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ServoOne

User Manual

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The bus modules for

User Manual ServoOne CANopen/EtherCAT

ID No.: 1100.28B.0-00 Status: 11/2007

We reserve the right to make technical changes.

This guide is currently subject to approval testing and is therefore

not yet ﬁnal and complete. The technical data and agree d properties are therefore provisional and still subject to change in line with further technical developments.

ServoOne

Page 3

User Manual CANopen/EtherCAT

How to use the document

Dear User

This manual is intended for project engineers, commissioning engineers or programmers of drive and automation solutions on the CANopen and EtherCAT ﬁeld bus. It is assumed that you are already familiar with these ﬁeld bus systems through appropriate training and from reading the relevant literature. We assume that your drive is already in operation – if not, you should ﬁrst consult the Operation Manual.

This manual applies for the position controller system ServoOne, so you will see only the abbreviation SO below.

General

44 Commissioning and configuration of CANopen

55 Commissioning and configuration of EtherCAT

66 Setting the device parameters for CANopen

Mounting and connection of EtherCAT

22 Mounting and connection of CANopen

77 Setting the device parameters for EtherCAT

88 Implemented DS402 functionality

99 Operation modes DS402

1212 Bibliography

1313 Appendix glossary

1414 Index

1111 EDS file, object directory parameter list

1010 Emergency Objects

Page 4

User Manual CANopen/EtherCAT

Pictograms

Important! Miso peration may result in damag e to the drive or malfunctions.

Danger from electrical voltage! Improper behaviour may endanger human life.

Danger from rotating par ts! Drive may star t up automatically.

Note: Useful information

Page 5

User Manual CANopen/EtherCAT

Contents

How to use the do cument ......................................................................................................... 3

Pictograms .............................................................................................................................. 4

General Intro duction ........................................................................................................... 7

1.1

Measures for your safet y ................................................................................................ 7

1.2

Introduction to CANopen............................................................................................... 7

1.3

Introduction to EtherCAT ............................................................................................... 8

1.4

System requirements ...................................................................................................... 8

1.5 Fur ther

documentation .................................................................................................. 8

2 Mounting and Connection of CANopen ............................................................................

2.1 Setting the addres s ........................................................................................................

2.2 M eanings of LEDs ..........................................................................................................

2.3 Installation ....................................................................................................................

2.3 Transmission speeds ......................................................................................................

2.4 Display of the operating st ates via 7-segment display ....................................................

2.5 Hardware enable ...........................................................................................................

3 Mounting and Connection of EtherC AT ...........................................................................

3.1 Installation and cab ling .................................................................................................

3.2 Pin assignment of the R J-45 socket ...............................................................................

3.3 M eanings of LEDs ..........................................................................................................

3.4 Display of operating states via 7-segment display ..........................................................

3.5 Hardware enable ...........................................................................................................

Commissio ning and Conﬁguration of CA Nopen ..............................................................19

4.1

Commissioning .............................................................................................................19

4.2

Commissioning sequence ..............................................................................................19

4.2.1

Setting the sof tware address and Baud rate ........................................................20

4.3

Commissioning instruc tions...........................................................................................20

4.4

Testing the higher-order controller ................................................................................20

4.5

Data handling ...............................................................................................................21

4.5.1

Saving the settings ..............................................................................................21

4.5.2

Restoring factor y defaults ...................................................................................21

4.6

Commissioning via DRI VEMANAGER ...................................................................................21

4.7

Control functions ......................................................................................................... 22

4.8

Operation mode s election (Modes of operation) .......................................................... 22

4.8.1

Functionality of operation modes ....................................................................... 23

5 Commissio ning and Conﬁguration of Ether CAT .............................................................

Setting th e Device Parame ters for C ANopen .................................................................. 27

6.1 Implemented DS301 functi onality .................................................................................

6.1.1

Communication objec ts ......................................................................................27

6.1.2 Objec t director y of DS301 ...................................................................................

6.2

Parameter channel (Ser vice Data Objec ts) ......................................................................28

6.2.1

Data types...........................................................................................................29

6.2.2

Representation of data types in the control protocol ...........................................29

6.2.3 Access to device parameters ..............................................................................

6.3

Examples of SDO handling ........................................................................................... 30

6.3.1

Parameter set download .....................................................................................33

6.4

PDO transmission t ypes ................................................................................................ 34

6.5 Event-controlled

TxPDO transmission............................................................................ 34

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User Manual CANopen/EtherCAT

6.6 P DO mapping ................................................................................................................35

6.6.1

Mapping - general ..............................................................................................35

6.6.2

Mapping notes ....................................................................................................35

6.7

Heartbeat func tion ....................................................................................................... 36

7 Setting th e Device Parame ters for EtherCAT ...................................................................

7.1 Supported Ether CAT functionality .................................................................................

7.2 Conﬁguration for the operation in a controller .............................................................

8 Implemented DS402 Functionality ....................................................................................

8.1 Device control and state machine ..................................................................................

8.1.1 General information ............................................................................................

8.1.2

State machine .....................................................................................................41

8.1.3 Device states .......................................................................................................

8.2 O ption codes ................................................................................................................

8.3 Device control objec ts ..................................................................................................

8.4 Units and scalings, fac tor group ....................................................................................

8.5

I/O map, objec t 60FDH..................................................................................................47

8.5.1

Object 60 FDh – Digital input s .............................................................................47

8.5.2

Object 2079h – MPRO _INPUT_STATE ................................................................ 48

8.5.3

Object 208 Fh – MRPO_OU TPUT_S TATE ............................................................. 48

Operation modes DS4 02 .................................................................................................... 49

9.1 DS 402 compatible op eration modes ............................................................................

9.1.1 Parameter setting of ServoOne for ac tivation via DS 402: ...................................

9.1.2 Control word DS402 ..........................................................................................

9.1.3 Status word DS402 .............................................................................................

9.2

Proﬁle Velocity Mo de ....................................................................................................53

9.2.1 Mode -dependent bits in the control word .........................................................

9.2.2 Mode -dependent bits in the status word ...........................................................

9.3 Homing mode ...............................................................................................................

9.3.1 Mode -speciﬁc bits in the control word ...............................................................

9.3.2

Mode-sp eciﬁc bits in the s tatus word ................................................................ 56

9.4 Proﬁle position mod e ....................................................................................................

9.4.1 Mode -speciﬁc bits in the control word ...............................................................

9.4.2 Mode -speciﬁc bits in the status word ................................................................

9.4.3 Functional description ........................................................................................

Emergenc y Objects .............................................................................................................61

10.1

Error acknowledgement, general ..................................................................................61

10.2

Error acknowledgment via bus system...........................................................................61

11 EDS File, Objec t Directo ry Parameter List ........................................................................

11.1 EDS ﬁle, object directory ..............................................................................................

12 Bibliography .......................................................................................................................

13 A ppendix Glossary .............................................................................................................

Index .......................................................................................................................................... 69

Page 7

[Chapter 1]

User Manual CANopen/EtherCAT

1 General Introduction

1.1 Measures for your safety

The ServoOne family drive devices are quick and safe to handle. For your own safety and for the safe functioning of your device, please be sure to obser ve the following points:

Read the Operation Manual ﬁrst

Follow the safet y instructions•

Electric drive s are dangerous:

Electrical voltages > 230 V/460 V: Dangerously high voltages may still be present 10 minutes after the power is cut. So alway s make sure the system is no longer live. Rotating parts Hot surfaces

•

Your qualiﬁcation:

In order to prevent personal injury and damage to property, only personnel with electrical engineering qualiﬁcations may work on the device. Knowledge of national accident prevention regulations (e. g. VBG4 in Germany) Knowledge of layout and interconnection with the CAN bus ﬁeld bus

•

During installation o bserve the following instructions:

Always comply with the connection conditions and technical sp eciﬁcations. Electrical ins tallation standards, e.g. for cable cross-s ection, shiel

ding, etc. Do not touch electronic components and cont acts (elec trostatic discharge may destroy components).

•

1.2 Introduction to CANopen

CANopen is an interconnection concept based on the CAN (Controller Area Network) serial bus system. CAN has many speciﬁc advantages, in particular multi-master capability, real-time capability, resistant response to electromagnetic interference and the high level of availability and low cost of controller chips. These advantages have resulted in CAN being introduced into widespread use in automation too.

Simpliﬁed cross-manufacturer communication

The integration of any number of devices in a manufacturer-speciﬁc network involves substantial expense. CANopen was developed to solve this problem. In CANopen the use of CAN identiﬁers (message addresses), the time response on the bus, the network management (e. g. system start and user monitoring) and coding of the data contents is speciﬁed in a uniform way. CANopen makes it possible for devices from different manufacturers to communicate in a network at minimal cost. CANopen uses a subset of the communication services offered by CAL to deﬁne an open interface. The selected CAL services are summarised in a kind of “user guide“. This guide is called the CANopen Communication Proﬁle.

CANopen functionality of ServoOne

The CANopen Communication Proﬁle is documented in CiA DS-301 and regulates “how“ communication is executed. It distinguishes between process data objects (PDOs) and service data objec ts (SDOs). The Communication Proﬁle additionally deﬁnes a simpliﬁed network management system.

Based on the communication services of DS-301 (Rev. 4.01), the device proﬁle for vari

able-speed drives DSP-402 (Rev2.0) was compiled. It describes the operation modes and device parameters supported.

The following sections will provide you with an overview of the CANopen functionality integrated in ServoOne. There then follows the information necessary for commissioning.

Page 8

User Manual CANopen/EtherCAT

1.3 Introduction to EtherCAT

As far as real-time Ethernet systems are concerned, EtherCAT has become well established in the area of automation. The decisive factor here is not only the IEEE802.3/ 100BaseTX Ethernet physics known in the home of ﬁce area, but also the excellent value for money with regard to implementation in the master and slave modules.

Interconnection can be optionally executed in a star, ring or line structure using standard patch or crossover cables and is therefore easily adapted to the machine infrastructure.

To reduce the amount of training required, familiar communication and device proﬁles were used as of the application layer. In this way, users familiar with CANopen proﬁles such as CiA DS301 or DSP402 can change over to this new ﬁeld bus technology with minimal training.

In ServoOne we have combined all our past experiences in the CANopen area with this new ﬁeld bus technology and achieved maximum compatibility and functionality.

1.4 System requirements

It is assumed you have a standard CANopen setup program and a CANopen interface driver.

For the precise protocol deﬁnitions refer to the CAL speciﬁcation.

With the aid of these objects it is possible to conﬁgure the actual CANopen communication very ﬂexibly and adapt it to the speciﬁc needs of the user.

1.5 Further documentation

Operation Manual, for commissioning of the drive unit

Application Manual, for additional parameter setting to adapt to the application. The Application Manual can be downloaded as a PDF ﬁle from our website at http://ww w.lust-tec.de. Follow the Service link.

CiA DS-301 (Rev. 4.0): Application Layer and Communication Proﬁle

CiA DSP-402 (Rev. 2.0): Device Proﬁle Drives and Motion Control

EtherCAT Communication Speciﬁcation Version 1.0 2004

EtherCAT Indicator Speciﬁcation Proposal V0.91 2005

IEC61158-2-12 to IEC61158-6-12

•

Page 9

User Manual CANopen/EtherCAT

[Chapter 2]

2 Mounting and Connection

of CANopen

Attention: Do NOT insert or remove the CANopenconnector during opera-

tion.

2.1 Setting the address

Step Action Note

Find out which address is assigned to the module you are inst alling.

Ask your projec t engineer.

Select the mo de of addressing:

by bus address parameter by DIP switch (S4) by bus address parameter and DIP switch (S4)

•

See below

Address setting ﬁnished; for further procedure see Installation.

Three possible methods of address assignment

Only using bus address parameter 2005- COM_CAN_Adr: You will ﬁnd parameter 2005-COM_CAN_ Adr (factory setting 1) in the “ﬁeld bus“ subject area under CANopen.

Only using DIP switch S4

Combination of bus address parameter and DIP switch S4 CAN address = hardware address (S4) + Parameter 2005-COM_CAN_Adr This option is advantageous, for example, if you intend always to use the same parameter set with up to 15 drives, but the lowest address is 30. Parameter 2005-COM_CAN_ Adr is then set to 30. The device address is then deﬁned using the coding switch, which ranges from 0-15.

T y p e

In :

O u t :

5 6 3 3

L a h

n a u

w w . l u

s t

- t e

c . d e

M a

e in

G e r

m a n

IS T

E D

I n

d . C o

n t. E q

1 9 B

SN.

S O A

8 4 .

0 0 6

. 0 0

0 0 .

0 0 0 0

. 0

REL

ISDS

H IS D

06 IS D

05 IS D

04 ISD03 IS D

02 IS D

01 ISD00

+ 24

V D GN

P O

OSD0

ISA1

ISA0

4 V

DGND

H T

I N

n s a t

o r e

n e

n t

z e i t

3 m

i n

e b s a

n l

e i t u

n g

e a

c h t

e n

C a

t o r d

i s c

h a

r g e

i m e

3 m

i n

P a

e n t i

o n

t o

th e

t i o n

a n u

a l

1 0

L 1

L 2

L 3

ϑ-

ϑ+

ϑ-

ϑ+

12 3 45 67 8

3 3

TUNG

NING

ens

tore

nen

lad

eit

in.

etriebsa

nle

itu

bea

hten

cit

r disc

harg

ope

1 2 3 4 5 6 7 8

Figure Position of C AN connection on ServoOne

Page 10

User Manual CANopen/EtherCAT

Address set ting using DIP switch

An address between 0 and 127 can be decimally selected using DIP switch S4 on the position controller.

The DIP switch is assigned as follows: Positions 1-7 are reserved for the address setting, position 8 for the activation/deactivation of the 120 Ohm bus termination in the device.

Function/assignment:

Dip switch 1 - ð signiﬁcance 20 = 1 Dip switch 2 - ð signiﬁcance 21 = 2 Dip switch 3 -

ð signiﬁcance 22 = 4 ... Dip switch 7 - ð signiﬁcance 26 = 64

Dip switch 8 = Bus termination ON/OFF

1 2 3 4 5 6 7 8

Figure DIP switch

Example of use of the DIP switches:

Setting address “3“ using the Dip switch:

- ð Set switch 1 and switch 2 to ON

- ð 20 + 21 = 3

- ð Resultant device address = 3

- ð (If the software address = 0 is set)

IMPORTANT: Switch 8 = Bus termination!!!

Note: Changes to the CAN address are applied on a

- Reset node command

- Restart (device power-up).

Note: The active bus address can be found in the boot-up message.

2.2 Meanings of LEDs

The CAN option of ServoOne has two diagnosis LEDs (H14, H15).

TUNG

NIN

den

tore

nent-

lad

ezeit

in.

etriebsanleitu

bea

hten!

cit

or disc

harge

tim

in.

ention to

ope

tion

anual!

1 2 3 4 5 6 7 8

Figure Device with C ANopen option

Page 11

User Manual CANopen/EtherCAT

[Chapter 2]

The LEDs have the following function:

LED Function Meaning

H14 (yellow LED)

CANopen network state

The LED displays the current network st ate.

NMT STOPPED

ð ﬂashing with 800 ms cycle

NMT PRE- OPERATIONAL

ð ﬂashing with 1600 ms cycle

NMT OPER ATIONAL

ð permanently lit.

•

H15 (green LED)

Voltage supply CAN option

Permanently lit, if the 24V supply of the option from CAN bus applies.

Table Meanings of LEDs

2.3 Installation

Step Action Note

Make sure the hardware enable is wire d on ServoOne ( X4).

see Operation Manual

Wire the CAN connection using connec tor X32

Connection of CAN signal cables Connection of interface power supply Activation of the internal bus terminating resistor on the ﬁnal drive controller

•

see Speciﬁcation of CAN bus connection table and Assign ment of connection X19 table

Switch on the drive device.

Electrical ins tallation is ﬁnished; for how to pro ceed further, refer to sec tion 4 “Commissioning and conﬁguration“.

The CANopen interface is integrated in ServoOne. The connection is made via connector X32. The interface is isolated from the drive controller electronics. The supply to the isolated secondary side is provided by the customer via connector X32.

Page 12

User Manual CANopen/EtherCAT

y p e :

I n

u t :

3 5 6 3 3 L a h

n a u

w w w . l u s t

- t

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1 9 B B

S N

. :

S O A 8 4 .

0 0 6 . 0 0 0 0 . 0

0 0 0 . 0

RE L RE L ISDS

ISD0

0 +2 4

V DG N

RS H RS H EN P O OSD 0 2 OSD 0 1 OSD 0 0 ISA1

- ISA1 + ISA0

- ISA0 + +2 4 V DG N D

U N G

I N G

K o

r en e n t

3 m in .

l e it u n g

a c h t e n !

C a p

c h a r g e

3 m in .

P a y

t o th e

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a n u a l!

1 0

1 1

L 1

L 2

ϑ-

ϑ+

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1234 567 8

1 9

L-

L+

24 VDC

CA N - B u s

1112 1314

1516 1718 1920

12 3 45 6 78 9 10

1112 131415 16 1718 1920

12 3 4

56 7 89 10

SPS/PLC

y p e :

n :

u t :

3 5 6 3 3 L

a h n a u

w w w . l u s

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1 9 B B

S N .

O A 8 4 . 0

0 6 . 0 0 0 0

. 0 0 0 0 . 0

RE L RE L ISDSH ISD 0

6 ISD 0

5 ISD 0

4 ISD 0

3 ISD 0

2 ISD 0

1 ISD 0

0 +2 4

V DG N

RSH

EN P O OSD0

OSD0

0 ISA1- ISA1

+ ISA0- ISA0

+ +2 4

V DG N

C H

T U N G

A R

N I N G

K o

n d e n s at

o r e n e n

a d e z e it

> 3 m i n

e t r ie b s

a n l e i t u n

e a c h t e n

C a p

a c it o r

d is c h a r g

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> 3 m in

P a y

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o p

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m a n u a

n e

1 0

L 1

ϑ-

ϑ+

ϑ-

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1234 567 8

1 9

Figure System connection

Connection Spring-type terminal

Wave terminating resistance

- Bus termination -

120 W (internal) Activation of the bus termination in the device via switch 8 in the CAN option

Max. Input frequency 1 MHz

Ext. voltage supply

+24 V +25 %, 50 mA (isolated from drive controller)

Voltage ripple Max. 3 Vss

Current consumption Max. 50 mA per user

Cable type 4-wire, surge impedance 120 W

Table Speciﬁcation of CAN bus connection

Terminal X32 PIN PIN Function Description

10 5 CAN _+24V external 24V supply

9 4 CAN _H CAN High

8 3 CAN _SHLD CAN Shield (optional)

7 2 CAN _L CAN Low

6 1 CAN _GND CAN Ground (0V)

Table Assignment of connection X19

Note: Both connectors of terminal X32 are connected to each other in the

device.

Note: The external 24 V supply for the option board is essential. It is not sup-

plied by the device.

Page 13

User Manual CANopen/EtherCAT

[Chapter 2]

2.3 Transmission speeds

The CAN bus can be operated at the following Baud rates:

Transmission

speed

Maximum line length across

the complete net work 1)

1000 kBaud 25 m Factory setting

500 KBaud 100 m

250 kBaud 2) 250 m

125 kBaud 2) 500 m

50 kBaud 3)

1000 m

25 kBaud 3)

2500 m

1) Rounded bus length e stimation (wor st case) on basis 5 ns/m propagation d elay and a total effe ctive device internal in- out delay as follows: 1M-800 kb it/s: 210 ns 500 - 250 kbit /s: 300 ns (includes 2 * 40 ns for o ptocouplers) 125 kbit/s: 450 ns (incl udes 2 * 100 ns for optoco uplers) 50 -10 kbit/s: Effec tive delay = delay recessive to do minant plus dominant to reces sive divided by t wo.

2) For bus length greate r than about 200 m th e use of optocoupl ers is recommen ded. If optocou plers are placed betw een CAN Controll er and transceive r this affect s the maximum bus length depen ding upon the propagati on delay of the optoc ouplers i.e. - 4m per 10 ns propagati on delay of employe d optocoup

ler type.

3) For bus length greate r than about 1 km bri dge or repeater d evices may be nee ded.

Table Transmission speeds

When selecting the transmission rate it should, however, be ensured that the line length does not exceed the permissible line length for the transmission rate in question.

2.4 Display of the operating states via 7-segment display

D1 D2 Meaning Parameter

System states

8. 8.

Device in reset state

Auto-initialis ation on device startup (Start)

S.*)1.

1) Not ready to switch on (no DC-link voltage) (NotReadyToSwitchOn)

S.*)2.

1) Switch-on inhibit (DC-link is OK, power stage not ready)

(SwitchOnDisabled)

Ready to switch on (p ower stage is ready) (ReadyToSwitchOn)

On (power is connec ted to the device)2) (SwitchedOn)

Drive ready (current applied to drive and drive ready for reference input) 2)

(OperationEnable)

Quick stop 2) (QuickStopActive)

Fault response active 2) (FaultReactionActive)

E R

Fault (see below) (Fault)

Displayed in the event of a fault

E R.

Display for errors or non-acknowledgeable errors

X X

Error number (decimal)

Y Y

Error localization (decimal)

1) S. ﬂashes, if the func tion STO (Safe Torque Off) is ac tive, the display is n ot lit if the funct ion is not active. *) It does not involve a “sa fe display“ under the t erms of EN 61800-5 -2.

2) The point ﬂashes if th e power stage is a ctive.

Page 14

User Manual CANopen/EtherCAT

Example of the ﬂash sequence:

ER > 02 > 05 * ER > 02 > 05 ...

Error: ER = “Fault“

Error name: 02 = “Error in the parameter list“

Description of error: 05 = “Function for checking current parameter list“

2.5 Hardware enable

ServoOne has a control input for ENPO hardware enable on the control terminal. This input must be conﬁgured to operate the power stage at 24 V.

The device also provides the function “STO (Safe Torque Off)“ (see Operation Manual or Application Manual ServoOne), category 3, control terminal ISDSH. For these devices the relevant function logic must be implemented by way of the higher-order controller as per the Application Manual.

Note: Without conﬁguration of the inputs ENPO and ISDSH the device stays

in state 1 = “Not Ready to Switch On“ or 2 = “Switch On Disabled“. Only after correct conﬁguration can the state be exited by a “Shutdown“ command via bus.

�

Page 15

User Manual CANopen/EtherCAT

[Chapter 3]

3 Mounting and Connection

of EtherCAT

3.1 Installation and cabling

Setup of the EtherCAT network

In an EtherCAT network there is always one EtherCAT master (e. g. an industrial PC) and a variable number of slaves (e. g. servo controller, bus terminals etc.). Each Ether

CAT slave has two Ethernet ports. Slave to slave cabling is thus possible. All EtherCAT users are generally put together in a line with the master at the beginning of the circuit. On the last slave in the line the second Ethernet port remains open.

REL

ISDSH ISD06 ISD05

ISD04

ISD03 ISD02

ISD01 ISD00

+24 V

DGND

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24 V

DGND

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min. Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min. Pay attention to the operation manual!

one

Servo

12 34 56 78

REL

ISDSH ISD06 ISD05

ISD04

ISD03 ISD02

ISD01 ISD00

+24 V

DGND

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24 V

DGND

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min. Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

one

Servo

12 34 56 78

REL

ISDSH ISD06 ISD05

ISD04

ISD03 ISD02

ISD01 ISD00

+24 V

DGND

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24 V

DGND

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min. Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min. Pay attention to the operation manual!

one

Servo

12 34 56 78

IPC

Figure EtherCAT connection

IN and OUT socket (R J-45 input/output)

Each EtherCAT slave has two RJ- 45 sockets. The upper por t (X15) is the (IN) input and the lower port (X16) is the (OUT) output of the slave. The incoming cable (from the direction of the master) is connected using the IN port, the outgoing cable is connected to the next slave using the OUT port. The OUT port remains blank for the last slave in the series. In the case of a slave an open output leads internally to a logical short circuit of the transmit (Tx) and receive (Rx) cables. For this reason every EtherCAT network can be regarded as a logical ring in terms of its topology.

Figure EtherCAT option

T y

p e

In :

O u

t :

3 5 6 3 3

L a h n a

w w . lu s

- t e c .

d e

a d e

G e r m a

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IS T E

d . Co n t

. E q .

1 9

B B

SN.

S O A

8 4 .0

0 6 .0

0 0 0

.0 0

0 0 .0

REL

ISDSH ISD0

ISD0

0 + 24

V D GN

O OSD02

OSD01

D00 ISA1

ISA1

+ ISA0

ISA0

+ +2

V DGND

A C

T U

W A

N IN

o n d e n

s a

t o r e n

l a d e

z e i

t > 3

B e t r i

e b s

a n l e

b e a c

C a

p a c i t

o r

d i s c h

t i

m e

> 3

P a

y a t t

e n

t i o n t

p e r a

t i o

n m a

1 1

L 2

L 3

ϑ-

ϑ+

ϑ-

ϑ+

1 6

TUN

NING

dens

rene

ladeze

it > 3

min.

riebsanleit

beac

Capa

citor discha

time > 3

atte

ntion

to th

oper

manual

upper RJ- 45 port = input lower RJ- 45 port = output

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User Manual CANopen/EtherCAT

IMPORTANT: Errors in cabling (incorrect connection of input and output)

can lead to faulty addressing by the master.

Connecting cable

Ethernet patch cables or crossover cables are suitable connection cables as per the CAT5e speciﬁcation. Cables lengths of 0.3 to a max. 100 m are permissible.

3.2 Pin assignment of the RJ-45 socket

The RJ- 45 socket is assigned as follows:

PIN Colour Cable wire pairs Function

1 white/orange 2 TxData +

2 orange 2 TxData -

3 white/green 3 RecvData +

4 blue 1 Unused

5 white/ blue 1 Unused

6 green 3 RecvData -

7 white/brown 4 Unused

8 brown 4 Unused

Table Pin assignment

1 2 3 4 5 6

7 8

Pair #

Figure RJ-45 socket

NOTE: Ethernet cables are available in the IT specialist trade in various

lengths. Use CAT5e cable or better.

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User Manual CANopen/EtherCAT

[Chapter 3]

3.3 Meanings of LEDs

There are 2 LEDs on each RJ -45 socket.

ACHTUN

ARNING

dens

tor

nent

ladeze

t > 3 mi

Betr

iebsan

leitung

bea

hten!

Capa

citor

disch

arge

time >

min

y at

ent

o th

oper

n ma

nual

Figure Device with EtherCAT option

They have the following meanings:

LED Function Meaning

Upper

LED

Link LED

off = no Link ð No connection w ith another user

on = Link ð Connection with another user exist s. Currently no data exchange.

toggle = activity ð Flashing of the LED signals that data is being exchanged.

Lower LED Speed LED

off = 10 mbit/s ð There is a connection with a transmission rate of 10 mbit /s.

on = 100 mbit ð There is a connection with a transmission rate of 100 mbit/s.

Table LED meanings

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User Manual CANopen/EtherCAT

3.4 Display of operating states via 7-segment display

D1 D2 Meaning Parameter

System states

8. 8.

Device in reset state

Auto-initialization on device startup (Start)

S.*)1.

1) Not ready to switch on (no DC-link voltage) (NotReadyToSwitchOn)

S.*)2.

1) Switch-on inhibit (DC-link is OK, power stage not ready)

(SwitchOnDisabled)

Ready to switch on (p ower stage is ready) (ReadyToSwitchOn)

On (power is connec ted to the device)2) (SwitchedOn)

Drive ready (current applied to drive and ready for reference input) 2)

(OperationEnable)

Emergency stop 2) (QuickStopActive)

Fault response active 2) (FaultReactionActive)

E R

Fault (see below) (Fault)

Appears in the event of error

E R.

Display for errors or non-acknowledgeable errors

X X

Error number (decimal)

Y Y

Error localization (decimal)

1) S. ﬂashes, if the func tion STO (Safe Torque O ff) is ac tive, the display is no t lit if the functi on is not activ e.

*) It does not involve a “safe d isplay“ under the t erms of EN 61800-5 -2.

2) The point ﬂashes i f the power sta ge is active.

Example of the ﬂash sequence:

ER > 02 > 05 * ER > 02 > 05 ...

Error: ER = “Fault“

Error name: 02 = “Error in the parameter list“

Description of error: 05 = “Function for checking current parameter list“

3.5 Hardware enable

ServoOne has a control input for ENPO hardware enable on the control terminal. This input must be conﬁgured to operate the power stage at 24 V.

Note: Without conﬁguration of the inputs ENPO and ISDSH the device stays

in state 1 = “Not Ready to Switch On“ or 2 = “Switch On Disabled“. Only after correct conﬁguration can the state be exited by a “Shutdown“ command via bus.

➢

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User Manual CANopen/EtherCAT

[Chapter 4]

4 Commissioning and Conﬁgura-

tion of CANopen

4.1 Commissioning

The DriveManager user interface is used for general commissioning of the drive system. The DriveManager includes tools to identif y motor data, provide access to a motor database for servo motors, and for general device conﬁguration.

Initial commissioning is a separate subject with regard to operation via the user interface, and is detailed in the device‘s Application Manual.

4.2 Commissioning sequence

Preconditions:

The drive device is wired as speciﬁed in the Operation Manual and ﬁrst commissioning is complete. (To test CAN communication, it is sufﬁcient to connect the voltage supply of the CAN option and the control voltage).

If current is to be applied to the motor, the hardware enable (ENPO) and the “STO (Safe Torque Off)“ must also be correctly conﬁgured.

Note: For more detailed information on optimisation of the software func-

tions and control circuits refer to the device application manual.

•

Step Action Note

Check the wiring. Please note that hardware enable ENPO (X4) is not conﬁgured.

Switch on the mains power and the 24 V supply to the CAN interface.

Conﬁgure the drive unit using the Application M anual.

(Inputs/outputs, soft ware functions, etc.)

Test the control quality and optimise the controller settings as necessar y using the Operation Manual.

Set the parameters for the CAN communication. The Baud rate and the device address are required. The address can be selec ted by software and hard ware. The mapping must also be completed and the active operation mode selected as per DS301/402.

Software and hard ware address are added...

Test the drive on the higher-ord er controller

- see sectio n 3.4.

Finally, save the setting.

Save device setting ð Non volatile in device

Note: For more information on the subject of “Units and scalings“ refer to

section 5.4.

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User Manual CANopen/EtherCAT

4.2.1 Setting the software address and Baud rate

The software address and Baud rate can be set using the following device parameters via DriveManager:

Parameter Func tion Description

2005-COM _CAN_ Adr CANopen address

Address assignment via parameter For more information on s etting the address, see se ction 2.1

2006- COM_CAN _Baudrate Baud rate Permissible Baud rates - see section 2.3

Table Parameters on the Bus Syste ms function screen

Note: ServoOne has a default Baud rate of 1 mbit.

4.3 Commissioning instructions

For a variety of reasons, it may be that a drive device does not respond to a telegram:

There is no reply if the telegram frame (Baud rate, data length) on the master computer is not correct.

There is no reply if a drive device is addressed with the wrong bus address.

There is no reply if the serial connection between the master computer and the drive device is not correctly set up.

There is no reply if the 24 V supply to the CAN connection is missing or the cabling is faulty.

There is no valid reply if several devices with the same device address are connected to the bus.

There is no reply if the device has certain network states.

4.4 Testing the higher-order controller

To activate changed settings the device must be switched off and back on again. When the power is connected, after an initialisation period of a few seconds the device must transmit a one-off boot-up message (ID 700h + node ID = 701h for device address 1). If this happens, the communication is OK.

Note: During transfer of data to the device via SDO telegrams the number

of data bytes transferred should be taken into account. For this the correct length information must be transferred in the control byte. Alternatively, however, an SDO transfer without speciﬁcation of the data length is also possible. The correct operation of the control byte in the SDO telegram should also be observed.

•

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User Manual CANopen/EtherCAT

[Chapter 4]

4.5 Data handling

4.5.1 Saving the settings

All conﬁguration data can be backed up by the DriveManager.

NOTE: Please note, however, that some objects are RAM variables, which

must be correctly operated and initialised by the controller. This includes, for example, object 6060h Modes of Operation.

4.5.2 Restoring factory defaults

There are two possible ways of restoring the factory defaults of the devices:

Via ﬁeld bus Write value 1 to the subindex 3 of object 200BH-PARA _SetCmd. The complete device is then set to factory settings.

Note: Please note that this also effects the settings for the Baud rate/device

address. The changes take effect after a “Reset node“ command or device restart.

Via DriveManager In the DriveManager tree structure, select the relevant ServoOne. A pop-up menu can be opened using the right-hand mouse button and you can select the “Reset Device Setting“ entry.

Note: In both cases it takes around approx. 10 s for the device to signal that

it is ready again. During this time the device performs a self-test and changes all its settings to the factor y setting. However, this setting is only retained if the data is backed up in the device. Data backup is initiated by way of the DriveManager user interface or by writing to object 200BH- PARA_SetCmd Subindex 1 = 1 by way of the bus system. The save operation can also be executed by way of object 1010 hex.

Attention: Data backup takes a few 100 ms. During that time the device must

not be switched off, otherwise the settings will be lost.

•

Object 200BH-PARA _SetCmd Subindex 1 is automatically set to 0 by the device after the save operation. This process can be used for timeout monitoring of the function.

4.6 Commissioning via DriveManager

Procedure for commissioning with the aid of the Application Manual

Initial commissioning based on Operation Manual

A precondition for this is initial commissioning with the aid of the Operation Manual. The User Manual only covers adjustment of the software func tions.

Commissioning as per Application Manual

Setting the drive controller parameters using the Application Manual. This includes, for example, the conﬁguration of technology functions .

Commissioning based on CANopen User Manual

Conﬁguration of ﬁeld bus-sp eciﬁc settings (e. g. Baud rate) using this document.

Checking the set application solution

To preserve the safety of personnel and ma chinery, the application solution should only be checked at low speed. Make sure the direction of rotation is correct. In case of emergency the controller power stage can be disable d, and the drive stopped, by rem oving the ENPO signal.

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User Manual CANopen/EtherCAT

Completing commissioning

When you have successfull y completed commissioning, save your set tings (using DriveManager) and store the data set in the device.

4.7 Control functions

Control functions can be optimally adapted to the relevant application. Consequently, several control formats are offered. The appropriate formats can be selected by the master during the setup phase over the bus, or by adjusting the relevant device parameters.

The drive devices‘ state machine has a cycle time of 1 ms.

All control commands and reference values are processed within that cycle time by the drive device.

Note: Control PDOs are processed in a minimum cycle time of 1 ms. If

protocols arrive at the device faster, the telegram that arrived most recently overwrites the previous one. An error message is not generated if telegrams are overwritten as a result of insufﬁcient cycle time.

4.8 Operation mode selection (Modes of operation)

There are different control modes for operation of the devices via CANopen. The active operation mode is always selected via DS402 objec t 6060h (Modes of Operation).

ServoOne suppor ts the operation modes as per the DS402:

Proﬁle Position Mode

Proﬁle Velocity Mode

Homing Mode

Interpolated Position Mode

Cyclic Synchronous Position Mode (EtherCAT only)

Cyclic Synchronous Velocity Mode (EtherCAT only)

Cyclic Synchronous Torque Mode (EtherCAT only)

In the course of initial commissioning the user implements the settings of the drive using motor data, loop control settings, I/O conﬁguration etc.

A relevant control mode is also directly connected with the respective operation mode. By switching modes of operation via CANopen, it is possible to switch directly between position control, speed control and torque control.

The drive is thus in speed control for Proﬁle Velocity Mode and in position control for Proﬁle Position Mode.

–

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User Manual CANopen/EtherCAT

[Chapter 4]

4.8.1 Functionality of operation modes

modes_of_operation (6060h)

modes_of_operation_display (6061h)

Operation

Mode

Function

Profile Position Mode

Profile Velocity Mode

Homing Mode

Figure Functionality of operation mo des Change modes in the diagram

Users can switch between the various operation modes, as long as these are supported by the device.

The status word contains bits, the meaning of which depends on the operation mode. For monitoring, it is necessary for the bits to change their meaning when modes are switched, see also Chapter 6.

Page 24

User Manual CANopen/EtherCAT

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User Manual CANopen/EtherCAT

[Chapter 5]

5 Commissioning and Conﬁgura-

tion of EtherCAT

Commissioning via EtherCAT is possible using the XML ﬁle supplied on your controller. All further commissioning and conﬁguration steps are independent of the controller used. For notes on this refer to the documentation provided by your control manufacturers.

Page 26

User Manual CANopen/EtherCAT

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User Manual CANopen/EtherCAT

[Chapter 6]

6 Setting the Device Parameters

for CANopen

6.1 Implemented DS301 functionality

6.1.1 Communication objects

Boot-up to DS301 V4.01 (Guarding boot-up via identiﬁer 700h)

Four variably mappable TxPDOs (transmission type 1 to 240, 254 and 255dec possible).

Four variably mappable RxPDOs (transmission type 1 to 240, 254 and 255dec possible).

An SDO server - Pay attention to deﬁnition of time conditions (typical processing time in device approx. 5 ms, depending on capacit y utilisation)

One emergency objec t error code to DS402 plus manufacturer-speciﬁc error loca

tion and number, operating hours of the device

One Sync object

NMT state machine to DS301

Node guarding and heartbeat (see below)

Processing cycle: PDO protocols can be processed in a minimum cycle time of 1ms. If protocols arrive faster, previous protocols are overwritten.

SDO protocols and NMT services are processed acyclically. Typical processing times lie between 1 and 5 ms.

Initialisation values of the COB IDs based on Predeﬁned Connection Set

Access to device parameters 2000h - 5FFFh (expedited/non-expedited).

•

6.1.2 Object directory of DS301

For a full overview of the suppor ted CAN objects of ServoOne refer to the EDS ﬁle.

Here you can refer to both the CANopen objects of DS301, DS402 and also the manuf

acturer-speciﬁc objects of the device.

The following list shows an extrac t of the object directories with important DS301 objects. For these objects the transmission types or mapping, for example, are explained below.

Object

No.

Object name

Object

Code

Type Attr.

0x1000 Device_Type VAR Unsigned32 ro

0x1001 Error_Register VAR Unsigned8 ro

0x1003

Pre-Deﬁned_Erro r_Field One subentry

ARRAY Unsigned32 ro

0x1005 COB-ID_ SYNC VAR Unsigned32 rw

0x1006 Communication_Cycle_ Period VAR Unsigned32 rw

0x1007 Synchronous_Window_Length VAR Unsigned32 rw

0x1008 Manufacturer device name String

0x1009 Manufacturer hardware version String

0x100A Manufacturer software ver sion String

0x100C Guard_Time VAR Unsigned16

0x100D Life_Time_Factor VAR Unsigned8

0x1014

COD-ID_ EMCY VAR Unsigned32

0x1017 Producer_Heartb eat_Time VAR Unsigned16 rw

0x1018

Identity_Object suppor t all 4 entries (serial number, etc.)

RECORD Identity (23h) ro

Table Object direc tory

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User Manual CANopen/EtherCAT

Object

No.

Object name

Object

Code

Type Attr.

0x1400 1st_Receive _PDO_ Parameter RECORD PDO CommPar rw

0x1401

2nd_Receive_PDO_ Parameter RECORD PDO CommPar r w

0x1402 3rd_Receive_PDO_ Parameter

RECORD PDO CommPar rw

0x1403 4th_Receive _PDO_ Parameter

RECORD PDO CommPar rw

0x1600

1st_Receive _PDO_ Mapping max 8 object s

RECORD PDO Mapping (21h) rw

0x1601

2nd_Receive_PDO_ Mapping max 8 object s

RECORD PDO Mapping rw

0x1602

3rd_Receive_PDO _Mapping max 8 object s

RECORD PDO Mapping rw

0x1603

4th_Recei ve_PDO _Mapping max 8 object s

RECORD PDO Mapping rw

0x1800 1st_Transmit_PDO_ Parameter RECORD PDO CommPar (20h) rw

0x1801 2nd_Transmit_PDO_ Parameter RECORD P DO CommPar (20h) rw

0x1802 3rd_Transmit_PDO_Parameter RECORD PDO CommPar rw

0x1803 4th_Transmit_PDO_ Parameter

RECORD PDO CommPar rw

0x1A00

1st_Transmit_PDO_ Mapping max 8 object s

RECORD PDO Mapping rw

0x1A01

2nd_Transmit_PDO_ Mapping max 8 object s

RECORD PDO Mapping rw

0x1A02

3rd_Transmit_PDO _Mapping max 8 object s

RECORD PDO Mapping rw

0x1A03

4th_Transmit_PDO _Mapping max 8 object s

RECORD PDO Mapping rw

Table Object direc tory

6.2 Parameter channel (Service Data Objects)

The Service Data Object (SDO) permits write and read access to the object directory. This SDO is implemented according to the CAL speciﬁcation by the Multiplexed Domain CMS object. The protocol is designed for the transfer of data of any length. For SDO transfer, an SDO server is integrated into the device. Communication is by way of two reserved identiﬁers.

Receive SDO: 600 h

Transmit SDO: 580 h

SDO-Client

SDO-Server

Object

directory

Drive

controller

600H + Node-ID Byte 0 1 2 3 4 5 6 7

580H + Node-ID Byte 0 1 2 3 4 5 6 7

Subindex

Index

Control field

Subindex

Index

Control field

Data

Figure Example of SDO data transfer in Expedited Mode

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User Manual CANopen/EtherCAT

[Chapter 6]

The CAL speciﬁcation makes a basic distinction between three protocol services:

Download protocol (Write)

Upload protocol (Read)

Abort protocol (Error)

The upload and download protocols also differentiate between:

Expedited Multiplexed Domain Protocol for access to objects with a data length of up to 4 bytes (shown above) and

Multiplexed Domain Protocol, for access to objects of any length

The entries in the “Control ﬁeld“ area are generated by the CANopen driver. They are only included to fully document the examples cited. The entries are dependent on the transferred data.

The control ﬁeld is described in the DS301 proﬁle.

6.2.1 Data types

Note: Via the DriveManager user interface many parameter settings are

displayed in the form of value substitution texts. Example: Parameter 450-MOT_Type = PSM

When writing and reading over the ﬁeld bus the corresponding numerical values for these value substitution texts must be used. These values are displayed in brackets ( ) when the parameter is opened in DriveManager.

Example: Parameter 450-MOT_Type = PSM (1)

•

The drive units support the following parameter data formats:

Data type Value range Function

USIGN8 0...255

UnsignedUSIGN16 0...65535

USIGN32 0...4294967295

INT8 -128...127

Integer, signedINT16 -32768...32767

INT32 -2147483648...2147483647

FLOAT32

see IEEE

32-bit ﬂoating point number in I EEE format

STRING

ASCII character s, max. 100 bytes in bus mode incl. zero terminator

Table Data types

6.2.2 Representation of data types in the control protocol

All data types are represented appropriate to their preceding sign as 32-bit variables in Intel format.

Data bytes of the

control protocol

3 4 5 6

USIGN8/ INT8*

USIGN16/INT16*

USIGN32/INT32

Low Word

Low Byte

Low Word

High Byte

High Word

Low Byte

High Word

High Byte

FLOAT32

IEEE format

STRING See e xamples,

* Filled out appropriate to preceding sign (00H or FFH)

Table Assignment of data types in the data ﬁeld

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User Manual CANopen/EtherCAT

6.2.3 Access to device parameters

Where can I ﬁnd the device parameters?

All device parameters are addressed by way of a parameter number.

In addition to the standard objects, the CANopen proﬁle provides an area for manufacturer-speciﬁc entries. This area lies between 2000 h and 5FFF h. If you then want to read or write parameter 455-MOT_FNOM (rated frequency of the motor) of the device, the object index is formed from 200 0 h + parameter number (Hex).

In our example: Index = 2000 h + 1C7 H

Note: Proﬁle-speciﬁc parameters are visible in DriveManager, but only in area

1000H... (DS301 objects)/6000H... (DS402 objects) writeable/readable. This means parameters stored both as device parameters (area 2xxxH) and also as proﬁle parameters (DS301/DS402), can only be read and written to via their object number (DS301/DS402 proﬁle).

Example:

The object 1000h Device Type exists both in the DS301 proﬁle and also as a device parameter with parameter number 2011. Simultaneous two-way access would therefore be possible via CANopen or EtherCAT. In order to clearly conﬁgure the access, the read/write access for this object is only possible via proﬁle -speciﬁc object number 1000h (as per DS301).

6.3 Examples of SDO handling

By way of the Receive SDO (COB IDs: 600 h + Node-ID) the CANopen objects and the parameters of the drive controller can be accessed.

In a data transfer protocol a maximum of 4 data bytes can be transferred in Expedited mode. This means all device parameters, apart from string parameters, can be written to with a single transfer protocol.

String parameters can be written to using the Multiplexed Domain protocol.

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User Manual CANopen/EtherCAT

[Chapter 6]

Example of read access to string parameters (parameter 3 DV_DeviceAliasName)

Note:

- All numeric values are hexadecimal

- The string “X-axis“ is to be transferred

- This text is entered in ServoOne parameter 3 DV_DeviceAliasName

TIME ID Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments

18.992445 Tx 601 8 40 03 20 00 0 0 0 0 0 0 0 0 Read o bject 2003h (= parameter 3)

18.992972 Rx 581 8 41 03 20 00 64 00 00 00 Reply : 64h --> 100by tes to be transferred

35.514341

Tx 601 8 60 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 1

35.514594

Rx 581 8 00 58 2d 41 78 69 73 00 Reply S egment 1 - contains “X-axis“

36.269620

Tx 601 8 70 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 2

36.270175

Rx 581 8 10 00 00 00 00 00 00 00 Reply S egment 2

36.982385

Tx 601 8 60 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 3

36.982664

Rx 581 8 00 00 00 00 00 00 00 00 Reply S egment 3

37.686447

Tx 601 8 70 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 4

37.686706

Rx 581 8 10 00 00 00 00 00 00 00 Reply S egment 4

38.421344

Tx 601 8 60 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 5

38.421604

Rx 581 8 00 00 00 00 00 00 00 00 Reply S egment 5

39.053526

Tx 601 8 70 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 6

39.053787

Rx 581 8 10 00 00 00 00 00 00 00 Reply S egment 6

39.749081

Tx 601 8 60 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 7

39.749347

Rx 581 8 00 00 00 00 00 00 00 00 Reply S egment 7

40.428981

Tx 601 8 70 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 8

40.429249

Rx 581 8 10 00 00 00 00 00 00 00 Reply S egment 8

41.085839

Tx 601 8 60 00 00 0 0 0 0 0 0 0 0 0 0 Requirement Segment 9

41.086198

Rx 581 8 00 00 00 00 00 00 00 00 Reply S egment 9

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User Manual CANopen/EtherCAT

TIME ID Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments

41.740755 Tx 601 8 70 00 00 00 00 00 00 00 Requirement Segment 10

41.741148

Rx 581 8 10 0 0 0 0 0 0 0 0 00 00 00 Reply Segment 10

42.514034

Tx 601 8 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Requirement Segment 11

42.514294

Rx 581 8 00 0 0 0 0 0 0 0 0 00 00 00 Reply Segment 11

43.172512

Tx 601 8 70 00 00 0 0 0 0 0 0 0 0 0 0 Re quirement Segment 12

43.172787

Rx 581 8 10 0 0 0 0 0 0 0 0 00 00 00 Reply Segment 12

43.908571

Tx 601 8 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Requirement Segment 13

43.908831

Rx 581 8 00 0 0 0 0 0 0 0 0 00 00 00 Reply Segment 13

44.668 466

Tx 601 8 70 00 00 0 0 0 0 0 0 0 0 0 0 Re quirement Segment 14

44.668740

Rx 581 8 10 0 0 0 0 0 0 0 0 00 00 00 Reply Segment 14

53.8840 44

Tx 601 8 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Requirement Segment 15

53.884414

Rx 581 8 0b 0 0 0 0 0 0 0 0 00 00 00 Reply Segment 15 - No further segments

Translation of transferred values (ASCII):

The string “X-Axis“ at 6 bytes is so short that it can be completely transferred with the ﬁrst segment.

The following segments (of 100 bytes of parameter) therefore only include zeroes.

Transmitted bytes (HEX) 58 2d 41 78 69 73 Interpretation (ASCII) X - A x i s

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User Manual CANopen/EtherCAT

[Chapter 6]

6.3.1 Parameter set download

The following data can be transferred to Ser voOne via the CANopen interface:

Parameter set

A parameter data set can be downloaded by an SDO transfer or by way of the DriveManager user interface version 5 or higher. All manufacturer-speciﬁc device parameters are additionally accessible via objects 2000h- 5FFFh.

If a uniﬁed valid data set - that is, not just individual parameters - needs to be transferred from the CAN master to the device, the following points must be considered:

On every transfer of an individual parameter the drive controller checks whether the parameter matches its existing data set. The check of the new parameter value includes existing parameter values in some cases. This means it is possible that the drive controller may reject a parameter, even though it originates from a valid parameter data set, because the parameter is not yet complete in the device.

Since a simple error reset may not eliminate the cause of the error, it may be necessary to reset to the factory defaults.

Remedy:

The parameter data set is transferred to the drive controller without a logic check. At the end of the download, the logic check is reactivated and the drive controller checks the transferred parameters for plausibility. During this check parameter settings that do not functionally match are reported as errors.

Download procedure of a completed parameter data set:

•

Reporting a download without logic check To deactivate the logic check and to report the download of a data set, parameter 11 subindex 4 value 1 is written.

Downloading the parameter data to the drive controller In this step the individual parameters of the data set are sequentially transferred to the drive. Despite the deactivated logic check basic checking mechanisms are still active. These monitor, for example, the maintenance of parameter limits and become active if these are infringed. Thus if a value range limit is infringed by the download of a parameter, then this SDO protocol is directly rejected (Abort message).

Completing download and activating plausibility check Once all parameter data has been transferred to the drive controller, parameter 11 subindex 4 is reset to value 0. Then a logic check of the device parameters is carried out. In cases of error the user receives an Emergency message.

Note: The download of a complete parameter data set is only possible when

the system is at a standstill. Make sure the drive controller is not switched on for the duration of the download.

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User Manual CANopen/EtherCAT

6.4 PDO transmission types

In connection with the PDO transfer, various transmission types are deﬁned in CANopen proﬁle DS301. The transmission type and event control can be set separately for all sup

ported RXPDOs and TXPDOs. The drive controller suppor ts the following transmission types:

Cyclic Synchronous Types No. 1-F0 h

Meaning: The difference between this and the acyclic synchronous transmission type is that RXPDOs are only evaluated after receipt of 1-F0 h Sync objects and TxPDOs are only transmitted every 1-F0 h Sync objects.

Asynchronous Types No. FE h and FF h

Meaning: RxPDOs are evaluated immediately on receipt; TxPDOs are transmitted by a device-speciﬁc event. The Sync object is irrelevant to this mode of transfer. Special feature type FF h: In this case the event is deﬁned in the associated device proﬁle.

Note: The desired transmission types are set by way of the corresponding

CANopen objec ts 1400h for RxPDOs and 1800h for TxPDOs.

6.5 Event-controlled TxPDO transmission

Note: Event control is only active when the relevant “transmission type“

is set to asynchronous (FEh or FFh).

Functions of event control:

Any bit changes within the TxPDO can serve as an event for the sending of a TxPDO. Thus only the mapped contents of this TXPDO are relevant as an event for the sending of a TxPDO. Accordingly it is not possible to send a TxPDO dependent on the changes to the content of another TxPDO.

Example:

The status word 6041h is mapped in TxPDO1. TxPDO2 contains the current actual posi

tion. A change to the status word in TxPDO1 can therefore not be used as an event for the sending of the TxPDO2. If this is required, however, the status word 6041h can also be mapped in TxPDO2.

Selecting the events:

In ServoOne ever y bit (or a change to it) in a TxPDO can be deﬁned as an event. By default all bits (max. 64bit = 8byte) are monitored for changes and are evaluated as events. Individual bits can be displayed via screens, however, and therefore are no longer used for event generation.

There are screens deﬁned in ﬁeld parameter 2007 enabling the display of individual bits of TxPDOs. Subindexes are respectively relevant for a TxPDO. Each subindex is responsible for 32 bits of the TxPDO. The structure is thus as follows:

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Parameter 2007 - COM _301_EvMask “Event mask for asynchronous transmit pdos“

Sub

Name Value Description Type

0 EvMsk_TxPdo1L FFFFFFFFh Eve nt mask for txpdo 1 by te 0-3 uint32

1 EvMsk_TxPdo1H FFFFFFFFh Event mask for tx pdo 1 byte 4- 8 uint32

2 EvMsk_TxPdo2L FFFFFFFFh Eve nt mask for txpdo 2 by te 0-3 uint32

3 EvMsk_TxPdo2H FFFFFFFFh Event mask for tx pdo 2 byte 4- 8 uint32

4 EvMsk_TxPdo3L FFFFFFFFh Eve nt mask for txpdo 3 by te 0-3 uint32

5 EvMsk_TxPdo3H FFFFFFFFh Event mask for tx pdo 3 byte 4- 8 uint32

6 EvMsk_TxPdo4L FFFFFFFFh Eve nt mask for txpdo 4 by te 0-3 uint32

7 EvMsk_TxPdo4H FFFFFFFFh Event mask for tx pdo 4 byte 4- 8 uint32

Table Field parameter 2007

Example of application of screens:

To only allow the lower 16 bits of the TxPDO1 as an event, the subindexes of parameter 2007 are described as follows:

Subindex 0 (Event screen TxPDO1 bytes 0 – 3) = 0000FFFFh

Subindex 1 (Event screen TxPDO1 bytes 4 – 7) = 0000 0000h

Note: The cyclic sending of the Tx PDOs is activated by setting a cycle time

in ms in the objects 0x1800 (TxPDO1) 0x1801(TxPDO2), 0x1802 (TxPDO3) and 0x1803 (TxPDO4) subindex 5 (event timer).

–

6.6 PDO mapping

6.6.1 Mapping - general

Variable mapping of parameters is possible on ServoOne for all 4 Rx and TxPDOs. Mapping works as deﬁned in the CANopen communication proﬁle DS301.

Most device-speciﬁc parameters form part of the manufacturer-speciﬁc area (2001h5FFFh) and can also be mapped in the PDOs. For these parameters (objects), refer to the EDS ﬁle of the drive controller.

6.6.2 Mapping notes

In contrast to earlier devices ServoOne no longer has predeﬁned mapping or mapping selectors. This means that prior to communication via PDO the mapping must be writ ten to the drive controller by the controller. Transfer of the data set is also possible.

By default all mapping settings are set to 0, i. e. the PDOs do not contain any mapping.

The communication settings (mapping/transmission types etc.) can be saved in the device however, and are subject to data set handling. This means they must be rewritten each time and can be transferred with the data set.

The following objects are relevant for mapping:

RxPDOs: 1600h RxPDO1 mapping 1601h RxPDO2 mapping 1602h RxPDO3 mapping 1603h RxPDO4 mapping

TxPDOs: 1A00h TxPDO1 mapping 1A01h TxPDO2 mapping 1A02h TxPDO3 mapping 1A03h TxPDO4 mapping

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Notes: A maximum of 8 objects can be mapped per PDO.

In a PDO a maximum of 8 bytes can be mapped.

6.7 Heartbeat function

The Heartbeat function to DS301 (V4.01) is supported. Ser voOne can only be used as heartbeat producer, i.e. it sends heartbeat telegrams to the controller. To this end object 1017H Producer Heartbeat Time is implemented.

A time value (in ms) is entered as a value for this object. The time value represents the cyclic interval during which the drive controller sends its heartbeat telegrams.

Heartbeat protocol

The Heartbeat protocol deﬁnes an ERROR CONTROL SERVICE without using REMOTE FRAMES. A HEARTBEAT PRODUCER sends a cyclic HEARTBEAT MESSAGE. One or more HEARTBEAT CONSUMERS receive this message. The relationship bet ween the PRODUCER and the CONSUMER can be conﬁgured by way of the objects described below. The HEARTBEAT CONSUMER monitors receipt of the HEARTBEAT PROTOCOL taking account of the preset HEARTBEAT CONSUMER TIME.

If the HEARTBEAT PROTOCOL is not received within the HEARTBEAT CONSUMER TIME, a HEARTBEAT event is generated.

The HEARTBEAT PROTOCOL starts directly after entry of the HEARTBEAT PRODUCER TIME. If the device is powered up with a HEARTBEAT PRODUCER TIME setting not equal to 0, the HEARTBE AT PROTOCOL starts with the state transition INITIALISING -> PREOPERATIONAL.

In this case the BOOTUP MESSAGE is classed as the ﬁrst HEARTBEAT MESSAGE.

6 .. 9

0 1

6 .. 9

0 1

Heartbeat

Producer

request

Heartbeat

Producer

Time

request

Write Heartbeat

COB-ID = 700 + Node-ID

Heartbeat

Consumer

indication

Heartbeat Consumer

Time

Heartbeat Consumer

Time

Heartbeat Event

Figure Heart beat protocol

r: reserved (always 0) s: the state of the Heartbeat producer 0: BOOTUP 4: STOPPED 5: OPERATIONAL 127: PRE-OPER ATIONAL

The NODE GUARDING and HEARTBEAT functions cannot be used in a device simultaneously. If the HEARTBEAT PRODUCER TIME is not equal to 0, the HEARTBEAT PROTOCOL is used.

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7 Setting the Device Parameters

for EtherCAT

7.1 Supported EtherCAT functionality

Below you will ﬁnd an overview of the EtherCAT functionality implemented in ServoOne. The next diagram shows the basis for the following description. It shows the struc ture of EtherCAT based on the OSI 7 layer model.

Physical Layer

EtherCAT Data Link Layer

Process Data

Emergency / SDO /

SDO Information Service

Mailbox

EoE

SDO PDO Mapping

Object Dictionary

Ethernet

TCP

UDP

HTTP, FTP ...

Application

(DSP402 profile)

(Ethernet)

Figure Structure Ether CAT

The physical layer of EtherCAT based on IEEE802.3/100 BaseTX Ethernet physics. Based on this the EtherCAT Data Link Layer (DL) follows, which is split into mailbox and process data. The following layer is termed as AL (Application Layer) and includes the ser vices of CoE (CAN over EtherCAT) and EoE (Ethernet over EtherCAT).

All services that are not time-critical, i. e. their execution/contents do not critically intervene in process data in terms of time, are grouped together in the mailbox. The mailbox is used as a service data channel and thus also enables access to drive parameters. This is done via the SDO (Service Data Objects) channel. The mailbox ser vice also provides the basis for the services of EoE (Ethernet over EtherCAT) and the error handling (emergency telegrams).

The process data is designed on the basis of CANopen (CiA DS301). This means there is mapping of objects in PDOs (Process Data Objects) that are cyclically transferred. This process data includes, for example, cyclic position, speed or torque reference values and actual values.

The basis for both SDO and PDO accesses to the drive is always the object directory, which is realised based on CANopen. For the user this means that these objects can be accessed both via CANopen and via EtherCAT.

In the case of ServoOne the DS402 proﬁle is again set up on the application layer. For information on this layer refer to the sections “Implemented DS402 functionality“ and “DS402 operation modes“.

An overview of the EtherCAT functionality of ServoOne is provided below:

Process Data

4 RxPDOs

4 TxPDOs

Transfer length = max. 8 bytes per PDO

Variable mapping as per DS301 (cf. CANopen)

Attention: The PDO must have an even number of bytes assigned. If an

uneven number is required, this must be ﬁlled up with a “Dummy Byte“ for example...

Cycle times Transfer cyclic position references with max. 8 kHz (125µs) Transfer cyclic speed reference with max. 8 kHz (125µs) Transfer cyclic torque references with max. 8 kHz (125µs)

•

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Mailbox

ServoOne suppor ts the CAN over EtherCAT (CoE) and Ethernet over EtherCAT (EoE) protocol. The following functions/services are implemented:

CoE

Sdo/Abort

Initiate SDO Download

Download SDO Segment

Initiate SDO Upload

Upload SDO Segment

Abort SDO Transfer

All device parameters are accessible via object ID 2000H + x

Note: Proﬁle-speciﬁc parameters are visible in DriveManager, but only in

range 1000H... (DS301 objects)/6000H... (DS402 objects) writeable/readable. This means parameters stored both as device parameters (range 2xxxH) and also as proﬁle parameters (DS301/DS402) can only be read and written to via their object number (DS301/DS402 proﬁle).

Example:

The object 1000h Device Type exists both in the DS301 proﬁle and also as device pa

rameters with parameter number 2011. Simultaneous two-way access would therefore be possible via CANopen or EtherCAT. In order to uniquely conﬁgure the access, the read/write-access for this object is only possible via proﬁle-speciﬁc object number 1000h (as per DS301).

•

–

Emergency

The Emergency service is designed for the transfer of error messages. In contrast to CANopen, emergency messages in EtherCAT are not autonomously sent from the slave but are retrieved by the master.

Functionality in ServoOne:

ErrorCodes as per the DS402 device proﬁle are supported.

For the structure/content of the emergency message refer to the section “Emergency Objects“

SDO Information Service

The SDO Information Service allows the master to read the object direc tory of the slave. In this way, the master can determine the supported objects of the slave with the required additional information (e. g. data type/access rights etc.). The SDO Information Service therefore represents an alternative in the use of EDS ﬁles known to CANopen.

Functionality in ServoOne:

Access to the object list and description

Alternatives for integrating the EDS ﬁle

EoE

Functions such as the tunnelling of standard Ethernet frames in EtherCAT generally fall under Ethernet over EtherCAT. This enables protocols, for example TCP/IP to be transferred via EtherCAT.

Implemented functionality in ServoOne:

Initiate EoE request

Initiate EoE response

EoE fragment request

EoE fragment response

•

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Distributed clocks

Synchronization in the case of EtherCAT is implemented on the basis of distributed clocks. Each slave has its own clock, which is synchronized with the others using a synchronisation pulse. The reference clock with which users are synchronized is accommodated in a slave.

Notes on ServoOne:

 The complete conﬁguration of distributed clocks takes place in the controller.

 Multiples of 125µs (time basis of the control) must always be used as cycle

times.

XML ﬁle

The XML ﬁle helps to integrate an EtherCAT slave into an EtherCAT master (control). It includes the conﬁguration (mapping etc.) for the respective operation modes.

Notes on ServoOne:

 The XML ﬁle is provided with the ﬁrmware.

 The integration of this ﬁle is control-speciﬁc....

NMT (Network Management)

The Network Management is essentially based on the network management of CANopen. The Stopped (CANopen) state was replaced by the Safe Operational (EtherCAT) state however.

Depending on the scope of functions of the control software, individual state transitions can be executed automatically or via the PLC.

Init

Pre-Operational

Safe-Operational

Bootstrap

Operational

(IP) (PI) (IB) (BI)

(SI)

(PS) (SP)

(SO) (OS)

(OI)

(OP)

(optional)

Figure EtherCAT state machine

State Description

Init Initialisation, the device starts up.

Pre-Operational

The device is ready to be conﬁgured. Mailbox communication is p ossible.

Safe-Operational

PDO input data (TxPDO device) can be read. PDO output data (R xPDO device is ignored.

Operational

Cyclic I/O communication PDO output data (R xPDO device) is processed.

Transitions Actions

IP Start Mailbox Communication

PI Stop Mailbox Communication

PS Start Input Update

SP Stop Input Update

Table State transitions

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Transitions Actions

SO Start Output Update

OS Stop Output Update

OP Stop Output Update/ Stop Input Update

SI Stop Input Update/Stop Mailbox Communication

OI Stop Output Update /Stop Input Update /Stop Mailbox Communicati on

Table State transitions

7.2 Conﬁguration for the operation in a controller

The services described in the previous section (e. g. PDO mapping etc.) are all operated by the controller (EtherCAT master). The communication-speciﬁc parameter setting of ServoOne is per formed on the basis of the supplied XML ﬁles by the Master.

The parameter setting of control settings, scaling etc. can also be performed via the DriveManager. Alternatively all parameters can also be conﬁgured via the object directory.

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8 Implemented

DS402 Functionality

The functions in this section relate to activation in the modes of operation of DS402 proﬁle

1 - Proﬁle Position Mode 3 -

Proﬁle Velocity Mode 6 - Homing Mode 7 - Interpolated Position Mode 8 - Cyclic Synchronous Position Mode (only EtherCAT) 9 - Cyclic Synchronous Velocity Mode (only EtherCAT) 10 - Cyclic Synchronous Torque Mode (only EtherCAT)

8.1 Device control and state machine

The drive is controlled by way of the DRIVECOM state machine deﬁned in DS402 (see DS402 10.1.1 state machine). No remote signal is planned.

8.1.1 General information

The DEVICE CONTROL FUNCTION monitors all the functions of the controller. This function is subdivided into

device control of the state machine

operation mode function

–

controlword

(6040h)

statusword

(6041h)

Remote

Terminals

Fault

modes of operation (6060h)

Device Controlling

Operation Mode

State Machine

Figure Device controlling

The status of the controller is controlled by way of the control word. The status of the controller is displayed in the STATUS WORD. In REMOTE MODE the controller is controlled directly from the CANopen network by PDO and SDO.

The state machine is controlled by the control word. The state machine is also inﬂuenced by internal events, such as errors.

8.1.2 State machine

The state machine describes the CONTROLLER STATUS and the possible options for control by the master. A single status indicates a speciﬁc internal or external response. At the same time, the status of a controller restrict s the possible control commands. For exa

mple, initiating a point-to-point positioning operation is only possible in the OPERATION ENABLE state.

States may change because of the control word or other internal events. The current status is displayed in the STATUS WORD. The state machine describes the state of the controller with regard to user commands and internal error messages.

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controlword

(6040h)

statusword

(6041h) Actions

Internal Events

State Machine

Figure State machine

8.1.3 Device states

Fault

Not Ready to

Switch On

Start

Switch On

Disabled

Ready to

Switch On

Switched On

Operation

Enable

Quick Stop

Activ

Fault

Reaction Active

Fault

Power Disabled

Power Ensabled

9 8

Figure State machine

The following device states are possible:

NOT READY TO SWITCH ON:

Only control voltage is connected to the drive. The drive is initialised or is performing a self-test. If installed, the brake engages in this state. The drive function is deactivated.

SWITCH ON DISABLED: (Switch-on inhibit)

Drive initialisation is complete. Drive parameters have been set. Drive parameters have been changed. No power to device (for safety reasons). The drive function is deactivated. “STO (Safe Torque Off)“ Standstill and/or ENPO not active.

READY TO SWITCH ON:

Power is connected to the device. Drive parameters have been changed. Drive function is deactivated.

SWITCHED ON:

Power is connected to the device. POWER AMPLIFIER is ready. Drive parameters have been changed. The drive function is deactivated.

OPERATION ENABLE:

No errors were detected. Drive function is enabled and power is connected to motor. Drive parameters have been changed. (Relates to standard application of the drive.)

QUICK STOP ACTIVE:

Drive parameters have been changed. QUICK STOP function being executed. Drive function is enabled and power is connected to motor. If the QUICK STOP OPTION CODE is set to 5 (remain at

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QUICK STOP ACTIVE status), you cannot quit the QUICK STOP ACTIVE status, but you can switch to OPERATION ENABLE status with the ENABLE OPERATION command.

FAULT REACTION ACTIVE:

Drive parameters have been changed. An error has occurred. The QUICK STOP function has been executed. Drive function is enabled and power is connected to motor.

FAULT:

Drive parameters have been changed. An error has occurred, the error response has been executed. Power disconnection and connection depends on the application. The drive function is deactivated.

Bit combinations of the DRIVECOM state machine

Device control commands

The following bit combinations of control bits 0-3 and 7 form the device control commands for the state transitions of the state machine:

Control word

Command 7 3 2 1 0 Transitions

SHUTDOWN 0 X 1 1 0 2, 6, 8

POWER-UP 0 X 1 1 1 3

DISABLE P OWER 0 X X 0 X 7, 9, 10, 12

QUICK STOP 0 X 0 1 X 11

DISABLE OPERATION 0 0 1 1 1 5

ENABLE OPERATION 0 1 1 1 1 4

RESET FAULT 0>1 X X X X 15

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Device status table

The bits of the DRIVECOM status word presented below indicate the current system state:

Status bit

State 6 5 3 2 1 0

NOT READY 0 X 0 0 0 0

SWITCH- ON INHIBIT 1 X 0 0 0 0

READY 0 1 0 0 0 1

ON 0 1 0 0 1 1

OPERATION ENABLED 0 1 0 1 1 1

FAULT 0 X 1 0 0 0

FAULT REACTION ACTIVE 0 X 1 1 1 1

QUICK STOP ACTI VE 0 0 0 1 1 1

Table Bit combinations of the DRIVECOM s tate machine

8.2 Option codes

The devices support option codes for four different options for shutting down the drive. The four options are :

HALT function - interrupt an ongoing movement

Controller disable function - stop movement by cancelling the controller enable (software)

Quick-stop function - stop movement by initiating a quick stop

Error reaction function - stop movement in case of an error

For all variants, the option code sets the parameters for the desired device response.

CANopen Function

Supported

settings

Object 605A h Quick stop option code 0 to 8

Object 605Bh Shutdown option code -1 to 1

Object 605Ch Disable operation option code 0 and 1

Object 605D h H alt Option Code 0 to 4

Object 605Eh Fault Reaction Option Code 0 to 4

Table Option codes

The objects form part of the data set as standard parameters of the devices.

Note: The quick-stop ramp is always executed with the smoothing preset

for the driving proﬁle ramps. The error stop ramp is always executed without smoothing, even when smoothing is programmed.

•

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8.3 Device control objects

The following table lists the implemented objects to control the drive:

Object

No.

Object

Name

Object

Code

Type Attr

0x6040 Control word VAR Unsigned16 rw

0x6041

Statusword VAR Unsign ed16 ro

0x605A

Quick_Stop_Option_Code 0: disable drive func tion 1: slow down on slow down ramp 2: slow down on quick stop ramp 3: slow down on the current limit 4: slow down on the voltage limit 5: slow down on slow down ramp

and stay in QUICK STO P

6: slow down on quick stop ramp

and stay in QUICK STO P

7: slow down on the current limit

and stay in QUICK STO P

8: slow down on the voltage limit

and stay in QUICK STO P

VAR Integer16 rw

0x605B

Shutdown_Option_Code

-1: Response as per Quick_Stop_O ption_Code 0: Disable Drive Func tion 1: slow down with slow down ramp; disable

of the drive

VAR Integer16 rw

0x605C

Disable_Operation_Option_Code 0: Disable Drive Func tion 1: Slow down with slow down ramp and then

disabling of the Drive Function

VAR Integer16 rw

0x605D

Halt_Option_Code 0: disable drive, motor is free to rotate 1: slow down on slow down ramp 2: slow down on quick stop ramp 3: slow down on the current limit 4: slow down on the voltage limit

VAR Integer16 rw

Object

No.

Object

Name

Object

Code

Type Attr

0x605E

Fault_Reac tion_Opt ion_Code 0: disable drive, motor is free to rotate 1: slow down on slow down ramp 2: slow down on quick stop ramp 3: slow down on the current limit 4: slow down on the voltage limit

VAR Integer16 rw

0x6060

Modes_Of_Operation 1: proﬁle position mode 3: proﬁle velocity mo de 6: homing mode 7: Interpolated position m ode 8: Cyclic sync position mode (ON LY EtherCAT) 9: Cyclic sync velocity mode (ONLY EtherCAT) 10: Cyclic sync torque mode (ONLY EtherCAT)

VAR Integer8 wo

0x6061

Modes_Of_Operation _Display see 0x606 0

VAR Integer8 ro

Table Device control objects

8.4 Units and scalings, factor group

The DriveManager user interface offers a Scaling Wizard as a user-friendly means of conﬁguring the scaling of mechanical and electrical units of variables necessary for control. The Wizard translates the application variables into representation of the parameters from the DS402 factor group. The parameters from the factor group are listed below, and can also be set directly by the user.

Correlations must be calculated externally and the ﬁnal results entered in the relevant factor group parameter.

It is generally easier to have the Scaling Wizard calculate the parameter settings.

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Note: The following objects are directly calculated in ServoOne:

- Position Factor

- Velocity Encoder Factor

- Acceleration Factor

The calculation is based on the objects stored in the formulae (e. g. feed constant, gear ratio etc.). It is in fact possible to change these variables in DriveManager or via the bus, but they will be overwritten by the internal calculation as part of the control initialisation.

Note: In this section you will ﬁnd an over view of the objects from the factor

group and the underlying formulae for the calculation. You will ﬁnd practical examples for the implementation of scaling in the Application Manual.

Factor group as per DS402:

Object

No.

Object

Name

Object

Code

Type Attr.

0x607E Polarity VAR Unsigned8 rw

0x6089 Position _Notation_Ind ex VAR Integer8 rw

0x608A

Position_ Dimension_ Index Only display for scaling block

VAR Unsigned8 rw

0x608B Velocity_ Notation _Index VAR Integer8 rw

0x608C

Velocity_Dim ension_Index Only display for scaling block

VAR Unsigned8 rw

0x608D Acceleration_ Notation_Index VAR Integer8 rw

0x608E

Acceleration_ Dimension_ Index Only display for scaling block

VAR Unsigned8 rw

0x608F Po sition_ Encoder_Resolution VAR Unsigned8 rw

0x6090 Velocity_ Encoder_Resolution ARRAY Unsigned32 rw

0x6091 Gear_Ratio ARRAY Unsigned32 rw

Object

No.

Object

Name

Object

Code

Type Attr.

0x6092 Feed_Constant ARRAY Unsigned32 rw

0x6093

Position_ Factor ARRAY Unsigned32 rw

0x6094

Velocity_Encod er_Factor ARRAY Unsigned32 rw

0x6097 Acceleration_Factor ARRAY Unsigned32 rw

Table Factor group

The objects of the factor group can be calculated and entered directly by the user, independently of the DriveManager Scaling Wizard. The corresponding encoder settings must be made however.

Calculation correlations factor group parameters

Object 608Fh: Position Encoder Resolution

The position encoder resolution deﬁnes the relationship between the encoder and motor revolutions

Position Encoder Resolution =

Encoder increments

Motor revolutions

Object 6090h: Velocity Encoder Resolution

The velocity encoder resolution deﬁnes the relationship between the encoder increments per second and motor revolutions per second

Velocity Encoder Resolution =

Encoder

Motor

Increments

Revolutions

Seconds

Object 6091h: Gear Ratio

Gear ratio deﬁnes the transmission ratio of a gear in relation to the motor. It is deﬁned as follows:

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Gear Ratio =

Motor shaft revolutions

Drive shaft revolutions

Object 6092h: Feed Constant

The feed constant deﬁnes the ratio of feed in position units per driving shaft revolutions. This includes the gear if present.

Feed Constant =

Feed

Drive shaft revolutions

Object 6093h: Position Factor

The position factor converts the desired position (in position units) into the internal format (in increments).

Position Factor =

Feed constant

Position Encoder Resolution • Getriebeübersetzung

Object 6094h: Velocity Encoder Factor

The velocity encoder factor converts the desired velocity (in velocity units) into the internal format (in increments).

Velocity Encoder Factor =

Velocity Encoder Resolution • Position encoder resolution • Position unit • F

velocity (Notationsindex)

Feed constant • Velocity unit • Seconds • F

positon (Notationsindex)

An example of F

velocity (Notationsindex)

or F

positon (Notationsindex)

would be 102 or 10-6

Object 6097h: Acceleration Factor

The acceleration factor converts the acceleration (in acceleration unit/s) into the internal format (in increments).

Acceleration Factor =

Velocity unit • Velocity Encoder Factor

Acceleration unit • Seconds

Object 607Eh: Polarity

The position reference value and position actual value are multiplied by 1 or -1 depending on the value of the polarity ﬂag.

The same applies to the speed reference and actual speed value.

Please observe the operation of the object polarit y as per DS402 V2.0.

Bits 0 to 5 = reserved (don‘t use) Bit 6 = velocity polarity Bit 7 = position polarity

Note: As in the case of the other objects in the factor group,

changes in polarity only take effec t if the control is switched off.

8.5 I/O map, object 60FDH

The status of inputs and outputs of the drive controller can be determined using various objects. Object 60FDh from device proﬁle DS402 is implemented, as well as two manuf

acturer-speciﬁc objects.

8.5.1 Object 60FDh – Digital inputs

This object is implemented in compliance with device proﬁle DS402. It allows digital input functions deﬁned in the proﬁle to be evaluated. That is, it offers no input map of existing physical inputs, but rather a func tion-related input map.

So it is irrelevant to which input, for example a limit switch is connected. Within the object the bit that deﬁnes the state of the limit switch is permanently deﬁned.

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Bit Assignment

0 Negative limit switch

1 Positive limit switch

2 Home switch

3 to 15

Reserved

16 to 31

Manufacturer-speciﬁc (curr. not implemented)

18 “STO (Safe Torque Off)“ input

19 ENPO

Table Object 60FDh – Digital inputs

8.5.2 Object 2079h – MPRO_INPUT_STATE

This manufacturer-speciﬁc object delivers an input map of all the digital inputs of ServoOne. The object is mappable and transferable by PDO. The assignment is as follows:

Bit Assignment

0 State input ENPO

1 State input ISD00

2 State input ISD01

3 State input ISD02

4 State input ISD03

5 State input ISD04

6 State input ISD05

7 State input ISDSH

8 to 15 Don’t use

16 State input ISD06

17 Don’t use

Bit Assignment

18 State input ISA00

19 State input ISA01

30 to 31

Don’t use

Table Object 2079h – MPRO_ INPU T_STATE

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9 Operation modes DS402

9.1 DS402 compatible operation modes

Devices of the ServoOne families support DS402 operation modes

Proﬁle position mode

Proﬁle velocity mode

Homing mode

Interpolated Position Mode

Cyclic Synchronous Position Mode (EtherCAT only)

Cyclic Synchronous Velocity Mode (EtherCAT only)

Cyclic Synchronous Torque Mode (EtherCAT only)

The mode is switched by way of the CANopen object 6060h modes of operation. This switch is possible in the “Operation enable“ (power to motor) state. The current operation mode is indicated in the CANopen object 6061h modes of operation display.

–

9.1.1 Parameter setting of ServoOne for activation via DS402:

For activation via CANopen (or CoE - EtherCAT) as per DS402 proﬁle the following parameters must be set in the device:

No. Name Function Setting

159 MPRO_CTRL_SEL Control loc ation selector DS402

165 PRO_ REF_SEL Reference selec tor DS402

Table Parameter setting of Ser voOne

These parameters can be found under “Motion Proﬁle“ --> “Basic Settings“

If the drive is operated in a mode in which the internal proﬁle generator is inactive and cyclic reference value are transferred (e. g. Cyclic Synchronous Position Mode), the interpolation time must be conﬁgured.

No. Name Function

306 CON_IpRefTs Cycle time of the references in IP mode

Table Parameter setting of Ser voOne

The interpolation time CON_IpRefTs represents the cycle time in which reference values from a higher-level controller are expected.

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9.1.2 Control word DS402

Object 6040h-control word

The object is also mapped in the parameter 2208-MP_Controlword. The control word contains bits for:

the controlling of the state,

the controlling of operating modes and

manufacturer-speciﬁc options.

The bits of the control word are deﬁned as follows:

15 11 10 9 8 7 6 4 3 2 1 0

Manufacturer-

speciﬁc

reserved Stop

Fault reset

Operation

mode

speciﬁc

Enable

operation

Quick

stop

Enable

voltage

Switch

O O O M O M M M M

MSB LSB O - Optional M - Mandator y

Table Control word DS402

–

Bits 0 - 3 and 7:

DEVICE CONTROL COMMANDS are triggered by the following schema in the control word:

Command

Bit of the control word

Transi-

tions

Fault reset

Enable

operation

Quick-

Stop

Enablevoltage

Switch

Shutdown 0 X 1 1 0 2, 6, 8

Switch on 0 0 1 1 1 3*

Switch on 0 1 1 1 1 3**

Disable voltag e 0 X X 0 X 7, 9, 10, 12

Quick Stop 0 X 0 1 X 7, 10, 11

Disable operation 0 0 1 1 1 5

Enable operation 0 1 1 1 1 4, 16

Fault reset X X X X 15

bits marked X are irrelevant, * ... In the state SWITCHED ON the drive executes the functionalit y of this state. ** .. There is no functionalit y in the state SW ITCHED ON. The drive does not do anything in this state.

Table Device control commands

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[Chapter 9]

Bits 4 - 6 and 8

The bits 4 - 6 and 8 are interpreted differently depending on the active operation mode (object “modes of operation display“).

Bit

Operation mode

Proﬁle-

position

mode

Proﬁle

velocity-

mode

Homing-

mode

Inter-

polated

position

mode

Cyclic

synchro-

nous

position

mode

(Ether-

CAT)

Cyclic

synchro-

nous

velocity

mode

(Ether-

CAT)

Cyclic

synchro-

nous

torque

mode

(Ether-

CAT)

New

setpoint

reserved

Homing

operation

start

Enable IP

mode

reserved reserved reser ved

Change set

immedia-

tely

reserved reserved reser ved reserved reserved reserved

6 abs/rel reserved reser ved reserved re served reserved reser ved

8 Stop Stop Stop Stop reserved reser ved reserved

Table Mode-speciﬁ c bits in the control word

Use of the speciﬁc bits is explained in more detail in the sections on the operation modes.

Bits 7 and 11- 15

Bit Name Value Description

7 Fault reset 0 ð 1 Fault reset

11 No function

Bit Name Value Description

. . .

No function

15 No function

9.1.3 Status word DS402

Object 6041h-status word

The content of the object is also mapped in parameter 2209 - MP_Statusword. The status word indicates the current status of the drive. It contains the following bits for:

current state of the device,

operating state of the mode and

manufacturer-speciﬁc options.

–

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Status word bits

Bit Description M/O

0 Ready to switch on M

1 Switched on M

2 Operation enabled M

3 Fault M

4 Voltage enable d M

5 Quick stop M

6 Switch on disabl ed M

7 Warning O

8 Manufacturer-sp eciﬁc O

9 Remote M

10 Target reached M

11 Internal Limit active M

12 - 13

Operation mode speciﬁc O

14 - 15

Manufacturer-speciﬁc O

Table Bits in the status word

Bits 0 - 3, 5 and 6:

These BITS indicate the STATUS of the controller.

Value (binary) State

xxx x xxx x x0x x 0000 Not ready to switch on

Xxx x xxxx x1xx 0000 Switch on disabled

Xxx x xxxx x01x 0001 Ready to switch on

Xxx x xxxx x01x 0011 Switched on

Xxx x xxxx x01x 0111 Operation enabled

Value (binary) State

Xxx x xxxx x00x 0111 Quick stop acti ve

Xxx x xxxx x0x x 1111 Fault reaction active

Xxx x xxxx x0x x 1000 Fault

Table Device state bits in the status word

Bit 4: Voltage enabled

Power supply connected.

Bit 5 Quickstop

In the LOW state this bit indicates that the controller is executing a “quick stop“. Bits 0, 1 and 2 of the status word are set to 1 when the drive is ready for operation. The other bits indicate additional states of the drive, such as execution of a “quick stop“. In the event of an error the FAULT bit is set.

Bit 7: Warning

Warnings such as temperature limits, are indicated in bit 7. In response to warnings the device state does not change. For more information on the warning given, refer to the FAULT CODE.

Bit 8: Manufacturer-speciﬁc

Currently not used.

Bit 9: Remote

Currently not used.

Bit 10: Target Reached

The bit is automatically set when a SETPOINT is reached. The setpoint depends on the OPERATING MODE. A change to the setpoint by the master changes this bit. With “quick stop“ OPTION CODE 5, 6, 7 or 8, this bit is set when the “quick stop“ ends. In response to a STOP request this bit is also set at a standstill.

Bit 11: Internal Limit active

This bit is set when internal limits are reached. This bit is dependent on OPERATION MODE.

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[Chapter 9]

Bits 12 and 13:

These bits are dependent on OPERATION MODE - see section 6.

The following table provides an overview:

Bit

Operation mode

Proﬁle-

position

mode

Proﬁle

velocity-

mode

Homing-

mode

Inter-

polated

position

mode

Cyclic

synchro-

nous

position

mode

(Ether-

CAT)

Cyclic

synchro-

nous

velocity

mode

(Ether-

CAT)

Cyclic

synchro-

nous

torque

mode

(Ether-

CAT)

Setpoint acknow-

ledge

Speed

Homing attained

IP mode

active

Target position ignored

Target velocity ignored

Target torque

ignored

Following

error

Max slippa-

ge error

Homing

error

reserved

Following

error

reserved reserved

Table Mode-speciﬁ c bits in the control word

Bits 14 and 15:

These bits are implemented speciﬁc to manufacturer; explanatory notes to them are given in the sections on the various operation modes.

9.2 Proﬁle Velocity Mode

This operation mode (mode of operation = 3) is used to activate the device at a velocity setpoint as per the DS402 proﬁle. The drive is in speed control in this mode of operation.

The units, the reference and ramp variable are produced from the settings of the factor group. Also refer to the section 5.4 “Units and scalings“ in this regard.

The device supports the following objects for this mode:

Object

No.

Object

Name

Object

Code

Type

0x606C Velocity actual value VAR Int32

0x60FF Target velocity VAR Int32

0x6094

Velocity encoder fac tor ARRAY Int32

0x6083

Proﬁle acceleration VAR Int32

0x6084

Proﬁle deceleratio n VAR Int32

0x6085 Quick Stop deceleration VAR UInt32

0x607E Polarity VAR UInt8

Table Proﬁle Velocity Mode

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Structure of operation mode

Figure Structure Proﬁle Velocity Mode

9.2.1 Mode-dependent bits in the control word

The structure presented below is based on this operation mode:

Object

No.

Object Name

Object

Code

Type

8 Stop

0 Execute the motion

1 Stop axle

Table Proﬁle velocity mode bits of the status word

9.2.2 Mode-dependent bits in the status word

Object

No.

Object

Name

Object

Code

Type

10 Target reached

Stop = 0: Target velocity not (yet) reached Stop = 1: Axle decelerates

Stop = 0: Target velocity reached Stop = 1: Axle has velocity 0

12 Speed

0 Speed is not equal to 0

1 Speed is equal to 0

Max. Slippage error

0 Maximum slippage not reached

1 Maximum slippage reached

Rot 0 1

Axle at standstill Speed is much lower than parameter 745 MON_REF WINDOW

Table Proﬁle velocity mode bits of the status word

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[Chapter 9]

9.3 Homing mode

This mode (Mode of operation = 6) is used to perform a homing of a position- controlled axle. The drive executes a movement according to the programmed reference run type (homing method).

The various homing methods differ in the integration of hardware limit switch, reference cam and zero pulse into the encoder system. It should be noted in this that, for limit switch and reference cam functionality, appropriate digital inputs should be conﬁgured:

Limit switch function LCW - right side HW limit switch LCCW - left side HW switch HOMSW - reference cam

The following objects are supported by the device for this operation mode:

Object

No.

Object

Name

Object

Code

Type Attr.

0x607C Home_Offset VAR Integer32 rw

0x6098 Homing _Method VAR Integer8 rw

0x6099 Homing _Speeds * ARRAY Unsigned32 r w

0x609A Homing_ Acceleration VAR Unsigned32 rw

* 0x6099.01 - Quick jog sp eed 0x6099.02 - Slow jog speed

Table Homing mode

Homing

control_word

homing_speeds

homing_acceleration

home_offset

status_word

position_demand_value*

Figure Homing func tion

ServoOne suppor ts all 35 homing methods deﬁned in DS402.

The individual homing methods are described in the device application manuals with regard to their function and movement sequencing.

Home Off set:

The HOME OFFSET object is the difference bet ween position 0 of the application and the HOME POSITION found during homing. It is represented in position unit s. At the end of a homing run the HOME OFFSET is added to the HOME POSITION found. All subsequent absolute positioning operations relate to this new home position.

A change in the referencing run type and the associated properties is possible in two ways. The reference run can be changed either via DriveManager or CAN.

For conﬁguration via CANopen the objects of the homing mode can be directly addressed. For example, for a change to the reference run type, object 0x6098 can be changed.

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9.3.1 Mode-speciﬁc bits in the control word

Bit 4 - HOMING OPERATION START Bit 8 - STOP

Bit Name Value Description

Homing

operation star t

0 Homing mode inactive

0 ð 1 Star t homing mode

0 Homing mode active

1 ð 0 Inter rupt homing mode

8 Stop

0 Execute the instructions of bi t 4

1 Stop axle with proﬁle deceleration

Table Homing Mode Bits of the control word

9.3.2 Mode-speciﬁc bits in the status word

Bit 10 - TARGET REACHED Bit 12 - HOMING ATTAINED Bit 13 - HOMING ERROR Bit 14 - ROT_0

Bit Name Value Description

10 Target reached

Stop = 0: Home position not reached Stop = 1: Axle decelerates

Stop = 0: Home position reached Stop = 1: Axle has velocity 0

Homing attained

0 Homing mode not yet completed

1 Homing mode carried out success fully

Homing

error

0 No homing erro r

Homing error occurred; Homing mode not carried out successfully The error cause is found by reading the error code

ROT_0 1

Axle at standstill Speed is much lower than parameter 745 MON_REF WINDOW

Table Homing Mode bits of the status word

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[Chapter 9]

9.4 Proﬁle position mode

In this operation mode (mode of operation =1) the axle executes relative or absolute single positioning movements.

Object

No.

Object

Name

Object

Code

Type Attr.

0x607A Target_Position VAR Integer32 r w

0x607d Software Position Limit ARRAY Integer32 rw

0x6081 Proﬁle _Velocity VAR Unsigned32 rw

0x6083

Proﬁle_ Acceleration VAR Unsigned32 rw

0x6084

Proﬁle_D eceleration VAR Unsigned32 rw

0x6085 Quick Stop deceleration VAR Unsigned32 rw

0x6064

Position actual value VAR I nteger32 r

0x607E Polarity VAR U Int8 rw

Table Proﬁle Position Mode

Units of the parameters are set by way of the Scaling Wizard or the objects from the factor group.

Structure of operation mode

Figure Structure Proﬁle Position Mode

target_position

(607Ah)

[position

units]

position_factor (6093h) polarity (607Eh)

Limit

Function

Multiplier

position

velocity

acceleration

Limit Function

Multiplier

Minimum

Comparator

positio_range_limit (607Bh) software_position_limit (607Dh) home_offset (607Ch)

velocity

limit

[speed units]

[acceleration units]

velocity_factor_1

(6095h)

profile_velocity

(6081h)

end_velocity

(6082h)

max_profile_velocity

(607Fh)

max_motor_speed

(6080h)

profile_acceleration

(6083h)

profile_deceleration

(6084h)

quick_stop_deceleration

(6084h)

max_acceleration (60C5h) max_deceleration (60C8h)

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9.4.1 Mode-speciﬁc bits in the control word

Bit 4 - New setpoint Bit 5 - Change set immediately Bit 6 - abs/rel Bit 8 - Stop

Bit Name Value Description

4 New setpoint

0 Does not assume target position

1 Assume t arget position

Change set

immediately

Finish the current positioning and then star t the next positioning

Interrupt the actual positioning and start the next positioning

6 abs /rel

0 Target position is an absolute value

1 Target position is a relative value

8 Stop

0 Execute positioning

Stop axle with proﬁle de celeration (if not supp orted with proﬁle acceleratio n)

Table Proﬁle position mode bit s of the control word

9.4.2 Mode-speciﬁc bits in the status word

Bit 10 - Target reached Bit 12 - Set-point acknowledge Bit 13 - Following error Bit 14 - ROT_0

Bit Name Value Description

Target

reached

Stop = 0: Target position not reached Stop = 1: Axle decelerates

Stop = 0: Target position reached Stop = 1: Velocity of axle is 0

Setpoint

acknowledge

Trajectory generator has not assumed the positioning value s (yet)

Trajectory generator has assumed the positioning values

Following error

0 No following error

1 Following er ror

ROT_0 1

Axle at standstill speed is much lower than parameter 745 MON_ REFWI NDOW

Table Proﬁle Position Mode bits of the status word

9.4.3 Functional description

In this OPERATION MODE two different options for target position input are supported.

SET OF SETPOINTS:

When the target position is reached, the drive directly approaches the next target position; the axle is not stopped when the ﬁrst target position is reached.

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[Chapter 9]

SINGLE SETPOINT:

When the target position is reached the drive indicates the fact to the master. Then the drive receives a new setpoint. At each target position the drive is stopped before being moved on to the next target position.

The two options are controlled by way of the timing of the NEW SETPOINT and CHANGE SET IMMEDIATELY bits in the control word and the SETPOINT ACKNOWLEDGE bit in the status word. These bits allow a new positioning operation to be initiated even while the current one is ongoing.

data

new_setpoint

change_set_immediately

setpoint_acknowledge

(1)

(2)

(3)

(4)

(5)

(6)

Figure Setpoint transmis sion from a host computer

If the “CHANGE SET IMMEDIATELY“ bit is set to “0“ (solid line in above diagram) a SINGLE SETPOINT is expected by the drive (1).

When the setpoint has been transmitted to the drive, the master activates the positio ning by setting the ‚New setpoint‘ bit in the control word (2). The drive responds by setting the “Setpoint acknowledge“ bit in the status word (3) once the new data has been detected and saved. Now the master can delete the “New setpoint“ bit (4). Then the drive signals by deleting the “set-point acknowledge“ bit that a new setpoint is accepted (5). In the diagram the mechanism initiates a speed 0 on reaching the target position at time t1. After the message indicating the target position has been reached, the next target position can be initiated at time t2.

velocity

time

Figure Single setpoint

If the “CHANGE SET IMMEDIATELY“ bit is set to “1“ (broken line in Figure “Setpoint transmission“), the new target position is adopted immediately. In the Figure “Change Set Immediately“ the drive receives the ﬁrst target position at the time t0. At the time t1 the drive receives the second target position. The drive immediately implements the movement to the second target position.

velocity

time

Figure Change set immediately

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[Chapter 10]

10 Emergency Objects

byte 0 1 2 3 4 5 6 7

Bit: 0 ... 15 16 ... 23 24 ... 39 40 ... 47 40 ... 47 48 ... 63

Proﬁle Device Proﬁle DS402 Drive controller

Error

Emergency error

code as per

DS402

Error register (Object 1001 h)

Error

number

Error

location

Operating hours meter

(in full hours)

Table Emergency teleg ram

The decisive factors for rapid localization are the error code and error location. In by te 3 of the emergency telegram you will ﬁnd the error code, which provides an initial categorisation of the cause of the error. The precise cause of the error is speciﬁed by the error location in byte 4. By tes 5, 6 and 7 contain the internal operating hours meter of the device.

CANopen errors - i.e. incorrect conﬁgurations, bus disturbances etc. - are indicated by error code 0xFF00.

Note: When an error occurs the controller executes a response as per the pa-

rameterised error response. These can be set separately for individual errors.

Note: The state displays of the 7-segment display are explained in the Appli-

cation Manual.

10.1 Error acknowledgement, general

Device errors can be acknowledged by the following mechanisms:

Control word bit 7, edge-controlled

Control input with programmed reset functionality

Hardware enable ENPO to control terminal

Operation via two buttons

Drive Manager user interface

Writing the value 1 to parameter 153 MPRO_DRVCOM_FaultReset by way of the control unit or bus system

Note: For a detailed list of all error messages together with remedial messa-

ges refer to the Application Manual ServoOne on our product CD.

10.2 Error acknowledgment via bus system

Another possibility is offered by the object 6040 h Control Word:

Draft 402 6040h VAR Control word I nteger16 rw M

An error acknowledgement is executed by a rising edge at bit 7 in the control word. Resetting of the error is signalled by transmission of the following emergency message:

ID Data bytes Description

Emergency 00 0 0 00 00 00 0 0 00 00

Emergency message acknowledgment error

Table Error acknowledgeme nt

If the cause of the error is not eliminated, the drive controller returns to the error state after transmission of another emergency message.

•

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[Chapter 11]

11 EDS File, Object Directory

Parameter List

11.1 EDS ﬁle, object directory

An EDS ﬁle is available for the devices to integrate them into the CAN master. The ﬁle is shipped with the ﬁrmware. It contains all the CAN objects of the drive controllers.

Note: ServoOne has parameters with default values in the device that may

deviate from the default values in the EDS ﬁle. These are power-stage speciﬁc parameters with contents that are dependent on the size. Examples of such parameters are: Para 302 – CON_SwitchFreq Para 307 – CON_VoltageSupply Para 651 – DV_CAL_VDC

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[Chapter 12]

12 Bibliography

Operation Manual ServoOne LUST Antriebstechnik GmbH

Gewerbestras se 5 - 9 35633 Lahnau http://w ww.lust-antriebstechnik.de

User Manual ServoOne LUST Antriebste chnik GmbH

Gewerbestras se 5 - 9 35633 Lahnau http://w ww.lust-antriebstechnik.de

CiA DS-301 (Rev. 4.0): Application Layer and Communication Proﬁle

http://w ww.can-cia.org/

CiA DSP-402 (Rev. 2.0): Device Proﬁle Drives and Motion Control

http://w ww.can-cia.org/

EtherCAT Communication Speci ﬁcation Version 1.0 2004

http://w ww.ethercat.org/

EtherCAT Indicator Speci ﬁcation Proposal V0.91 2005

http://w ww.ethercat.org/

IEC61158-2-12 to IEC61158- 6-12

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[Chapter 13]

13 Appendix Glossary

CiA: (“CAN in Automation“). CAN bus user group, generally deﬁnes

a protocol for automation.

CAL: (CAN A pplication Layer) CiA protocol, primarily describes the way in

which variables are transmitted without de ﬁning their function or content. Subsets: CMC: (CAN based Message Speciﬁcatio n). Sets out the deﬁnition described above. Is accepted by most CAN suppliers. LUST confor ms to this deﬁnition. NMT: (Network Managem ent). Required for masters in the CAN system. Not impl emented by LUST because drive controllers are always slaves and have no “control function“. LMT: (Layer Management). See N MT DBT: (Identiﬁer Distributor). See NMT

CANopen: Based on CAL deﬁnition

Corresponds to CiA Draft Standard 3 01 Extends the CAL deﬁnition to include function and unit assignment of the predeﬁned variables This deﬁnition is being drafted by CiA and various user groups (MOTI ON for drive technolo gy and I/O for inputs/outputs) (e. g. variable for torque in Nm).

General points on the various protocol deﬁnitions

CAL: Mainly in us e in Europe, LUST has currently implemented a protocol

which can be acti vated by a CAL master. The initialisation is simpler than CAL (CCDA), for example addressing by way of jumper, which has no inﬂuence on operation.

DeviceNet: Mainly in the USA (corre sponds to CAL deﬁnition).

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[Chapter 14]

Index

Symbols

32-bit variables 29

Abort protocol 29 Access to device parameters 30 Activation 41 Acyclic synchronous type 34 Address assignment 9 Address setting via DIP switch 10 Appendix 67 Application of screens 35 Assignment of connection X19 12 Asynchronous types no. FE h and FF h 34

Bibliography 65 Bit combinations 43 Bit of the controlword 50 Bootup 27 Bus address parameters 9 Bus module 2

Calculation correlations 46 CAL speciﬁcation 8 CANopen 44 CANopen functionality of ServoOne 7 CANopen interface 11 CANopen option 10 Change modes in diagram 23

Change Set Immediately 59 CiA DS-301 7, 8 CiA DSP-402 8 CoE 38 Commissioning 19 Commissioning and conﬁguration CANopen 19 Commissioning instructions 20 Commissioning sequence 19 Commissioning via DriveManager 21 Communication objects 27 Conﬁguration 19, 25 Conﬁguration for operation in a controller 40 Connecting cable 16 Connection 9 Connectors 11 Control ﬁeld 29 Control functions 22 Control word 43, 51 Control word bits 50 Control word DS402 50 Cross-manufacturer communication 7 Cyclic synchronous types 34

Data handling 21 Data types 29 Description 52 DEVICE CONTROL 50 Device control and state machine 41 DEVICE CONTROL COMMANDS 50 Device control commands 43, 50 DEVICE CONTROL FUNCTION 41 Device controlling 41 Device control objects 45 Device proﬁle DS402 47 Device states 42 Device status table 44

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Device with EtherCAT Option 17 Digital inputs 47 DIP switches 10 Display of operating states 13, 18 Distributed clocks 39 Documentation, further 8 Download protocol 29 DRIVECOM state machine 43 DriveManager 21, 29 DS402 compatible operation modes 49

EDS ﬁle 63 Emergency 38 Emergency objects 61 Emergency telegram 61 EoE 38 Error acknowledgement 61 Error acknowledgement, general 61 Error acknowledgement via bus system 61 EtherCAT connection 15 EtherCAT option 15 EtherCAT state machine 39 EtherCAT structure 37 Event control 34 Example of read access 31 Example of use of DIP switches 10 Examples of SDO handling 30 Expedited Multiplexed Domain Protocol 29

Factor group 45 Factor group as per DS402 46 Factor group parameters 46 FAULT REACTION ACTIVE 43 Flash sequence 18 Function / assignment 10

Functional description 58 Functionality of operation modes 23 Function of event control 34

General information 41 General introduction 7 Glossary 67

Hardware enable 14, 18 Heartbeat function 36 Heartbeat protocol 36 Home offset 55 Homing function 55 Homing mode 41, 55 How to use the document 3 How to use this manual 3

I/O map, object 60FDH 47 ID No.: 2 Implemented DS301 functionality 27 Implemented DS402 functionality 41 Initial commissioning 21 Input map 48 Installation 11 Introduction 7, 8

Mailbox 38 Mapping - general 35 Mapping notes 35 Mapping settings 35 Meanings of LEDs 10, 17 Measures for your safety 7

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[Chapter 14]

Mode-dependent bits in the control word 54 Mode-dependent bits in the status word 54 Mode-speciﬁc bits in the control word 51, 56, 58 Mode-speciﬁc bits in the status word 56, 58 Modes of operation 22 Mounting 9 Mounting and connection of EtherCAT 15 Multiplexed Domain Protocol 29

NMT 39 NOT READY TO SWITCH ON 42

Object 2079h – MPRO_INPUT_STATE 48 Object 208Fh – MRPO_OUTPUT_STATE 48 Object 60FDh – Digit inputs 47 Object directory 63 Object directory of DS301 27 Object index 30 OPERATION ENABLE 42 Operation mode 51, 53 Operation modes DS402 49 Operation mode selection 22 Option codes 44 Overview of supported CAN objects 27

Parameter channel 28 Parameter data formats 29 Parameter set download 33 Parameter setting of ServoOne 49 PDO mapping 35 PDO transfer 34 PDO transmission types 34 Pictograms 4 Pin assignment 16

Procedure for commissioning 21 Process data 37 Proﬁle Position Mode 57 Proﬁle position mode 41 Proﬁle Velocity Mode 53 Proﬁle velocity mode 41

QUICK STOP ACTIVE 42

READY TO SWITCH ON 42 Reference run types 55 Remedy 33 Representation of data types 29 Restoring factory defaults 21 RJ-45 socket 16

Save the settings 21 SDO data transfer 28 SDO Information Service 38 Service data object 28 ServoOne 3 Setting the address 9 Setting the device parameters 27, 37 Setting the software address and Baud rate 20 SINGE SETPOINT 59 Software address 20 Spring-type terminal 12 State control 50 State machine 41, 42 State transitions 39 Status 2 Status bit 44 Status word 51 Status word bits 52

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Status word DS402 51 STOP function 44 Structure of operation mode 54, 57 Structure Proﬁle Position Mode 57 Supported EtherCAT functionality 37 SWITCHED ON 42 SWITCH ON DISABLED 42 System connection 12 System requirements 8

Terminals 9 Test higher-order controller 20 Translation of transmitted values (ASCII) 32 Transmission of TxPDO 34 Transmission speeds 13

Units and scalings 45 Upload protocol 29 Users 3

XML ﬁle 39

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Lust Antriebstechnik GmbH Gewerbestraße 5-9 • 35633 Lahnau Germany Tel. +49 (0) 64 41/9 66-0 Fax +49 (0) 64 41/9 66-137 Internet: www.lust-tec.de e-mail: [email protected]

Lust Antriebstechnik GmbH Heinrich-Hertz-Str. 18 • 59423 Unna Germany Tel. +49 (0) 23 03/77 9-0 Fax +49 (0) 23 03/77 9-3 97 Internet: www.lust-tec.de e-mail: [email protected]

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