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SCA06 - CANopen Manual

1. 48 7 3 POSITION CONTROL FUNCTION POSITION CONTROLLER 49 7 3 1 Object 6063h Position Actual Value 49 7 3 2 Object 6064h Position Actual Value in User Units 49 7 4 PROFILE POSITION MODE OBJECTS FOR DRIVE CONTROL 50 7 4 1 Control and Status 52 7 4 2 Object 607Ah Target 53 7 4 3 Object 6081h Profile Velocity nce nne ae EARN 53 7 4 4 Object 6083h Profile 53 7 4 5 Object 6084h Profile 54 7 4 6 Object 6086h Motion Profile 54 75 PROFILE VELOCITY MODE OBJECTS FOR DRIVE CONTROL
2. 54 SCAO6 4 Contents 7 5 1 Control and Status 54 7 5 2 Object 6069h Velocity Sensor Actual Value 55 7 5 8 Object 606Bh Velocity Demand Value 55 7 5 4 Object 606Ch Velocity Actual 55 7 5 5 Object 60FFh Target 56 7 6 PROFILE TORQUE MODE OBJECTS FOR DRIVE CONTROL 56 7 6 1 Control and Status 56 7 6 2 Object 6071h Target Torqu e ce creen 57 7 6 3 Object 6077h Torque Actual 57 7 6 4 Object 6087h Torque SIOpe 57 7 6 5 Object 6088h Torque Profile 57 8 OPERATION IN CANOPEN NETWORK MASTER 59 8 1 ENABLING OF THE MASTER CANOPEN FUNCTION nennen nnns nnnm 59 8 2 CHARACTERISTICS OF THE CANOPEN MASTER
3. Index 1018h Name dentity object Object Record Type dentity Sub index 0 Description Number of the last sub index Access RO PDO Mapping No Range UNSIGNED8 Default value 4 Sub index 1 Description Vendor ID Access RO PDO Mapping No Range UNSIGNED32 Default value 0000 0123h Sub index 2 Description Product code Access RO PDO Mapping No Range UNSIGNED32 Default value 0000 0700h Sub index 3 Description Revision number Access RO PDO Mapping No Range UNSIGNED32 Default value According to the equipment firmware version Sub index 4 Description Serial number Access RO PDO Mapping No Range UNSIGNED32 Default value Different for every SCA06 The vendor ID is the number that identifies the manufacturer at the CiA The product code is defined by the manufacturer according to the type of product The revision number represents the equipment firmware version The sub index 4 is a unique serial number for each servo drive SCAO6 in CANopen network 6 2 SERVICE DATA OBJECTS SDOS The SDOs are responsible for the direct access to the object dictionary of a specific device in the network They are used for the configuration and therefore have low priority since they do not have to be used for communicating data necessary for the device operation There are two types of SDOs client and server Basically the communication initiates with the client usually the master of the network making a read uploa
4. Number of Fraction of revolution revolution 16MSB 16LSB Index 607Ah Name Target position Object VAR Type INTEGER32 Sub index 0 Access rw Mappable Yes Range INTEGERS2 Default Value 0000 0000h 7 4 3 Object 6081h Profile Velocity It allows programming the speed normally reached at the end of the acceleration ramp during a movement profile The value set in this object must be between 0 and 9999 rpm Index 6081h Name Profile Velocity Object VAR Type UNSIGNED32 Sub index 0 Access nw Mappable Yes Range UNSIGNED32 Default Value 0000 0000h 7 4 4 Object 6083h Profile Acceleration It allows programming the acceleration ramp until the motor shaft reaches the programmed speed The scale used is the ms krpm scale and the values must be between 1 and 32767 Index 6083h Name Profile Acceleration Object VAR Type UNSIGNED32 SCAO6 53 Description of the Objects for Drives Sub index 0 Access nw Mappable Yes Range UNSIGNED32 Default Value 0000 0001h 7 4 5 Object 6084h Profile Deceleration It allows programming the acceleration ramp until the motor shaft reaches the zero speed The scale used in this object is the same as that of the object 6083h Index 6084h Name Profile deceleration Object VAR Type UNSIGNED32 Sub index 0 Access rw Map
5. 16 P0075 CANOPEN COMMUNICATION 5 5 44 04 16 P0076 CANOPEN NODE 5 6 222 1 1 1 1 1 333311 311 nnmnnn a 16 P0202 MODE OF i 17 P0662 ACTION FOR COMMUNICATION ERROR 17 P0700 erii aae ccn cca ai e i lH e HS OE E E D ER 18 P0701 CAN ADDRESS YN o KR i RE KR M DTE E CR RR 18 P0702 BAUD ccn c ROC ai 18 P0703 BUS OFF khu v asus Sa QU RE RUE NRW o VOU Rd an anna ad ERR USES OR MEER RENE 19 P0704 FOLLOW 44 rcc cn i c a D HC cn E OR RE LR 19 SCAO06 3 Contents P0705 COB ID FOLLOW e X 19 P0706 FOLLOW PERIOD uessa AAAA ARR CE EN oU GE KR EE AAAA AANRAAI 20 4 2 FOLLOW FUNCTION VIA 20 4 2 1 Follow Programmed by 20 4 2 2 Follow Programmed
6. annnm nnmnnn na 59 8 3 OPERATION OF THE 5 1 1111 59 8 4 BLOCKS FOR THE CANOPEN 60 8 4 1 CANopen SDO Data Reading Writing via SDO 60 9 SYSTEM MARKERS FOR eere nennen nnn n nnn nan n nnne nana nhan 62 9 1 STATUS READING 5 nennen nnne sn nn nnn h sana nnns sana nnns ss sn nnns sana nnn 62 9 2 COMMAND WRITING 62 10 FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION 64 A133 F33 CAN INTERFACE WITHOUT POWER 64 134 34 BUS OFF 64 A135 F35 NODE 64 SCAO06 5 About the Manual ABOUT THE MANUAL This manual provides the necessary information for the operation of the SCAO6 frequency inverter using the CANopen protocol This manual must be used together with the SCAO6 user manual ABBREVIATIONS AND DEFINITIONS CAN Controller Area Network CiA CAN in Automation COB Communicati
7. Sub index 0 Description Number of the last sub index Access PDO Mapping No Range UNSIGNED8 Default value 2 Sub index 1 Description COB ID used by the PDO Access rw PDO Mapping No Range UNSIGNED32 Default value 1400h 200h Node ID 1401h 300h Node ID 1402h 400h Node ID 1403h 500h Node ID 1404h 1407h 0 Sub index 2 Description Transmission Type Access rw PDO Mapping No Range UNSIGNED8 Default value 254 The sub index 1 contains the receive PDO COB ID Every time a message is sent to the network this object will read the COB ID of that message anad if it is equal to the value of this field the message will be received by the device This field is formed by an UNSIGNED32 with the following structure Table 6 5 COB ID description Description 31 0 PDO is enabled 1 PDO is disabled 28 RR permitted O Identfersze 11 bits 28 11 0 Notusd awaysO0 11 bit COB ID The bit 31 allows enabling or disabling the PDO The bits 29 and 30 must be kept in O zero they indicate respectively that the PDO accepts remote frames RTR frames and that it uses an 11 bit identifier Since the SCAO6 frequency inverter does not use 29 bit identifiers the bits from 28 to 11 must be kept O zero whereas the bits from 10 to O zero are used to configure the COB ID for the PDO The sub index 2 indicates the transm
8. 10 FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION A133 F33 CAN INTERFACE WITHOUT POWER SUPPLY Description It indicates that the CAN interface does not have power supply between the pins 1 and 5 of the connector Actuation In order that it be possible to send and receive telegrams through the CAN interface it is necessary to supply external power to the interface circuit If the CAN interface is connected to the power supply and the absence of power is detected the alarm A133 or the fault F33 depending on the P0662 programming will be signalized through the HMI If the circuit power supply is reestablished the CAN communication will be reinitiated In case of alarms the alarm indication will also be removed from the HMI Possible Causes Correction Measure the voltage between the pins 1 and 5 of the CAN interface connector Verify if the power supply cables have not been changed or inverted Make sure there is no contact problem in the cable or in the CAN interface connector A134 F34 BUS OFF Description The bus offerror in the CAN interface has been detected Actuation If the number of reception or transmission errors detected by the CAN interface is too high the CAN controller can be taken to the bus offstate where it interrupts the communication and disables the CAN interface In this case the alarm A134 or the fault F34 depending on the P0662 programming will be signal
9. The CAN 2 0 specification defines two data frame types standard 11 bit and extended 29 bit For this implementation only the standard frames are accepted SCAO6 7 Introduction to the CANopen Communication 1 1 5 CAN and CANopen Only the definition of how to detect errors create and transmit a frame are not enough to define a meaning for the data transmitted via the network It is necessary to have a specification that indicates how the identifier and the data must be assembled and how the information must be exchanged Thus the network elements can interpret the transmitted data correctly In that sense the CANopen specification defines exactly how to exchange data among the devices and how every one must interpret these data There are several other protocols based on CAN as DeviceNet CANopen 1939 etc which use CAN frames for the communication However those protocols cannot be used together in the same network 1 2 NETWORK CHARACTERISTICS Because of using a CAN bus as telegram transmission means all the CANopen network devices have the same right to access the network where the identifier priority is responsible for solving conflict problems when simultaneous access occurs This brings the benefit of making direct communication between slaves of the network possible besides the fact that data can be made available in a more optimized manner without the need of a master that controls all the communic
10. 26 6 1 2 Object 1001h Error Register thus nda itane Rana aaa Red sense 26 6 1 3 Object 1018h Identity Object 27 6 2 SERVICE DATA OBJECTS SDOS ws sisevvesesteccesesieecssesteevesesteecesnstercestenersvsnsneevessctersssastercesncnersssecners 27 6 2 1 Object 1200h SDO Server REN X Ta and 28 6 2 2 SDOS cias ssa a 28 6 3 PROCESS DATA OBJECTS PDOS wssicisisscicccsanseisssancecscsancessesnncecessancessssancerscsancaisesnncessssanctivessccevs 29 6 3 1 PDO Mapping 2 1 saagnaueaa ceases saagpudacesendua suapnuuacaceeacesaaawe 30 6 3 2 5 30 6 33 Transmit 8 32 6 4 SYNCHRONIZATION OBJECT SYNC 35 6 5 NETWORK MANAGEMENT 35 6 5 1 Slave State Control re 35 6 5 2 Error Control Node Guarding RR 37 6 5 3 Error Control 38 6 6 INITIALIZ
11. Index Sub index Size of the object 16 bits 8 bits 8 bits For instance analyzing the receive PDO standard mapping we have Sub index O 2 the RPDO has two mapped objects Sub index 1 2063 0010h the first mapped object has an index equal to 2063h sub index O zero and a size of 16 bits This object corresponds to the inverter parameter P0099 which represents the drive enabling command Sub index 2 2079 0010h the second mapped object has an index equal to 2079h sub index O zero and a size of 16 bits This object corresponds to the inverter parameter PO121 which represents the speed reference It is possible to modify this mapping by changing the quantity or the number of mapped objects Remembering that only 84 objects or 8 bytes can be mapped at maximum NOTE 7 order to change the mapped objects in a PDO it is first necessary to write the value O zero the sub index 0 zero In that way the values of the sub indexes 1 to 8 can be changed After the desired mapping has been done one must write again in the sub index O zero the number of objects that have been mapped enabling again the PDO In order to speed up the updating of data PDO the values received with these objects are not saved in the inverter non volatile memory Therefore after switching off or resetting the equipment the objects modified by an RPDO get back to their default value not forget th
12. NOTE The communication status and the status of each slave can be observed in system markers 8 4 BLOCKS FOR THE CANOPEN MASTER In addition to the communication objects and the configurations made on the WSCAN software blocks for monitoring and sending commands are also available They can be used during the preparation of the ladder application for the servo drive SCAO6 It is not necessary to use these blocks during the equipment operation but they provides more flexibility and simplify the communication troubleshooting during the operation of the servo drive SCAO6 8 4 1 CANopen SDO Data Reading Writing via SDO Block for data reading or writing via SDO of a remote slave It allows reading or writing objects in network with Size up to 4 bytes Wnte DESCRIPTION It consists of one EN input one ENO output and 9 arguments which are ADDRESS Address of the CANopen network node FUNC Function reading or writing INDEX Object index which you wish to read or write decimal SUB IND Object sub index which you wish to read or write decimal SIZE Object size which you wish to read or write bytes TIMEOUT Waiting time in ms to read or write the value RESULT Result of the execution of the block 0 successfully executed 1 card cannot execute the function example master not enabled 2 timeout in the waiting for the response of the master 3 slave returned error OUT HIGH Most significant va
13. SCAO6 9 Introduction to the CANopen Communication 10 EDS FILE Table 1 2 COB ID for the different objects code 10 7 09 Node Guarding Heartbeat Resultant COB ID fonetion address 897 1023 3811 3FFh 1025 1151 401h 47Fh 1153 1279 481h 4FFh 1281 1407 501h 57Fh 1409 1535 581h 5FFh 1537 1663 601h 67Fh 1793 1919 701h 77Fh Each device in a CANopen network has an EDS configuration file that contains information about the operation of the device in the CANopen network as well as the description of all the communication objects available In general this file is used by a master or by the configuration software for programming of devices present in the CANopen Network The EDS configuration file for the SCAO6 is supplied together with the product and it can also be obtained from the website http www weg net It is necessary to observe the inverter software version in order to use an EDS file that be compatible with that version SCAO6 10 CANopen Communication Interface 2 CANOPEN COMMUNICATION INTERFACE The standard SCAO6 servo drive features a CAN interface It can be used for communication in CANopen protocol as a network master or slave The characteristics of this interface are described below 2 4 CHARACTERISTICS OF THE CAN INTERFACE Figure 2 1 Detail of the CAN connector in the
14. 4 Ladder Mode 5 CANopen 6 Profibus DP Properties CFG Description This parameter defines the mode of operation of the SCAO6 servo drive For the equipment to be controlled by the CANopen network it is necessary to use mode 5 CANopen If this mode is programmed commands and references for the product operation will be provided via CANopen network using the objects defined on the object dictionary Among the main objects used to control and monitor the equipment we can mention 6040h ControlWord 6041h StatusWord 6060h Mode of operation 6063h Position actual value 607Ah Target position 60FFh Target velocity 6071h Target Torque The detailed description of these and other objects is found in 7 For details about the modes of operation from 1 to 4 refer to the user s manual of the SCAO6 servo drive NOTE Controlling the equipment through the objects for drives is only possible for mode of operation 5 but the CANopen communication can be used in any mode of operation the SCAO6 operating as slave of the Follow function mode of operation 4 ladder must be programmed and the GearlnPos block must be used P0662 ACTION FOR COMMUNICATION ERROR Range Cause Alarm Default 0 1 Cause Fault 2 Cause alarm and execute STOP 3 Cause alarm and disable drive Properties CFG Description This parameter allows selecting which action must be ex
15. CAN Enabled CAN interface is active and without errors CAN controller has reached the warning state CAN controller has reached the error passive state 5 Bus Off CAN controller has reached the bus offstate 6 No Bus Power CAN interface does not have power supply between the pins 1 and 5 of the connector P0071 RECEIVED CAN TELEGRAM COUNTER Range Oto 65535 Default Properties RO Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is received It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0072 TRANSMITTED CAN TELEGRAM COUNTER Range Oto 65535 Default Properties RO Description This parameter works as a cyclic counter that is incremented every time a CAN telegram is transmitted It informs the operator if the device is being able to communicate with the network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached SCAO6 15 Programming P0073 BUS OFF ERROR COUNTER Range 0 to 65535 Default Properties RO Description It is a cyclic counter that indicates the number of times the device entered the bus off state in the CAN network This counter is reset every time the device is switched off a reset is p
16. 1015h Name COB ID SYNC Object VAR Type UNSIGNED32 Access rw PDO Mapping No Range UNSIGNED32 Default value 80h NOTE 7 The period of the SYNC telegrams must be programmed the producer according to the transmission rate and the number of synchronous PDOs to be transmitted There must be enough time for the transmission of these objects and it is also recommended that there is a tolerance to make it possible the transmission of asynchronous messages such as EMCY asynchronous PDOs and SDOs 6 5 NETWORK MANAGEMENT NMT The network management object is responsible for a series of services that control the communication of the device a CANopen network For the SCAO6 the services of node control and error control are available using Node Guarding or Heartbeat 6 5 1 Slave State Control With respect to the communication a CANopen network device can be described by the following state machine SCAO6 35 Communication Objects Description 1 6 7 Initialization Pre operational Operational Figure 6 4 CANopen node state diagram Table 6 7 Transitions Description Description The device is switched on and initiates the initialization automatic Initialization concluded it goes to the preoperational state automatic It receives the Start Node command for entering the operational state It receives the Enter Pre Operational command and
17. 32 bit code that describes the type of object and its functionality Index 1000h Name Device type Object VAR Type UNSIGNED32 Access Range UNSIGNED32 Default value 0002 0192h This code can be divided into two parts 16 low order bits describing the type of profile that the device uses and 16 high order bits indicating a specific function according to the specified profile 6 1 2 Object 1001h Error Register This object indicates whether or not an error in the device occurred The type of error registered for the follows what is described in the table 6 1 Index 1001h Name Error register Object VAR Type UNSIGNED8 Access ro PDO Mapping Yes Range UNSIGNED8 Default value 0 Table 6 1 Structure of the object Error Register Bit Meaning 0 Generic error Current Voltage Temperature Communication Reserved always 0 Reserved always 0 Specific of the manufacturer NIDIO If the device presents any error the equivalent bit must be activated The first bit generic error must be activated with any error condition SCAO6 26 Communication Objects Description 6 13 Object 1018h Identity Object It brings general information about the device
18. 4 Object 606Ch Velocity Actual Value It indicates the motor speed The value provided by this object is given in the internal scale of the SCAO6 where Ox7FFF FFFF gt 10 000 rpm SCAO6 55 Description of the Objects for Drives Index 606Ch Name Velocity actual value Object VAR Type INTEGER32 Sub index 0 Access Mappable Yes Range INTERGER32 Default Value 7 5 5 Object 60FFh Target Velocity Allows programming the speed reference for the servo drive SCAO6 in speed mode The value set in this object must observe the internal scale of the SCAO6 where Ox7FFF FFFF gt 10 000 rpm and Ox8000 0000 gt 10 000 rpm Index 60FFh Name Target velocity Object VAR Type INTERGER32 Sub index 0 Access rw Mappable Yes Range INTERGER32 Default Value 0000 0000h 7 6 PROFILE TORQUE MODE OBJECTS FOR DRIVE CONTROL This mode allows controlling the by means of a torque reference received by the CANopen network Those functions are executed based on a set of objects for the configuration of this mode of operation 7 6 1 Control and Status Bits Bits 4 5 8 of the control word object 6040h Controlword have the following functions in the speed mode Table 7 15 Torque Mode definition of the bits 4 5 6 and 8 Bit Name Value Description 4 6 Reserved Halt O0 Executes movement Stops sh
19. 65536 increments Index 6063h Name Position actual value Object VAR Type INTEGER32 Sub index 0 Access ro Mappable Yes Range 2 Default Value E The value of this object always represents the shaft position in a single revolution only The number of revolutions is not controlled by this object 7 3 2 Object 6064h Position Actual Value in User Units It represents the actual position of the motor shaft The value of this object can be transformed from internal units to user defined values according to the settings of the objects 608Fh 6091h and 6092h as per Table 7 8 Index 6064h Name Position actual value Object VAR Type 2 Sub index 0 Access Mappable Yes Range 2 Default Value x The value of this object always represents the shaft position in a single revolution only The number of revolutions is not controlled by this object Table 7 8 Programming of the Factor Group objects 608Fh 608Fh 6091h 6091h 6092h 6092h nee sub index 1 sub index 2 sub index 1 sub index 2 sub index 1 sub index 2 GSE po 0 qo SCAO6 49 Description of the Objects for Drives 7 4 PROFILE POSITION MODE OBJECTS FOR DRIVE CONTROL This mode of operation allows the control of the SCAO6 servo drive by adjusting of the position set point which can be executed
20. are called Node Guarding for the master and Life Guarding for the slave CANopen Periodic Request Response Communication Failure Request Error Timeout waiting for the response Error Timeout waiting for the request Figure 6 5 Error control service Node Guarding There are two objects of the dictionary for the configuration of the error detection times for the Node Guarding service Index 100Ch Name Guard Time Object VAR Type UNSIGNED16 Access rw PDO Mapping No Range UNSIGNED16 Default value 0 100Dh Name Life Time Factor Object VAR Type UNSIGNED8 SCAO6 37 Communication Objects Description Access rw PDO Mapping No Range UNSIGNED8 Default value 0 100Ch object allows programming the time necessary in milliseconds for fault occurrence being detected in case the SCAO6 does not receive any telegram from the master The 100Dh object indicates how many faults in sequence are necessary until it be considered that there was really a communication error Therefore the multiplication of these two values will result in the total necessary time for the communication error detection using this object The value O zero disables this function Once configured the SCAO6 starts counting these times starting from the first Mode Guarding telegram received from the network master The m
21. as during message exchanges This index is used to identify the object being transmitted 1 6 DATA TRANSMISSION The transmission of numerical data via CANopen telegrams is done using a hexadecimal representation of the number and sending the least significant data byte first E g The transmission of a 32 bit integer with sign 12345678h 305419896 decimal plus a 16 bit integer with sign FFOOh 256 decimal CAN frame Identifier 6 data bytes 11 bits 32 bit integer 16 bit integer SCAO6 8 Introduction to the CANopen Communication 1 7 COMMUNICATION OBJECTS COB There is a specific set of objects that are responsible for the communication among the network devices Those objects are divided according to the type of data and the way they are sent or received by a device The Supports the following communication objects COB Table 1 1 Types of Communication Objects COB Type of object Service Data Object SDO are objects responsible for the direct access to the object dictionary of a device By means of messages SDO using 500 it is possible to indicate explicitly by the object index what data is being handled There are two SDO types Client SDO responsible for doing a read or write request to a network device and the Server SDO responsible for taking care of that request Since SDO are usually used for the configuration of a network node they have less priority than other types
22. completed after the acknowledgement of the server to the request of the client If any error is detected during telegram exchanges for instance no answer from the server the client will be able to abort the process by means of a warning message with the command code equal to 80h NOTE 7 When the SDO is used for writing in objects that represent the SCAO6 parameters objects starting from the index 2000h this value is saved in the nonvolatile frequency inverter memory Therefore the configured values are not lost after the equipment is switched off or reset For all the other objects these values are not saved automatically so that it is necessary to rewrite the desired values E g A client SDO requests for a SCAO6 at address 1 the reading of the object identified by the index 2000h sub index zero which represents an 16 bit integer The master telegram has the following format Index Sub index Data 40h 20h The SCAO6 responds to the request indicating that the value of the referred object is equal to 9995 Index Sub index Data 4Bh 20h 00h 6 3 PROCESS DATA OBJECTS PDOS The PDOs are used to send and receive data used during the device operation which must often be transmitted in a fast and efficient manner Therefore they have a higher priority than the SDOs In the PDOs only data are transmitted in the telegram index and sub index are omitted and in this way it is possible to do a more efficient t
23. detecting a bus off error at the CAN interface Table 4 3 Options for the parameter 703 Description O Manual Reset If bus off occurs the A134 F34 alarm will be indicated on the HMI the action programmed in parameter PO662 will be executed and the communication will be disabled In order that the inverter communicates again through the CAN interface it will be necessary to cycle the power of the inverter 12 Automatic Reset If bus off occurs the communication will be reinitiated automatically and the error will be ignored In this case the alarm will not be indicated on the HMI and the inverter will not execute the action programmed in P0662 P0704 FOLLOW Value O Disabled Default 0 Range 1 Real Follow Master 2 Virtual Follow Master 3 Follow Slave Properties CFG Description It allows enabling the Follow function via CANopen besides defining if the equipment will be Follow master producer or slave consumer Table 4 1 Options for parameter 704 Option Description O Disabed O Disabled It does not send Follow message 1 Real Follow Master It sends Follow telegrams containing position and speed of the real axis 2 Virtual Follow It sends Follow telegrams containing position and speed of the virtual Master axis 3 Follow Slave It receives Follow telegrams It requires the block to execute the Follow function Once programmed as master or slave t
24. following two methods single set point Set of set points Regardless of the used method the following objects must be configured 0 6081 Profile Velocity 0 6083 Profile Acceleration 0 6084 Profile Deceleration 0x6086 Motion Profile Type Ox607A Target Position After adjusting the speed acceleration and set point the following procedure must be executed Enable the drive by writing 15 on the object 0x6041 ControlWord Write on the bits 9 8 5 and 4 of the object 0x6041 ControlWord according to Table 7 9 and Table 7 10 The execution status of the positioning can be checked in the object 0x6040 StatusWord according to Table 7 11 The SET POINT ACKNOWLEDGE bit on the status object StatusWord 6040h will be set indicating that a new set point was received If the set point is accepted the bit is reset When the set point is reached the TRAGET REACHED bit on the status object will be set Figure 7 3 shows an example of set point writing Actual speed New set point bit 4 t Target position t set point Set point t acknowledge bit 12 t Target reached bit 10 t Figure 7 3 Adjustment of the position set point Source IEC 61800 7 201 Single set point The single set point method is used when you want to execute a new set point immediately Figure 7 4 illustrates the method SCAO6 50 Description of the Objects for Drives position set poi
25. lower part of the product Interface insulated and with differential signal providing more robustness against electromagnetic interference External power supply of 24 allows the connection of up to 64 devices to the same segment More devices can be connected by using repeaters Maximum bus length of 1000 meters 22 ASSIGNMENT OF THE CONNECTOR The CAN interface has a 5 way plug in connector x4 with the following pin assignment 172137415 HERE Table 2 1 Pin assignment of X4 connector for CAN interface Pin Name Function Negative pole of the power supply Communication signal CAN L Cable shield Communication signal CAN Positive pole of the power supply 2 3 SUPPLY The CAN interfaces require an external power supply between pins 1 and 5 of the network connector The data for individual consumption and input voltage are shown in the following table Table 2 2 Characteristics of the supply for the CAN interface Power Supply VDC Minimum Current mA Typical 3 The maximum number of devices that can be connected to the network also depends on the protocol used SCAO6 11 meg CANopen Communication Interface 2 4 INDICATIONS The alarm fault and status indications of the CAN open communication for the SCAO6 servo drive are made trough the HMI and parameters of the product SCAO6 12 CANopen Network Installation 3 CANO
26. of message Process Data Object PDO are used for accessing equipment data without the need of indicating explicitly which dictionary object is PDO being accessed Therefore it is necessary to configure previously which data the PDO will be transmitting data mapping There are also two types of PDO Receive PDO and Transmit PDO They are usually utilized for transmission and reception of data used in the device operation and for that reason they have higher priority than the SDO Emergency Object This object is responsible for sending messages to indicate the occurrence of errors in the device When an error EMCY occurs in a specific device EMCY producer it can send a message to the network In the case that any network device be monitoring that message EMCY consumer it can be programmed so that an action be taken disabling the other devices error reset etc Synchronization Object In the CANopen network it is possible to program a device SYNC producer to send periodically a SYNC synchronization message for all the network devices Those devices SYNC consumers will then be able for instance to send a certain datum that needs to be made available periodically Network Management Every CANopen network needs a master that controls the other devices slaves in the network This master will NMT be responsible for a set of services that control the slave communications and their state in the CANopen network The slaves are responsib
27. speed Position encoder resolution encoder increments motor revolutions Index 608Fh Name Position encoder resolution Object ARRAY Type UNSIGNED32 Sub index 0 Description Number of the last sub index Access ro Mappable No Range UNSIGNED8 Default Value 02h Sub index 1 Description Encoder increments Access rw Mappable No Range UNSIGNED32 Default Value FFh Sub index 2 Description Motor revolutions Access rw Mappable No Range UNSIGNED32 Default Value Oth Possible values for the sub index 1 Encoder increments Table 7 6 Values for the Encoder Increments Sub index Mode of operation egrees Minutes Seconds Internal unit 65536 increments by revolution The sub index 2 Motor revolutions only accepts value equal to 1 7 2 2 gt Object 6091h Gear Ratio This object indicates the configuration and number of motor shaft revolutions and number of driving shaft revolutions that is it defines the gear ratio The gear ration is defined by the following formula SCAO6 47 ueg Description of the Objects for Drives Gear ratio motor shaft revolutions driving shaft revolutions Index 6091h Name Gear ratio Object ARRAY Type UNSIGNED32 Sub index 0 Description Number of the last sub index Access Mappable No Range UNSIGNE
28. such as enabling commands device status reference etc Information on the device configuration are not accessible through PDOs and if it is necessary to access them one must use the SDOs For SCAO6 specific objects 2000h 5FFFh the next table presents some PDO mapping objects Read only parameters ro can be used only by transmit PDOs whereas the other parameters can be used only by receive PDOs The SCAO6 EDS file brings the list of all the objects available for the inverter informing whether the object can be mapped or not Table 6 4 Examples of PDO mapping parameters _ Index Object _ Access P0002 Motor speed 003 Motor current P0004 DC Link Voltage Ud P0119 Current Reference P0121 Speed Reference The EDS file brings the list of all available objects informing whether the object can be mapped or not 6 3 2 Receive PDOs The receive PDOs or RPDOs are responsible for receiving data that other devices send to the CANopen network The servo drive SCAO6 working in slave mode has 8 receive PDOs each one being able to receive up to 8 bytes Each RPDO has two parameters for its configuration a PDO COMM PARAMETER PDO_MAPPING as described next PDO_COMM_PARAMETER Index 1400h up to 1407h Name Receive PDO communication parameter Object Record Type PDO COMM PARAMETER SCAO6 30 Communication Objects Description
29. the protocol address and baud rate as well as to perform the necessary installation for the communication cables power supply termination resistors etc Master For the master or producer it is necessary to enable the Follow function select the reference shaft and program the COB ID and the transmission period Slaves On slaves or consumers you must enable the Follow function in the slave mode and program the COB ID equal to that programmed for the master For the slaves to receive and use these speed and position values it is also necessary that they be programmed for the Ladder mode P0204 4 and the MC GearlnPos block must be used More details about the configuration of the GearlnPos block in the Help of the WLP software 4 2 2 Follow Programmed by the WSCAN Software Another option for programming the Follow function is trough the WSCAN software In this case the parameters P0704 705 and P0706 must not be programmed and the function is enabled through the SCAO6 servo drive configuration window in the WSCAN software SCAO6 20 Programming Master Cunifaurdiun Node Cuniiduratiun iuda NMT PROD sync 500 NMT NODE GUARDING PROD HEARTBEAT FOLLOW PROD HEARTBEAT FOLLOW FOLLOW Disable FOLLOW Disable Producer Enable Real Axis Producer Enable Virtual Axis Consumer Enable COB ID hexa 0202 COB ID hexa 0202 Producer Enable Re
30. us to be transmitted As the baud rate gets slower the transmission time increases proportionally If the Follow function is used on the network only you can program the shortest possible period since there will not be other transmitted telegrams on the network But if the CANopen master function is used in parallel it is important that there is available time to transmit the other CANopen telegrams As a recommendation when the CANopen master is used the Follow telegrams must take about 10 to 2096 of the bus time For further details about the operation of the Follow function refer to item 4 2 42 FOLLOW FUNCTION VIA CANOPEN The Follow function allows the position synchronism between two or more servomotors The synchronism is established by sending the telegrams of the PDO type where the Follow master sends position and speed values of the motor which will be used as reference by one or more Follow slaves The Follow function can be programmed by two different sources by parameters or by the WSCAN software 421 Follow Programmed by Parameters If you do not wish to use the CANopen master function available for the SCAO6 servo drive you can program the Follow function only by using parameters In this case parameters PO704 P0705 and P0706 are used and it is necessary to program configure the following elements Network In order to use the Follow function first it is necessary to configure the CANopen interface defining
31. 6 operation mode Index 6061h Name Modes of operation display Object VAR Type INTEGER8 Used parameter Access nw PDO Mapping Yes Range INTEGER8 Default value The value presented at this object follows the same options for object 6060 7 1 5 Objeto 6502h Supported Drive Modes It indicates the modes of operation supported by the drive Each bit represents a mode of operation and the value 1 in bit indicates that the mode of operation is supported 31 15 7 Manufecturer 22 reserved reserved pv vl specific The SCAO6 servo drive features three modes of operation Profile Position mode Profile Velocity mode tq Torque mode Knowing the modes supported on the SCAO6 the value of ODh for this object is defined SCAO6 46 Description of the Objects for Drives Index 6502h Name Supported drive modes Object VAR Type UNSIGNED32 Sub index 0 Access Mappable Yes Range UNSIGNED8 Default Value ODh 7 2 FACTOR GROUP OBJECTS FOR UNIT CONVERSION This object group allows converting units for objects that represent position values These values will have their Scale and dimension defined according to the programmed notation and dimension values as described below 7 2 1 Object 608Fh Position Encoder Resolution This object defines the increment of the encoder according to the motor
32. ATION PROCEDURE iivsecvcictcccccsccsncesscnsterteconscvedsnceressncnessvsnsterseceneredensuersesncnet 40 DESCRIPTION OF THE OBJECTS FOR 5 41 71 DEVICE CONTROL OBJECTS FOR CONTROLLING THE 42 7 1 1 Object 6040h ControlWord x sisceiceecceceescenneecnsteneessenneneenscereensennteeseueedsusecacnecseterestaneacneeseneeesan 44 7 1 2 Object 6041h Status wor nre En ou 45 7 1 3 Object 6060h Modes of 46 7 1 4 Object 6061h Modes of Operation 46 7 1 5 Objeto 6502h Supported Drive 46 7 2 FACTOR GROUP OBJECTS FOR UNIT CONVERSION 47 7 2 1 Object 608Fh Position Encoder 47 7 2 2 Object 6091h Gear 47 7 2 3 Object 6092h Feed
33. D8 Default Value 02h Sub index 1 Description Motor revolutions Access rw Mappable No Range UNSIGNED32 Default Value Oth Sub index 2 Description Shaft revolutions Access rw Mappable No Range UNSIGNED32 Default Value Oth The only possible value for the sub index 1 and sub index 2 is 1 7 2 3 Object 6092h Feed Constant This object indicates the distance per one revolution of the motor shaft Index 6092h Name Feed constant Object ARRAY Type UNSIGNED32 Sub index 0 Description Number of the last sub index Access Mappable No Range UNSIGNED8 Default Value 02h Sub index 1 Description Feed Access rw Mappable No Range UNSIGNED32 Default Value FFh Sub index 2 Description Shaft revolutions Access rw Mappable No Range UNSIGNED32 Default Value Oth Possible values for the sub index 1 Feed Description of the Objects for Drives Table 7 7 Values for the Feed Sub index Mode of operation Degrees Internal unit 65536 increments by revolution The sub index 2 Shaft revolutions only accepts value equal to 1 7 3 POSITION CONTROL FUNCTION POSITION CONTROLLER This object group is used to describe the operation of the position controller in closed loop 7 3 1 Object 6063h Position Actual Value It represents the actual position of the motor shaft in increments A complete revolution represents
34. IR RUE ERE HR Va FE OR EE S RT YRENR RC MAR ER EN RENE SONNEN ERA spanned 7 1 1 4 Error Control iaces iii acus RR QR A RT RR i I aai 7 1 1 5 8 1 2 NETWORK CHARACTERISTICS ccceeececccsnsnnseeneececceennsaseeneesecenennsnseeneeceaennsasseseeeeecaensenssenses 8 1 3 PHYSICAL LAYER rin nuscs nau nan ka ns ani CR RE E GR 8 1 4 ADDRESS IN THE CANOPEN NETWORK 8 1 5 ACCESS TO THE DATA iris erras inni iio ioo ic nn acc Gi el RC Ol n 8 1 6 DATATRANSMISSIQN iasune vani kr vu viui hA Rr RB cu i n C Rt ERR RD E 8 1 7 COMMUNICATION OBJECTS nunnu neneman nnmnnn nnnm nan 9 18 GOB ID cte ri enn nano nani naa Cv aa na US ERE RES 9 1 9 EDS FILE nu aai n Rr a E 6 SR aa a RR D RR a ad B E E A RE RD 10 2 CANOPEN COMMUNICATION 11 2 1 CHARACTERISTICS OF THE CAN 42002 4 0 11 2 2 ASSIGNMENT OF THE CONNECTOR 4 10000 11 2 9 POWER SUPPLY DT D TC RN D aa 11 24 ofer v
35. Motors Automation Energy Transmission 8 Distribution Coatings CANopen SCAO6 User s Manual BEEN San CANopen User s Manual Series Language English Document Number 10001615296 01 Publication Date 08 2014 Contents CONTENTS CONTENTS 3 6 ABBREVIATIONS AND assa aa sa sm D seas uasa aa a s nanmanna aua 6 NUMERICAL REPRESENTATION ce Iss 6 DOGUMENTS iiia in ka trn ga ada i a Ee nu HO Ri i C RR RR E RA RR I C CR ER CO RR D ES ER 6 1 INTRODUCTION TO THE CANOPEN 7 1 1 GAN 7 1 1 1 Data Frame i n cc i TR Ri E RR ET Rc 7 1 1 2 Remote KC NOU UR RR RR ERE SERI XO READ RON UN NINE do ni cnd ca cas adiado 7 1 1 3 Access to the NetWOFK RE
36. PEN NETWORK INSTALLATION The CANopen network such as several industrial communication networks for being many times applied in aggressive environments with high exposure to electromagnetic interference requires that certain precautions be taken in order to guarantee a low communication error rate during its operation Recommendations to perform the connection of the product in this network are presented next 31 BAUD RATE Equipments with CANopen interface generally allow the configuration of the desired baud rate ranging from 10Kbit s to 1Mbit s The baud rate that can be used by equipment depends on the length of the cable used in the installation The next table shows the baud rates and the maximum cable length that can be used in the installation according to the recommendation Table 3 1 Supported baud rates and installation size Cable Length 10 Kbit s 1000 m All network equipment must be programmed to use the same communication baud rate At the SCAO6 servo drive the baud rate configuration is done through the 3 2 ADDRESS IN THE CANOPEN NETWORK Each CANopen network device must have an address or Node ID and may range from 1 to 127 This address must be unique for each equipment For SCAO6 servo drive the address configuration is done through the 3 3 TERMINATION RESISTOR The CAN bus line must be terminated with resistors to avoid line reflection which can impair the signal and cause communi
37. Range UNSIGNED16 Sub index 2 Description Digital Inputs Slot 1 Access PDO Mapping Yes Range UNSIGNED16 Sub index 3 Description Digital Inputs Slot 2 Access PDO Mapping Yes Range UNSIGNED 16 Sub index 4 Description Digital Inputs Slot 3 Access ro PDO Mapping Yes Range UNSIGNED16 5 4 2 Objeto 3001h Digital Outputs This object allows writing the digital output values to SCAO6 servo drive Index 3001h Name Digital Outputs Object Array Type UNSIGNED8 Sub index 0 Description Number of Entries Access PDO Mapping No Range UNSIGNED16 SCAO6 24 Object Dictionary Sub index 1 Description Standard Digital Outputs Access rw PDO Mapping Yes Range UNSIGNED8 Sub index 2 Description Digital Outputs Slot 1 Access rw PDO Mapping Yes Range UNSIGNED8 Sub index 3 Description Digital Outputs Slot 2 Access rw PDO Mapping Yes Range UNSIGNED8 Sub index 4 Description Digital Outputs Slot 3 Access rw PDO Mapping Yes Range UNSIGNED8 5 4 3 Objects 3002h to 3009h Follow Objects 3002h to 3009h are used for Follow function 5 5 DEVICE PROFILE COMMON OBJECTS FOR DRIVES The CANopen documentation also includes suggestions for standardization of certain device types The SCA06 servo drive follows the DPS 402 Device Profile Drives and Motion Control description Th
38. aft For the StatusWord object the following bits are used Bit 10 Target reached Bit 12 Reserved Bit 13 Reserved Table 7 16 Torque Mode definition of bits 10 12 and13 Bit Value Definition 10 0 Torque reference not reached Torque reference reached 12 0 Reserved 13 o Reserved SCAO6 56 Description of the Objects for Drives 7 6 2 Object 6071h Target Torque It allows programming the torque reference for the servo drive SCAO6 in the torque mode The scale used to write on this object is provided in parts per thousand of the motor rated torque Index 6071h Name Target Torque Object VAR Type INTERGER16 Sub index 0 Access nw Mappable Yes Range INTERGER16 Default Value 00008 7 6 3 Object 6077h Torque Actual Value It indicates the actual motor torque The value is provided in part per thousand of the rated motor torque Index 6077h Name Torque actual value Object VAR Type INTERGER16 Sub index 0 Access rw Mappable Yes Range INTERGER16 Default Value 0 7 6 44 Object 6087h Torque Slope It allows programming the rate of torque variation in time torque ramp for the servo drive SCAO6 The scale used is of parts per thousand of the rated motor torque per second Index 6087h Name Torque slope Object VAR Type UNSIGNED32 Sub index 0 Access rw Mappa
39. al Axis Producer Enable Virtual Axis Per odo 2 x100us Period 10 x100us Figure 4 1 Configuration windows for Follow master slave Once programmed during the initialization of the slaves with the Follow function the CANopen network master will program the function by using internal objects of the device The programming is done online and it is not necessary to restart the equipment for the new values to be used Along with the programming of the Follow function you can also program other services for the CANopen network such as PDOs SDOs Node Guarding etc always bearing in mind that the CAN bus occupation time by the Follow telegrams must allow for the use of these other services SCAO6 21 Object Dictionary 5 OBJECT DICTIONARY The object dictionary is a list containing several equipment data which can be accessed via CANopen network An object of this list is identified by means of a 16 bit index and it is based in that list that all the data exchange between devices is performed The CiA DS 301 document defines a set of minimum objects that every CANopen network slave must have The objects available in that list are grouped according to the type of function they execute The objects are arranged in the dictionary in the following manner Table 5 1 Object dictionary groupings Index Objects Description 0001h 025Fh Data type definition 1000h 1FFFh Communication
40. ase of alarms the alarm indication will be removed from the HMI if this error control is enabled again Possible Causes Correction Verify the times programmed in both master and slave for the message exchanging order to avoid problems due to transmission delays and differences in the time counting it is recommended that the values programmed for message exchanging in the master be a little bit shorter than the times programmed for the error detection by the slave Verify if the master is sending the guarding telegrams in the programmed time Verify communication problems that can cause telegram losses or transmission delays SCAO6 65 WEG Equipamentos El tricos S A Jaragu do Sul SC Brasil Fone 55 47 3276 4000 Fax 55 47 3276 4020 S o Paulo SP Brasil Fone 55 11 5053 2300 Fax 55 11 5052 4212 automacaoQweg net www weg net
41. aster telegram is of the remote type not having data bytes The identifier is equal to 7001 Node ID of the destination slave However the slave response telegram has 1 data byte with the following structure bit 6 bit O 7001 Node ID Toggle This telegram has one single data byte This byte contains in the seven least significant bits a value to indicate the slave state 4 stopped 5 operational and 127 preoperational and in the eighth bit a value that must be changed at every telegram sent by the slave toggle bil If the servo drive SCAO6 detects an error using this mechanism it will turn automatically to the preoperational state and indicate alarm A135 on its HMI NOTE 7 This object is active even the stopped state see table 6 8 The value 0 zero in any of these two objects will disable this function after the error detection the service is enabled again then the error indication will be removed from the HMI minimum value accepted by the SCAO6 is 1ms but considering the transmission rate and the number of nodes in the network the times programmed for this function must be consistent so that there is enough time for the transmission of the telegrams and also that the rest of the communication be able to be processed For any every slave only one of the two services Heartbeat or Node Guarding can be enabled 6 5 3 Error Control Heartbeat The e
42. at PDOs can only be received if the SCAO6 is in the operational state 6 33 Transmit PDOs The transmit PDOs or TPDOs as the name says are responsible for transmitting data for the CANopen network The servo drive SCAO6 transmit PDOs each one being able to transmit up to 8 data bytes manner similar to RPDOs each has two parameters for its configuration COMM PARAMETER and a PDO MAPPING AS DESCRIBED NEXT PDO COMM PARAMETER 8 If the object is of the VAR type and does not have sub index the value O zero must be indicated for the sub index SCAO6 32 Communication Objects Description Index 1800h up to 1807h Name Transmit PDO Parameter Object Record Type PDO COMM PARAMETER Sub index 0 Description Number of the last sub index Access PDO Mapping No Range UNSIGNED8 Default value 5 Sub index 1 Description used by the PDO Access rw PDO Mapping No Range UNSIGNED32 Default value 1800h 180h Node ID 1801 280 Node ID 1802h 380h Node ID 1803h 480h Node ID 1804h 1807h 0 Sub index 2 Description Transmission Type Access rw PDO Mapping No Range UNSIGNED8 Default value 254 Sub index 3 Description Time between transmissions Access rw PDO Mapping No Range UNSIGNED16 Default value Sub index 4 Descripti
43. ation performing cyclic access to all the network devices for data updating Another important characteristic is the use of the producer consumer model for data transmission This means that a message that transits in the network does not have a fixed network address as a destination This message has an identifier that indicates what data it is transporting Any element of the network that needs to use that information for its operation logic will be able to consume it therefore one message can be used by several network elements at the same time 1 3 PHYSICAL LAYER The physical medium for signal transmission in a CANopen network is specified by the ISO 11898 standard It defines as transmission bus a pair of twisted wires with differential electrical signal 14 ADDRESS IN THE CANOPEN NETWORK Every CANopen network must have a master responsible for network management services and it can also have a set of up to 127 slaves Each network device can also be called node Each slave is identified in a CANopen network by its address or Node ID which must be unique for each slave and may range from 1 to 127 The address of servo drive SCAO6 is programmed by the parameter PO701 1 5 ACCESS TO THE DATA Each slave of the CANopen network has a list called object dictionary that contains all the data accessible via network Each object of this list is identified with an index which is used during the equipment configuration as well
44. ble 7 4 Drive states indicated through the Statusword __ binary State The other bits indicate a specific condition for the drive 4 Voltage enabled indicates that the drive power section is being fed Bit 7 Warning It is not used for the SCAO6 Bit 9 Remote indicates when the drive is in the remote mode and accepts commands the CANopen network Bit 10 Target reached indicates when the drive is operating at the reference value which depends on the used operation mode It is also set to 1 when the functions Quick stop or Halt are activated 7 It depends on the inverter programming SCAO6 45 Description of the Objects for Drives Bit 11 Internal limit active not is used for the servo drive SCAO6 Bits 12 and 13 Operation mode specific they depend on the drive operation mode 7 1 3 gt Object 6060h Modes of Operation It allows programming the SCAO6 operation mode Index 6060h Name Modes of operation Object VAR Type INTEGER8 Used parameter Access rw PDO Mapping Yes Range INTEGER8 Default value Acceptable values for this object are described in table 7 5 Other values are reserved Table 7 5 Modes of operation for servo drive SCAO6 Modes of Operation 1 Profile Position Mode Profile Velocity Mode Profile Torque Mode 7 1 4 Object 6061h Modes of Operation Display It indicates the SCAO
45. ble Yes Range UNSIGNED32 Default Value 0 7 6 5 Object 6088h Torque Profile Index 6077h Name Torque Profile type Object VAR Type INTERGER16 Sub index 0 Access nw Mappable Yes Range INTERGER16 Default Value FFFFh It indicates the actual motor torque The value is provided in part per thousand of the rated motor torque SCAO6 57 Description of the Objects for Drives Possible values for this object Table 7 17 Values for the Torque Profile Type Sub index Value Definition 00008 Linear ramp of the torque FFFFh No ramp SCAO6 58 meg OPERATION IN CANOPEN NETWORK MASTER MODE 8 OPERATION IN CANOPEN NETWORK MASTER MODE In addition to operating a salve the servo drive SCAO6 can also operate as master of the CANopen network Below are described the characteristics and functions of the SCAO6 as master of the CANopen network 81 ENABLING OF THE MASTER CANOPEN FUNCTION As default the servo drive SCAO6 is programmed to operate as slave of the CANopen network The programming of the equipment as network master must be done by using the WSCAN software which also allows the configuration of the entire CANopen network The detailed description of the windows and functions of the WSCAN software is obtained in the Helo menu of the software itself After the configuration of the master is ready it is necessary to download th
46. by the WSCAN Software 20 5 OBJECT DICTIONARY 22 5 1 DICTIONARY STRUCTURE 22 0o vui ic 22 5 3 COMMUNICATION PROFILE COMMUNICATION OBJECTS 22 54 MANUFACTURER SPECIFIC SCA06 SPECIFIC 23 5 4 1 Objeto 3000h Digital 24 5 4 2 Objeto 3001h 5 1 24 5 4 3 Objects 3002h to 3009h 25 5 5 DEVICE PROFILE COMMON OBJECTS FOR DRIVES 25 6 COMMUNICATION OBJECTS DESCRIPTION 26 6 1 IDENTIFICATION OBJECTS rura ne neck un nu raum ncc kaum nc ura EE n EE 26 6 1 1 Object 1000h Device Qus atas RAN RAUS HOUR
47. cation errors The extremes of the CAN bus must have a termination resistor with a 1210 0 25W value connecting the CAN H and CAN L signals 3 4 CABLE The connection of CAN L and CAN H signals must done with shielded twisted pair cable The following table shows the recommended characteristics for the cable Table 3 2 CANopen cable characteristics Cable length Resistance per Conductor cross m meter mOhm m section mm 70 40 70 0 25 0 34 40 300 0 34 0 60 300 600 0 50 0 60 600 1000 0 75 0 80 It is necessary to use a twisted pair cable to provide additional 24Vdc power supply to equipments that need this signal It is recommended to use a certified DeviceNet cable Different products may have different maximum allowed cable length for installation SCAO6 13 meg CANopen Network Installation 3 5 CONNECTION IN THE NETWORK In order to interconnect the several network nodes it is recommended to connect the equipment directly to the main line without using derivations During the cable installation the passage near to power cables must be avoided because due to electromagnetic interference this makes the occurrence of transmission errors possible In order to avoid problems with current circulation caused by difference of potential among ground connections it is necessary that all the devices be connected to the same ground point Termination Termination Drop Lin
48. ccess ro PDO Mapping No Range O disable 1 4 number of mapped objects Default value 0 Sub index 1upto4 Description 1 up to 4 object mapped in the PDO Access rw PDO Mapping No Range UNSIGNED32 Default value 0 The PDO MAPPING for the transmission works in similar way than for the reception however in this case the data to be transmitted by the PDO are defined Each mapped object must be put in the list according to the description showed next UNSIGNED32 Index Sub index Size of the object 16 bits 8 bits 8 bits For instance analyzing the standard mapping of the fourth transmit PDO we have Sub index O 2 This PDO has two mapped objects Sub index 1 2002 00108 the first mapped object has an index equal to 2002h sub index O zero and a size of 16 bits This object corresponds to the parameter P0002 that is motor speed Sub nd ce 2 2023 0010h the second mapped object has an index equal to 2023h sub index O zero and a size of 16 bits This object corresponds to the parameter P0035 that is present fault Therefore every time this PDO transmits its data it elaborates its telegram containing four data bytes with the values of the parameters PO680 and P0681 It is possible to modify this mapping by changing the quantity or the number of mapped objects Remember that a maximum of 4 objects or 8 bytes can be mapped SCAO 34 Communication Objects Descrip
49. cription of the following state machine SCAO6 42 Description of the Objects for Drives Power Fault 13 mm 0 Reaction Active Switch EZ On E 15 to 12 enabled Switched On d Quick Stop Enabled Active Figure 7 2 State machine for drives Estate descriptions Not ready to switch on The inverter is initializing it cannot be commanded Switch on disabled Initialization complete the inverter is able to receive commands Ready to switch on Command to allow powering up the drive has been received Switched on Command for powering up the drive has been received Operation enabled The drive is enabled being controlled according to the programmed operation mode Power is being applied to the motor Quick stop active During the operation the quick stop command was received Power is being applied to the motor Fault reaction active A fault has occurred and the drive is performing the action related to the type of fault Fault Drive with fault Disabled function without power being applied to the motor NOTE 7 The frequency inverter SCAO6 does not have a switch for disabling enabling the power section supply of the equipment Therefore the states described in the Power disabled group were implemented for a matter of compatibility with the described state machine however the power section supply
50. d on these markers RS4128 Address of the destination slave to which the SDO request was sent RS4129 Index of the object accessed via SDO RS4130 Sub index of the objected accessed RS4131 Type of access performed 1 reading 2 writing RS4133 RS4135 specification Last EMCY detected set of reading markers to report data about errors informed by EMCY producers The CANopen master does not have EMCY consumer EMCY telegrams sent by network slaves however are captured by the master and the information of the last EMCY detected is saved on these markers RS4136 Address of the slave which reported the RS4137 Eight bytes of data of the EMCY telegram with information about the error code informed by the slave RS4140 9 2 COMMAND WRITING WORDS CANopen Master Control set of writing markers to control the CANopen master WC4142 Command to control the CANopen master and send NMT telegram Bits 7 command code 1 START 2 STOP 128 ENTER PRE OPERATIONAL 129 RESET NODE 130 RESET COMMUNICATION Bit 8 toggle bit whenever the value of this bit is changed it sends the programmed command Bits 9 14 reserved Bit 15 disable CANopen communication WC4143 Bits 16 23 destination slave address for sending the NMT command SCAO6 62 SYSTEM MARKERS FOR SCAO6 63 meg FAULTS AND ALARMS RELATED TO the CANOPEN COMMUNICATION
51. d or write downloada request to a server and then this server answers the request SCAO6 27 Communication Objects Description Data for configuration CANopen operation Master ete SDO Server Figure 6 1 Communication between SDO client and server SDO 6 2 1 Object 1200h Server The servo drive SCAO6 working in slave mode has only SDO of the server type which makes it possible the access to its entire object dictionary Through it an SDO client can configure the communication the parameters and the drive operation Every SDO server has an object of the SDO_PARAMETER type for its configuration having the following structure Index 1200h Name Server SDO Parameter Object Record Type SDO Parameter Sub index 0 Description Number of the last sub index Access RO PDO Mapping No Range UNSIGNED8 Default value 2 Sub index 1 Description COB ID Client Server Access RO PDO Mapping No Range UNSIGNED32 Default value 600h Node ID Sub index 2 Description COB ID Server Client tx Access RO PDO Mapping No Range UNSIGNEDS2 Default value 580h Node ID 6 2 2 gt 5005 Operation A telegram sent by an SDO has an 8 byte size with the following structure Identifier 8 data bytes The identifier depends the transmission direction rx or tx and o
52. de definition of bits 10 12 and 13 Bit 10 Halt O speed reference not reached Halt 1 speed different from 0 zero 1 Halt O speed reference reached Halt 1 speed equal to 0 zero 12 0 Speed different from 0 zero Speed equal to 0 zero 13 REN ET Not implemented 7 5 2 Object 6069h Velocity Sensor Actual Value It allows the reading of the sensor used to measure the motor speed The servo drive SCAO6 uses a solve as position the angular speed is obtained by deriving this value in time so the sensor provides a value proportional to the angular position The sensor has resolution of 14 bits and one complete revolution provides 16384 different position values Index 6069h Name Velocity sensor actual value Object VAR Type INTEGER32 Sub index 0 Access ro Mappable Yes Range INTERGER32 Default Value 7 5 3 Object 606Bh Velocity Demand Value It indicates the speed provided by the trajectory generator of the servo drive used by the speed controller to control the motor The value provided by this object is given in the internal scale of the SCAO6 where Ox7FFF FFFF gt 10 000 rpm Index 606Bh Name Velocity demand value Object VAR Type INTEGER32 Sub index 0 Access Mappable Yes Range INTERGER32 Default Value E Minimum value 0x8000 0001 Maximum value Ox7FFF FFFF 7 5
53. e Figure 3 1 CANopen network installation example To avoid voltage difference problems between the power supplies of the network devices it is recommended that the network is fed by only one power supply and the signal is provided to all devices through the cable If it is required more than one power supply these should be referenced to the same point The maximum number of devices connected to a single segment of the network is limited to 64 Repeaters can be used for connecting a bigger number of devices SCAO6 14 Programming 4 PROGRAMMING Next only the SCAO6 servo drive parameters related to the CANopen communication will be presented 4 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RO Read only parameter CFG Parameter that can be changed only with a stopped motor CAN Parameter visible on the HMI if the product has the CAN interface installed P0070 CAN CONTROLLER STATUS Range O Disabled Default 1 Autobaud 2 CAN Enabled Warning 4 Error Passive 5 Bus Off 6 No Bus Power Properties RO Description It allows identifying if the CAN interface board is properly installed and if the communication presents errors Table 4 1 Values for the parameter 070 Description O Disabled Inactive CAN interface It occurs when CAN protocol is not programmed at P0700 1 Autobaud CAN controller is trying to detect baud rate of the network only for DeviceNet communication protocol 2
54. e configurations via one of the programming interfaces of the product refer to the user s manual for further information Once set as network master if necessary to erase those configurations the function to erase the user s program trough P00204 also erases the configurations of the CANopen master NOTE The CANopen network is a flexible network that allows several forms of configurations and operation However in order to use this flexibility it is necessary that the user know well both the communication functions and objects used to configure the network and the WSCAN programming software 8 2 CHARACTERISTICS OF THE CANOPEN MASTER The servo drive SCAO6 allows controlling a group of up to 8 slaves using the following communication services and resources Network manager task NMT 8 transmission PDOs 8 reception PDOs 8 Heartbeat Consumers Heartbeat Producer SDO Client SYNC producer consumer Mapping in the PDOs made by using user s parameters The physical characteristics installation connector cable etc are the same for the SCAO6 operating as both master and slave The configurations of address and baud rate are also necessary to operate as master but these configurations are programmed by the WSCAN software according to the properties defined for the master in the software itself 8 3 OPERATION OF THE MASTER Once programmed to operate as master the servo drive SCAO6 will execute the followi
55. eceive PDO mapping PDO Mapping nw 1607h RECORD 8th receive PDO mapping PDO Mapping nw Transmit PDO Communication Parameter 1800h RECORD 1st transmit PDO Parameter PDO rw 1801h RECORD 2nd transmit PDO Parameter PDO rw 1807h RECORD 8th transmit PDO Parameter PDO rw Transmit PDO Mapping Parameter 1A00h RECORD 1st transmit PDO mapping PDO Mapping nw 1A01h RECORD 2nd transmit PDO mapping PDO Mapping nw 1A07h RECORD 8th transmit PDO mapping PDO Mapping rw These objects can only be read and written via the CANopen network it is not available via the keypad HMI or other network interface The network master in general is the equipment responsible for setting up the equipment before starting the operation The EDS configuration file brings the list of all supported communication objects Refer to item 6 for more details on the available objects in this range of the objects dictionary 54 MANUFACTURER SPECIFIC SCA06 SPECIFIC OBJECTS For indexes from 2000h to 5FFFh each manufacture is free to define which objects will be present and also the type and function of each one In the case of the SCAO6 the whole list of parameters was made available this object range It is possible to operate the SCAO6 by means of these parameters carrying out any function that the inverter can execute The parameters were made available starting from the index 2000h and by adding their number to this i
56. ecuted by the equipment in case it is controlled via network and a communication error is detected Table 4 2 Options for the parameter P0662 Option Description 1 Cause Fault Instead of alarm a communication error causes a fault on the equipment and it is necessary to reset the faults so as to return to normal operation 2 Execute STOP The alarm will be indicated together with the execution of the STOP command It is necessary to reset the faults or disable the drive for the servo to exit this condition 3 Disable drive The alarm will be indicated together with the execution of the disable command The followings events are considered communication errors SCAO6 17 Programming Serial Communication RS232 RS485 Alarm AO0128 Fault 00028 timeout of the serial interface CANopen communication Alarm A133 Fault F233 no power supply on the CAN interface Alarm A134 Fault F234 bus off Alarm A135 Fault F235 CANopen communication error Node Guarding Heartbeat P0700 CAN PROTOCOL Range 0 Disabled Default 0 1 CANopen 2 Reserved 3 CANespecial 1 Properties Description It allows selecting the desired protocol for the CAN interface If this parameter is changed the change takes effect only if the CAN interface is not powered it is in auto baud or after the equipment is switched off and on again P0701 CAN ADDRESS Range Oto 127 Default 63 Propertie
57. ed with x are irrelevant for the command execution Table 7 2 Control word commands Control word bits Fault reset Enable operation Quick stop Enable voltage Switchon Shutdown Xx 1 0 268 E GUNT UNT GNU DE a LI E E PS D ET Enable operation 0 1 416 TLD TE DEE 5 bits 4 5 6 and 8 have different functions according to the used operation mode SCAO6 44 Description of the Objects for Drives NOTE 7 For the commands sent by the control word to be executed by the servo drive SCAO6 it is necessary that the drive be programmed for the CANopen mode of operation This programming is done on parameter P0202 7 1 2 Object 6041h Statusword It indicates the SCAO6 present state Index 6041h Name Statusword Object VAR Type UNSIGNED16 Used parameter 0680 Access PDO Mapping Yes Range UNSIGNED16 Default value Table 7 3 Statusword bit function 6 Switch on disabled 8 Reserved 9 Remote 14 15 Reserved In this word the bits 0 1 2 3 5 and 6 indicate the state of the device according to the state machine described in the figure 7 2 The table 7 4 describes the combinations of these bits for the state indications The bits marked with x are irrelevant for the state indication Ta
58. erformed or the parameter maximum limit is reached P0074 LOST CAN MESSAGE COUNTER Range Oto 65535 Default Proprerties RO Description It is a cyclic counter that indicates the number of messages received by the CAN interface but could not be processed by the device In case that the number of lost messages is frequently incremented it is recommended to reduce the baud rate used in the CAN network This counter is reset every time the device is switched off a reset is performed or the parameter maximum limit is reached P0075 CANOPEN COMMUNICATION STATUS Range O Disabled Default 1 Reserved 2 Communication Enabled 3 Error Control Enabled 4 Guarding Error 5 Heartbeat Error Properties RO CAN Description It indicates the board state regarding the CANopen network informing if the protocol has been enabled and if the error control service is active Node Guarding or Heartbeat P0076 CANOPEN NODE STATUS Range O Disabled Default 1 Initialization 2 Stopped 3 Operational 4 Preoperational Properties RO CAN Description It operates as a slave of the CANopen network and as such element it has a state machine that controls its behavior regarding the communication This parameter indicates in which state the device is SCAO6 16 Programming P0202 MODE OF OPERATION Value 1 Torque Mode Default 2 Range 2 Speed Mode 3 Reserved
59. ervo drive SCAO6 communication objects 1000h to 1FFFh are not stored the nonvolatile memory Therefore every time the equipment is reset or switched off it is necessary to redo the communication objects parameter setting The manufacturer specific objects starting from 2000h that represents the parameters they are stored in the nonvolatile memory and thus could be set just once SCAO6 40 Description of the Objects for Drives 7 DESCRIPTION OF THE OBJECTS FOR DRIVES The objects that are common for drives defined by the CANopen specification in the CiA DSP 402 document are described in this section Regardless of the drive manufacturer the objects mentioned here have a similar description and operation This makes it easier the interaction and the interchangeability between different devices The figure 7 1 shows a diagram with the logic architecture and the operation of a drive through the CANopen network with the different operation modes defined in this specification Each operation mode has a set of objects that allows the configuration and operation of the drive in the network CAN network CAN node Application layer and communication profile DS 301 Drive Profile DSP 402 Device Control 1 I 1 I 1 1 1 I Modes of Operation 1 1 Inter Profile Profile 1 1 1 1 1 1 polated Velocity Torque Position Mode Mode F
60. ged It works by changing the state Change of Sfate This type does also allow that the PDO be transmitted according to the timer programmed in sub index 5 In the sub index it is possible to program a minimum time in multiples of 100us that must elapse after the telegram has been sent so that a new one can be sent by this PDO The value O zero disables this function The sub index 5 contains a value to enable a timer for the automatic sending of a PDO Therefore whenever a PDO is configured as the asynchronous type it is possible to program the value of this timer in multiples of tms so that the PDO is transmitted periodically in the programmed time NOTE 7 value of this timer must be programmed according to the used transmission rate Very short times close to the transmission time of the telegram are able to monopolize the bus causing indefinite retransmission of the PDO and avoiding that other less priority objects transmit their data minimum time allowed for this Function in the servo drive SCAO6 is 1ms is important to observe the time between transmissions programmed in the sub index 3 especially when the PDO is programmed with the value 255 in the sub index 2 Change of State PDO MAPPING Index 1A00h up to 1A07h Name Transmit PDO mapping Object Record Type PDO MAPPING Sub index 0 Description Number of the last sub index A
61. gion leer HER 12 3 CANOPEN NETWORK INSTALLATION 13 3 1 BAUD RATE m 13 3 2 ADDRESS IN THE CANOPEN NETWORK 13 33 TERMINATION RESISTOR oviivississisiscscsticacsacadascarssiecnuccssiesvsvsivacaccnsbsshaveduucsstnstecteeeuduscuteiusencsuvansnaass 13 3 4 CABLE reis onera ro rc e ri ooa EDD i V TTC ED ni an 13 3 5 CONNECTION IN THE NETWORK n sss assa sas a a snas assa assa esr sanant 14 4 PROGRAMMING a a D v Cu d Fu oci es wg au mc iw vi eu tu 15 4 1 SYMBOLS FOR THE PROPERTIES 15 P0070 CAN CONTROLLER con er 15 P0071 RECEIVED TELEGRAM 15 P0072 TRANSMITTED CAN TELEGRAM 2 22 222 0 4422 10 15 P0073 BUS OFF ERROR COUNTER 2 2 nans asas nasa 16 P0074 LOST CAN MESSAGE
62. goes to the preoperational state It receives the Stop Node command for entering the stopped state It receives the Reset Node command when it executes the device complete reset It receives the Reset Communication command when it reinitializes the object values and the CANopen device communication During the initialization the Node ID is defined the objects are created and the interface with the CAN network is configured Communication with the device is not possible during this stage which is concluded automatically At the end of this stage the slave sends to the network a telegram of the Boot up Object used only to indicate that the initialization has been concluded and that the slave has entered the preoperational state This telegram has the identifier 7001 Node ID and only one data byte with value equal to O zero In the preoperational state it is already possible to communicate with the slave but its PDOs are not yet available for operation In the operational state all the objects are available whereas in the stopped state only the NMT object can receive or transmit telegrams to the network The next table shows the objects available for each state Table 6 8 Objects accessible in each state Initialization Preoperational Operational Stopped This state machine is controlled by the network master which sends to each slave the commands so that the desired state change be executed These telegrams do not
63. have confirmation what means that the slave does only receive the telegram without returning an answer to the master The received telegrams have the following structure Identifier byte 2 00h Destination Node ID SCAO6 36 Communication Objects Description Table 6 9 Commands for the state transition 1 START node transition 3 2 STOP node transition 4 128 Enter pre operational transition 5 129 Reset node transition 6 130 Reset communication transition 7 O All the slaves 1 127 Specific slave The transitions indicated in the command code correspond to the state transitions executed by the node after receiving the command according to the Figure 6 4 The Reset node command makes the SCAO6 execute complete reset of the device while the Reset communication command causes the device to reinitialize only the objects pertinent to the CANopen communication 6 5 2 Error Control Node Guarding This service is used to make it possible the monitoring of the communication with the CANopen network both by the master and the slave as well In this type of service the master sends periodical telegrams to the slave which responds to the received telegram If some error that interrupts the communication occurs it will be possible to identify this error because the master as well as the slave will be notified by the 7imeout in the execution of this service The error events
64. he SCAO6 servo drive must automatically enter the mode of operation on the CANopen network so as to enable the exchange of PDOs among the network devices For further details about the operation of the Follow function refer to item 4 2 P0705 COB ID FOLLOW Value 385 to 511 Default 0 Range Properties CFG Description It defines the COB ID Communication Object Identifier of the Follow PDO The adjustable range 385 181h to 511 1FFh is defined by the CANopen specification as standard range for the TPDO1 Both the master and slaves must use the same COB ID The function of the TPDO1 master and of the RPDO1 slaves is dedicated to this function and therefore these PDOs must not be configured for communication of other data SCAO6 19 Programming For details about the operation of the Follow function refer to item 4 2 P0706 FOLLOW PERIOD Value 0 2 to 5 0 ms Default 1 0 Range Properties CFG Description It allows programming the transmission period of the Follow telegram by the network master It is not used by the slaves The shorter the period the faster the references are transmitted and the more accurate the synchronism However the bus occupation time will also be longer which can hinder the communication in case there are other data to be communicated by the CANopen network This period must also be programmed considering the baud rate At 1 Mbit s it takes a Follow telegram about 100
65. he network Once programmed the inverter initiates the transmission of messages with the following format bit 6 bit O 700h Node ID Always 0 Slave state NOTE 7 This object is active even the stopped state see table 6 8 The value 0 zero in the object will disable this function after the error detection the service is enabled again then the error indication will be removed from the HMI time value programmed for the consumer must be higher than the programmed for the respective producer Actually it is recommended to program the consumer with a multiple of the value used for the producer For any every slave only one of the two services Heartbeat or Node Guarding can be enabled 6 6 INITIALIZATION PROCEDURE Once the operation of the objects available for the servo drive SCAO6 is known then it becomes necessary to program the different objects to operate combined in the network In a general manner the procedure for the initialization of the objects a CANopen network follows the description of the next flowchart Configuration of all device parameters via SDO Initiates the transmission of the SYNC object optional Initiates the Guarding or Heartbeat error control protocol optional Commands the network devices to the operational state Figure 6 7 Initialization process flowchart It is necessary to observe that the s
66. igure 7 1 Communication architecture for a drive in the CANopen network For the SCAO6 only the Velocity Mode is supported The following table presents the list of the available objects for the SCAO6 divided according to the different operation modes of the inverter SCAO6 41 Description of the Objects for Drives Table 7 1 Object list Drive Profile Index Object Name 0 Type PDO Mapping Control Device Unsigned16 Yes Unsigned16 Yes Integer8 Yes Integer amp Yes Unsigned32 Yes Factor Group Unsigned32 No Unsigned32 No Unsigned32 No Position Control Function Integer32 Yes Integer32 Yes Profile Position Mode Interger32 Yes Unsigned32 Yes Unsigned32 Yes Unsigned32 Yes Integer16 Yes Profile Velocity Profile Integer32 Yes Integer32 Yes Integer32 Yes Integer32 Yes Profile Torque Mode Integer16 Yes Integer16 Yes Unsigned32 Yes Integer16 Yes Every time an object of that list is read or written the SCAO6 will map its functions in the inverter parameters Thus by operating the system through these objects the value of the parameters can be changed according to the used function In the next items a detailed description of each of these objects is presented where the inverter parameters used to execute these object functions are indicated 7 1 DEVICE CONTROL OBJECTS FOR CONTROLLING THE DRIVE Every drive operating in a CANopen network following the DSP 402 must be in accordance with the des
67. is document describes a set of objects that must be common for drives regardless of the manufacturer This makes the interaction between devices with the same function easier as for servo drives because the data as well as the device behavior are made available in a standardized manner For those objects the indexes from 6000h to 9FFFh were reserved Refer to the section 7 for a detailed description of which objects are available for this range of the object dictionary SCAO6 25 Communication Objects Description 6 COMMUNICATION OBJECTS DESCRIPTION This item describes in detail each of the communication objects available for the servo drive working in slave mode It is necessary to know how to operate these objects to be able to use the available functions for the inverter communication NOTE 7 The servo drive SCAO6 can operate as master or slave of the CANopen network The objects below describe the operation of the equipment as slave of the CANopen network For a description of the characteristics of the product operating as CANopen network master refer to the item 8 together with the WSCAN CANopen network configuration software 6 1 IDENTIFICATION OBJECTS There is a set of objects in the dictionary which are used for equipment identification however they do not have influence on their behavior in the CANopen network 6 1 1 Object 1000h Device Type This object gives a
68. ission type of this object according to the next table Table 6 6 Description of the type of transmission Type of transmission PDOs transmission Acyclic RTR Reserved Values 0 240 RPDO programmed in this range presents the same performance When detecting a message it will receive the data however it won t update the received values until detecting the next SYNC telegram Values 252 and 253 not allowed for receive PDOs Values 254 and 255 they indicated that there is no relationship with the synchronization object When receiving a message its values are updated immediately PDO MAPPING SCAO 31 Communication Objects Description Index 1600h up to 1607h Name Receive PDO mapping Object Record Type PDO MAPPING Sub index 0 Description Number of mapped objects Access RO PDO Mapping No Range O disable 1 4 number of mapped objects Default value 0 Sub index 1upto4 Description 1 up to 4 object mapped in the PDO Access Rw PDO Mappin No Range UNSIGNED32 Default value According EDS file This parameter indicates the mapped objects in the SCAO6 receive PDOs It is possible to map up to 4 different objects for each RPDO provided that the total length does not exceed eight bytes The mapping of an object is done indicating its index sub index and size in bits in an UNSIGNED32 field with the following format UNSIGNED32
69. ized through the HMI In order that the communication be reestablished it will be necessary to cycle the power of the product or remove the power supply from the CAN interface and apply it again so that the communication be reinitiated Possible Causes Correction Verify if there is any short circuit between the CAN circuit transmission cables Verify if the cables have not been changed or inverted Verify if all the network devices use the same baud rate Verify if termination resistors with the correct values were installed only at the extremes of the main bus Verify if the CAN network installation was carried out in proper manner A135 F35 NODE GUARDING HEARTBEAT Description The CANopen communication error control detected a communication error by using the guarding mechanism Operation By using the error control mechanisms Node Guarding or Heartbeat the master and the slave can exchange periodic telegrams with a predetermined period If the communication is interrupted by some reason the master as well as the slave will be able to detect communication error through the timeout in the exchange of those messages For more information on the error detection refer to the CAN specification SCAO6 64 meg FAULTS AND ALARMS RELATED TO the CANOPEN COMMUNICATION In this case the alarm A135 or the fault F35 depending the PO662 programming will be signalized through the HMI In c
70. le for receiving the commands sent by the master and for executing the requested actions The protocol describes two types of service that the master can use device control service with which the master controls the state of each network slave and error control service Node Guarding with which the slave sends periodic messages to the master informing that the connection is active All the communication of the inverter with the network is performed using those objects and the data that can be accessed are the existent in the device object dictionary 18 COB ID A telegram of the CANopen network is always transmitted by a communication object COB Every COB has an identifier that indicates the type of data that is being transported This identifier called COB ID has an 11 bit Size and it is transmitted in the identifier field of a CAN telegram It can be subdivided in two parts Function Code Address bit 5 bit 1 Function Code indicates the type of object that is being transmitted Node Address indicates with which network device the telegram is linked table with the standard values for the different communication objects available in the SCAO6 is presented next Notice that the standard value of the object depends on the slave address with the exception of the COB ID for NMT and SYNC which are common for all the network elements Those values can also be changed during the device configuration stage
71. lue of the object read word OUT LOW Least significant value of the object read word N HIGH Most significant value to be written on the object word OUT HIGH Least significant value to be written on the object word The EN input is responsible for enabling the block The ENO output goes to 1 after executing the block SCAO6 60 meg OPERATION IN CANOPEN NETWORK MASTER MODE OPERATION If the EN input is zero the block is not executed If the EN input undergoes a transition from O to 1 the card sends a message via CANopen network to a network slave according to the programmed arguments If the block is programmed for reading the card will make a request to the slave and the value reported by the slave will be saved on the output arguments If the block is programmed for writing the inout arguments are written to the corresponding object of the slave After the execution of the block the ENO output goes to 1 and will only return to zero after the EN input goes to zero SCAO6 61 meg SYSTEM MARKERS FOR CAN CANOPEN 9 SYSTEM MARKERS FOR CAN CANOPEN For CAN interface and CANopen communication the following reading markers RS and writing markers WC are provided to control and monitor this interface 9 1 STATUS READING WORDS CANopen Master and Slave Status set of reading markers to provide information about the general status of the CANopen master and the communication stat
72. n the SCAO6 Table 7 10 Positioning Mode definition of bits 6 and 8 Bt Value Definition Position reference must be an absolute value 6 1 Position reference must be a relative value 8 Positioning must be executed or continued 1 Shaft must be stopped according to object 605Dh For the StatusWord object the following bits are used Bit 10 Target reached Bit 12 Set point acknowledge Bit 13 Following error SCAO6 52 Description of the Objects for Drives Table 7 11 contains the definition of the status bits Table 7 11 Positioning Mode definition of bits 10 12 and 13 Position reference not reached a Position reference reached Previous position reference already processed waiting for new position reference Previous position reference in process replacement of position reference will be accepted iB 0 No Following error Following error 7 4 2 Object 607Ah Target Position allows programming the position reference for the servo drive SCAO6 in positioning mode The 16 most relevant bits inform the number of revolutions and the 16 bits least relevant ones inform the fraction of revolution The scale used in this object is 65536 for number of revolutions and 65536 increments for one revolution of the shaft The value of this object must be interpreted as absolute or relative according to the status of Bit 6 of the ControlWord object
73. n the address or Node ID of the destination Server For instance client that makes a request to a server which Node ID is 1 must send a message with the identifier 6011 The server will receive this message and answer with a telegram which is equal to 58 1h The command code depends on the used function type For the transmissions from a client to a server the following commands can be used SCAO6 28 Communication Objects Description Table 6 2 Command codes for SDO client Command Function Description Object data Write object Not defined Write object 60h or 70h When making a request the client will indicate through its COB ID the address of the slave to which this request is destined Only a slave using its respective SDO server will be able to answer the received telegram to the client The answer telegram will have also the same structure of the request telegram the commands however are different Table 6 3 Command codes for SDO server Command Function 7 Description Object data Upload Response to read object Upload segment Initiates segmented response for read O1h ODh Upload segment Last data segment for read 8 2 bytes For readings of up to four data bytes a single message can be transmitted by the server for the reading of a bigger quantity of bytes it is necessary that the client and the server exchange multiple telegrams A telegram is only
74. ndex their position in the dictionary is obtained The next table illustrates how the parameters are distributed in the object dictionary Table 5 3 SCAO06 object list Manufacturer Specific Name Access P0000 Access parameter rw P0002 Motor speed P0003 Motor current P0004 DC voltage 0119 Current Reference rw P0121 Speed Reference rw Refer to the SCAO6 manual for a complete list of the parameters and their detailed description In order to be able to program the device operation correctly via the CANopen network it is necessary to know its operation through the parameters Besides parameters SCAO6 also have the following objects SCAO6 23 meg Object Dictionary Ox3000h digital inputs 0x3001h digital outputs Ox3002h Follow Position Actual Value 0x3003h Follow Velocity Actual Value Ox3004h Follow Target Position Ox3005h Follow Target Velocity 0x3008h Follow Ox3009h Follow Period 5 4 1 Objeto 3000h Digital Inputs This object allows reading the digital inputs status from SCAO6 servo drive Index 3000h Name Digital Inputs Object Array Type UNSIGNED 16 Sub index 0 Description Number of Entries Access ro PDO Mapping No Range UNSIGNED16 Sub index 1 Description Standard Digital Inputs Access PDO Mapping Yes
75. ng steps to initialize in a sequence each slave 1 send the communication reset command to the entire network so that the slaves initialize with known values for the communication objects 24 Identification of the equipment in network trough the reading SDO of the object 1000h 00h Object Identification 8 Writing SDO of all the objects programmed for the slave which usually includes the configuration and mapping of the TPDOs and RPDOs node guarding heartbeat besides the specific objects of the manufacturer in case they are programmed 4 Start the error control task node guarding or heartbeat if they are programmed 50 send the slave to mode of operation 8 During the download of the configurations the CANopen communication will be disabled and it will be enabled again at the end of the operation SCAO6 59 eg OPERATION IN CANOPEN NETWORK MASTER MODE If one of these steps fails the error of communication with slave will occur Depending of the configurations the slave initialization will be aborted and the master will initialize the next slave returning to the slave with error after trying to initialize all the other network slaves Similarly if during the operation of a slave an error is identified in the error control task depending on the configurations of the master the slave will be automatically reset and the initialization procedure will be run again
76. nt Current target position processed Set point acknowledge bit 12 Target reached bit 10 Figure 7 4 Single set point method Source IEC 61800 7 201 Set of set points The set of set point method is used when you want to execute a new set point only after the completion of the previous one Figure 7 5 illustrates the method Actual speed Target position set point Current target position Target reached bit 10 Figure 7 5 Set of set point method Source IEC 61800 7 201 The servo drive SCAO6 can store two set points the one which is in execution and the one that will be executed as illustrated in figure 7 6 SCAO6 51 Description of the Objects for Drives O O set point Figure 7 6 Storage of set point Source IEC 61800 7 201 7 41 Control and Status Bits The profile mode position uses some bits of the ControlWord and StatusWord objects to control and monitor its operation For the ControlWorld object the following bits are used Bit 4 New set point Bit 5 Change set immediately Bit 6 absolute 0 relative 1 Bit 8 Halt not implemented in the SCAO6 Bit 9 Change on set point Table 7 9 and table 7 10 contain the definition of the control bits Table 7 9 Positioning Mode definition of the bits 4 5 and 9 Bt4 22 Position must be completed before the next one starts Bits Option not implemented o
77. o action is taken by the SCAO6 Transition 11 The Quick stop command has been received the servo drive performs the stopping via ramp function Transition 12 The Disable voltage command has been received the servo drive is disabled Transition 13 A fault is detected and the servo drive is disabled Transition 14 After disabling the drive it goes to the fault state automatic Transition 15 The Fault reset command has been received the servo drive performs the fault reset and returns to the disabled and without fault state Transition 16 The Enable operation command has been received the servo drive performs the start via ramp function This state machine is controlled by the 6040h object and the other states can be monitored by the 6041h object Both objects are described next 7 11 Object 6040h Controlword It controls the servo drive state Index 6040h Name Controlword Object VAR Type UNSIGNED16 Used parameter P0684 Access rw PDO Mapping Yes Range UNSIGNED16 Default value The bits of this word have the following functions 15 9 8 7 6 4 2 1 0o Reserved Hali Fault Operation Enable Quick Enable reset mode specific operation stop voltage The bits 0 1 2 and 7 allow controlling the drive state machine The commands for state transitions are given by means of the bit combinations indicated in the table 7 2 The bits mark
78. objects They are objects common to all the CANopen devices They contain general information about the equipment and also data for the communication configuration 2000h 5FFFh Manufacturer specific objects In this range each CANopen equipment manufacturer is free to define which data those objects will represent 6000h 9FFFh Standardized device objects This range is reserved to objects that describe the behavior of similar equipment regardless of the manufacturer The other indexes that are not referred in this list are reserved for future use 5 1 DICTIONARY STRUCTURE The general structure of the dictionary has the following format Index Object Name Type Access indicates directly the object index in the dictionary Object describes which information the index stores simple variable array record etc contains the name of the object in order to facilitate its identification Type indicates directly the stored data type For simple variables this type may be an integer a float etc For arrays it indicates the type of data contained in the array For records it indicates the record format according to the types described in the first part of the object dictionary indexes 0001h 0360h Access informs if the object in question is accessible only for reading ro for reading and writing rw or if itis a constant const For objects of the array or record type a
79. on Object COB ID Communication Object Identifier SDO Service Data Object PDO Process Data Object RPDO Receive PDO TPDO Transmit PDO NMT Network Management Object ro Read only rw Read write NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h after the number DOCUMENTS The CANopen protocol for the SCAO6 was developed based on the following specifications and documents Document Version Source CAN Specification 08 301 CANopen Application Layer and Communication Profile DRP 303 1 CiA Cabling and Connector Pin Assignment CiA DSP 306 CiA Electronic Data Sheet Specification for CANopen CiA DSP 402 Device Profile Drives Motion Control In order to obtain this documentation the organization that maintains publishes and updates the information regarding the CANopen network CiA must be consulted SCAO6 6 Introduction to the CANopen Communication 1 INTRODUCTION TO THE CANOPEN COMMUNICATION In order to operate the equipment in a CANopen network it is necessary to know the manner this communication is performed Therefore this section brings a general description of the CANopen protocol operation containing the functions used by the SCAO6 Refer to the protocol specification for a detailed description 11 CAN CANopen is a network based on CAN i e it
80. on Reserved Access rw PDO Mapping No Range UNSIGNED8 Default value Sub index 5 Description Event timer Access nw PDO Mapping No Range O disable UNSIGNED16 Default value 0 The sub index 1 contains the transmit PDO COB ID Every time this PDO sends a message to the network the identifier of that message will be this COB ID The structure of this field is described in table 6 5 The sub index 2 indicates the transmission type of this object which follows the table 6 6 description Its working is however different for transmit PDOs Value 0 indicates that the transmission must occur immediately after the reception of a SYNC telegram but not periodically Values 1 240 the PDO must be transmitted at each detected SYNC telegram or multiple occurrences of SYNC according to the number chosen between 1 and 240 Value 252 indicates that the message content must be updated but not sent after the reception of a SYNC telegram The transmission of the message must be done after the reception of a remote frame RTR frame Value 253 the PDO must update and send a message as soon it receives a remote frame Values 254 The object must be transmitted according to the timer programmed in sub index 5 SCAO6 33 Communication Objects Description Values 255 the object is transmitted automatically when the value of any of the objects mapped in this PDO is chan
81. pable Yes Range UNSIGNED32 Default Value 0000 0001h 7 4 6 Object 6086h Motion Profile It allows programming the profile of the acceleration and deceleration ramp for the drive Index 6086h Name Motion profile type Object VAR Type INTERGER32 Sub index 0 Access rw Mappable Yes Range INTERGER16 Default Value FFFFh Possible values for this object Table 7 12 Values for the Motion Profile Type Sub index Value Definition 0000h Linear ramp FFFFh No ramp 75 PROFILE VELOCITY MODE OBJECTS FOR DRIVE CONTROL This mode of operation allows controlling the drive in a simple way providing functions such as Calculation of the reference value Speed capture and monitoring Speed limitation Speed ramps among other functions Those functions are executed based on a set of objects for the configuration of this mode of operation 7 5 1 gt Control and Status Bits Bits 4 5 6 and 8 of the control word object 6040h Controlword have the following functions in the speed mode SCAO6 54 Description of the Objects for Drives Table 7 13 Speed Mode definition of bits 4 5 6 and 8 Description Reserved Reserved Reserved Halt 0 Executes movement Stops shaft For the StatusWord object the following bits are used Bit 10 Target reached Bit 12 Speed Bit 13 Max slippage error not implemented Table 7 14 Speed Mo
82. pping No Range Default value 8 Sub index 1 8 Description Consumer Heartbeat Time 1 8 Access nw PDO Mapping No Range UNSIGNED32 Default value 0 At sub indexes 1 to 8 it is possible to program the consumer by writing a value with the following format UNSIGNED32 Reserved Node ID Heartbeat time 8 bits 8 bits 16 bits Node ID it allows programming the Node ID for the heartbeat producer to be monitored Heartbeat time it allows programming the time in 1 millisecond multiples until the error detection if no message of the producer is received The value O zero in this field disables the consumer Once configured the heartbeat consumer initiates the monitoring after the reception of the first telegram sent by the producer In case that an error is detected because the consumer stopped receiving messages from the heartbeat producer the servo drive will turn automatically to the preoperational state and indicate alarm A135 in the HMI SCAO6 39 Communication Objects Description As a producer the servo drive SCAO6 has an object for the configuration of that service Index 1017h Name Producer Heartbeat Time Object VAR Type UNSIGNED16 Access rw PDO Mapping No Range UNSIGNED8 Default value 0 The 1017h object allows programming the time in miliseconds during which the producer has to send a heartbeat telegram to t
83. ransmission with larger volume of data in a single telegram However it is necessary to configure previously what is being transmitted by the PDO so that even without the indication of the index and sub index it is possible to know the content of the telegram There are two types of PDOs the receive PDO and the transmit PDO The transmit PDOs are responsible for sending data to the network whereas the receive PDOs remain responsible for receiving and handling these 5 Do not forget that for any integer type of data the byte transfer order is from the least significant to the most significant SCAO6 29 Communication Objects Description data In this way it is possible to have communication among slaves of the CANopen network it is only necessary to configure one slave to transmit information and one or more slaves to receive this information Transmit PDO Data for operation Figure 6 2 Communication using PDOs NOTE PDOs can only be transmitted or received when the device is in the operational state The figure 6 2 illustrates the available states for CANopen network node 6 3 1 PDO Mapping Objects In order to be able to be transmitted by a PDO it is necessary that an object be mapped into this PDO content In the description of communication objects 1000h 1FFFh the filed PDO Mapping informs this possibility Usually only information necessary for the operation of the device can be mapped
84. remains active even in these states Description of the transitions Transition 0 The drive is switched on and the initialization procedure starts The power section supply of the drive is active Transition 1 Initialization completed automatic Transition 2 The Shutdown command has been received The state transition is performed but no action is taken by the SCAO6 Transition 3 The Switch command has been received The state transition is performed but no action is taken by the SCAO6 Transition 4 The Enable operation command has been received the servo drive is enabled Transition 5 The Disable operation command has been received the servo drive is disabled SCAO6 43 Description of the Objects for Drives Transition 6 The Shutdown command has been received The state transition is performed but no action is taken by the SCAO6 Transition 7 The Quick stop and Disable voltage commands have been received The state transition is performed but no action is taken by the SCAO6 Transition 8 The Shutdown command has been received During the operation of the servo drive it is disabled blocking the supply for the motor Transition 9 The Shutdown command has been received During the operation of the servo drive it is disabled blocking the supply for the motor Transition 10 The Quick stop or Disable voltage command has been received The state transition is performed but n
85. rror detection through the Heartbeat mechanism is done using two types of objects the Heartbeat producer and the Heartbeat consumer The producer is responsible for sending periodic telegrams to the network simulating a heartbeat indicating that the communication is active and without errors One or more consumers can monitor these periodic telegrams and if they cease occurring it means that any communication problem occurred SCAO6 38 Communication Objects Description CANopen Heartbeat Message Periodic Heartbeat A Consumer Heartbeat Producer Communication interrupted Error Timeout waiting for the message Figure 6 6 Error control service Heartbeat One device of the network can be both producer and consumer of heartbeat messages For example the network master can consume messages sent by a slave making it possible to detect communication problems with the master and simultaneously the slave can consume heartbeat messages sent by the master also making it possible to the slave detect communication fault with the master The 5 6 has the producer and consumer of heartbeat services As a consumer it is possible to program up to 4 different producers to be monitored by the inverter Index 1016h Name Consumer Heartbeat Time Object ARRAY Type UNSIGNED32 Sub index 0 Description Number of the last sub index Access ro PDO Ma
86. s Description It allows programming the address used for the CAN communication It is necessary that each element of the network has an address different from the others The valid addresses for this parameter depend on the protocol programmed in 700 P0700 1 CANopen valid addresses 1 to 127 If this parameter is changed the change takes effect only if the CAN interface is not powered auto baud after the equipment is switched off and on again P0702 CAN BAUD RATE Range O 1 Mbit s Autobaud Default 0 1 800 kbit s Autobaud 2 500 kbit s 3 250 Kbit s 4 125 kbit s 5 100 kbit s Autobaud 6 50 Kbit s Autobaud Properties Description It allows programming the desired baud rate for the CAN interface in bits per second This rate must be the same for all the devices connected to the network The supported bauld rates for the device depend on the protocol programmed in the parameter 700 P0700 1 CANopen It is possible to use any rate specified in this parameter but it does not have the automatic baud rate detection function autobaud If this parameter is changed the change takes effect only if the CAN interface is not powered or after the equipment is switched off and on again SCAO6 18 ug Programming P0703 BUS OFF RESET Range 0 Manual Default 0 1 2 Automatic Properties Description It allows programming the inverter behavior when
87. sub index that is not described in the dictionary structure is also necessary 5 2 DATATYPE The first part of the object dictionary index O00 1h 025Fh describes the data types that can be accessed at a CANopen network device They can be basic types as integers and floats or compound types formed by a set of entries as records and arrays 5 3 COMMUNICATION PROFILE COMMUNICATION OBJECTS The indexes from 1000h to 1FFFh in the object dictionary correspond to the part responsible for the CANopen network communication configuration Those objects are common to all the devices however only a few are obligatory A list with the objects of this range that are supported by the servo drive SCAO6 working in slave mode is presented next SCAO6 22 Object Dictionary Table 5 2 Object list Communication Profile Objeto Nome 1000h VAR UNSIGNED32 1001h VAR UNSIGNED8 1005h VAR UNSIGNED32 100Ch VAR UNSIGNED16 100Dh VAR UNSIGNED8 1016h ARRAY UNSIGNED32 1017h VAR UNSIGNED16 1018 RECORD 1200h RECORD 1st Server SDO parameter SDO Parameter Receive PDO Communication Parameter 1400h RECORD 1st receive PDO Parameter PDO rw 1401h RECORD 2nd receive PDO Parameter PDO rw 1407h RECORD 8th receive PDO Parameter PDO rw Receive PDO Mapping Parameter 1600h RECORD 1st receive PDO mapping PDO Mappin rw 1601h RECORD 2nd r
88. tion NOTE 7 In order to change the mapped objects in PDO it is first necessary to write the value 0 zero the sub index 0 zero In that way the values of the sub indexes 1 to 4 can be changed After the desired mapping has been done one must write again in the sub index 0 zero the number of objects that have been mapped enabling again the PDO 6 4 SYNCHRONIZATION OBJECT SYNC This object is transmitted with the purpose of allowing the synchronization of events among the CANopen network devices It is transmitted by a SYNC producer and the devices that detect its transmission are named SYNC consumers The servo drive SCAO6 working in slave mode has the function of a SYNC consumer and therefore it can program its PDOs to be synchronous As described in table 6 6 synchronous PDOs are those related to the synchronization object thus they can be programmed to be transmitted or updated based in this object O oO of o of oF 9 A S9 AC OS EE LE eg ov 5 NEM When receiving the SYNC every inverter Update data received by the RPDOs Update values and transmits TPDOs Figure 6 3 SYNC The SYNC message transmitted by the producer does not have any data in its data field because its purpose is to provide a time base for the other objects There is an object in the SCAO6 for the configuration of the COB ID of the SYNC consumer Index
89. tion defines several error control mechanisms which makes the network very reliable and with a very low undetected transmission error rate Every network device must be able to identify the occurrence of these errors and to inform the other elements that an error was detected A CAN network device has internal counters that are incremented every time a transmission or reception error is detected and are decremented when a telegram is successfully transmitted or received If a considerable amount of errors occurs the device can be led to the following states Error Active the internal error counters are at a low level and the device operates normally in the CAN network You can send and receive telegrams and act in the CAN network if it detects any error in the transmission of telegrams Warning when the counter exceeds a defined limit the device enters the warning state meaning the occurrence of a high error rate Error Passive when this value exceeds a higher limit the device enters the error passive state and it stops acting in the network when detecting that another device sent a telegram with an error Bus Off finally we have the bus off state in which the device will not send or receive telegrams any more The device operates as if disconnected from the network n the CAN protocol specification the ISO11898 standard is referenced as the definition of the layer 1 of this model physical layer
90. us between the master and each of the slaves 9854000 RS4001 RS4127 CANopen master status Bit 0 all slaves were contacted Bit 1 download of the slave configurations was performed Bit 2 slave error control started Bit 3 end of the initialization of the slaves Bit 4 error detected in the initialization of at least one slave Bit 5 error detected in the error control task of at least one slave Bits 6 and 7 reserved Bit 8 it takes on the toggle bit value see CD3200 after the master sends command Bits 9 12 reserved Bit 13 CAN interface in the bus off status Bit 14 no power supply on the CAN interface Bit 15 communication disabled CANopen slave status They are 127 Word markers seeing that each marker is linked to an address on the CANopen network and indicates the slave status at the address Bit 0 master contacted slave successfully Bit 1 download of the master configurations was performed successfully Bit 2 slave error control started Bit 3 end of the initialization of the slave Bit 4 error detected at the initialization of the slave Bit 5 error detected in the slave error control task Bits 6 15 reserved Last Error at the SDO Client set of reading markers to report data about errors at the SDO client If a request is made to the SDO client and the slave does not respond or responds with an error the data related to the last error detected by the SDO client are save
91. uses CAN telegrams for exchanging data the network The CAN protocol is a serial communication protocol that describes the services of layer 2 of the ISO OSI model data link layer This layer defines the different types of telegrams frames the error detection method the validation and arbitration of messages 1 1 1 Data Frame CAN network data is transmitted by means of a data frame This frame type is composed mainly by an 11 bit identifier arbitration field and by a data field that may contain up to 8 data bytes Identifier 8 data bytes 11 bits byte O byte 1 byte 2 byte byte 4 byte 5 byte 6 byte 7 1 1 2 Remote Frame Besides the data frame there is also the remote frame RTR frame This type of frame does not have a data field but only the identifier It works as a request so that another network device transmits the desired data frame 1 1 3 Access to the Network Any device in a CAN network can make an attempt to transmit a frame to the network in a certain moment If two devices try to access the network simultaneously the one that sends the message with the highest priority will be able to transmit The message priority is defined by the CAN frame identifier the smaller the value of this identifier the higher the message priority The telegram with the identifier O zero is the one with the highest priority 1 1 4 Error Control The CAN specifica

SCA06 - CANopen Manual

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