mapping

Check the UPID, which is configured by “mapping by UPID”.

DFh

CANopen Error: Invalid UPID in RxPDO 4 Mapping

Check the UPID, which is configured by “mapping by UPID”.

55 / 55NTI AG / LinMot

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LinMot CANopen SG5, CANopen SG7, CANopen SG6 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual