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Sigma-5 CANopen Network Module

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1. 1 4 1 6 SGDV OCBO1A Hardware interface 1 5 1 6 1 RUN LED status description 1 5 1 6 2 ERROR LED status description 1 6 1 6 3 S1 and S2 Address switches 1 6 1 6 4 S3 Baud rate selection switch 1 7 1 6 5 CAN connector 22 eer rrr ere re rr ee ee eee eens 1 7 1 6 6 GANOpen Cable lt 3 Wants Sae Sept Hee Ree a Stree Seas Hes 1 8 1 6 7 Termination resistor 1 8 1 6 8 SGDV OCBO1A Dimensions 1 8 2 Hardware installation 2 1 2 1 Mounting the CANopen network module 2 1 2 2 Connecting to the CAN bus network 2 2 3 Communication parameter objects 3 1 3 1 Object 1000h Device Type 3 1 3 2 Object 1001h Error Register 3 1 3 3 Object 1005h COB ID SYNC 77 3 1 3 4 Object 1008h Manufacturer Device Name 3 2 3 5 Object 1010h Store Parameters
2. 13 3 13 3 Mode specific status word 13 3 13 4 Object 60C1h Interpolation Data Record 13 3 13 5 Object 60C2h Interpolation Time Period 13 4 13 6 Guidelines for interpolated motion execution 13 4 13 6 1 Working in continuous execution 13 4 14 Inputs and outputs objects 14 1 14 1 Object 60FDh Digital Inputs 14 1 14 2 Object 60FEh Digital Output 14 1 xvi 15 Error handling 15 1 15 1 General eee eee eee 15 1 15 2 Classes s esececs sect esese esac e reac sees Sees epee ene ease ee ese 15 1 15 3 EMCY message format 15 1 15 4 Generic error 7 7 7 7 15 2 15 5 CANopen communication errors 15 2 15 6 Emergency message lt 2 5 Hseneser sense nd nD E i Betas ese ees 15 3 15 7 Error code chart 15 4 15 7 1 Error code chart 1 Errors detected by the CANopen network card 15 6 15 7 2 Error code chart 2 Errors detected by the servo unit
3. 15 7 15 7 3 Abort SDO Transfer Protocol 15 9 15 7 4 Recovery procedure after the interlock circuit is open 15 10 16 Examples 16 1 16 1 Homing example 16 1 16 2 Profile position example 16 2 17 Description of data types 17 1 17 1 Datatypes 17 1 18 SGDV OCBO01A objects based on EDS 18 1 18 1 Description of objects 18 1 Revision History 1 xvii xviii 1 SGDV OCB01A CANopen Network Module 1 SGDV OCB01A CANopen Network Module 1 1 Introduction The SGDV OCB01A is an add on board compatible with V Series models which provides an interface for CANopen networking Network type The CANopen interface enables the user to achieve high speed distributed control with a high level of reliability CANopen is a higher layer protocol commonly used in automation industry The specification of this protocol is maintained and developed by the CiA CAN in Automation organization www can cia org 1 2 CANopen network module features CANopen network module offers a wide range of functions based on the following e CANopen DS 301 specification e Drive profiles according to DSP 402 V
4. 3 2 3 6 Object 1011h Restore Default Parameters 3 3 3 7 Object 1014h COB ID EMCY 2 2 errr ee ee eee reer eee 3 4 3 8 Object 1016h Consumer Heartbeat Time 3 4 3 9 Object 1017h Producer Heartbeat Time 3 5 3 10 Object 1018h Identity Object 3 6 xiii 4 Process Data Objects PDOS s 2ssseshecareser eee set ee se 4 1 4 1 PDO objects overview pas amp sate ere ete eats re eine cere nye lee pene Se eee ergata 4 1 4 2 Object 1400h 1403h RPDO Communication Parameter 4 1 4 3 Object 1600h 1603h RPDO Mapping Parameter 4 3 4 3 1 Default values for RPDO 4 4 4 4 Object 1800h 1803h TPDO Communication Parameter 4 6 4 5 Object 1A00h 1A03h TPDO Mapping Parameter 4 8 4 5 1 Default values for TPDO 7 7 77 777 r 4 9 4 6 Mapping procedule 2 2 2 t shee ere ee een een ae eee te sae wee 4 11 5 Manufacturer specific objects 5 1 5 1 Object 2004h Utility servo function 7 5 1 5 2 Object 203fh Manufacturer error code 7 7 7 7 7 5 1 5 3 Object 2100h Get Parameter
5. 11 bit CAN ID Valid oO oO Bit Value Function 11bit CAN ID according to the object Default Value 200h Node ID 300h Node ID 400h Node ID 500h Node ID 29bit CAN ID extended Always 0 0 10 11 28 29 30 Always 1 PDO enable valid PDO disable is not valid 31 pae HE Ca ped e The validity bit bit 31 allows the user to enable disable the PDO While the PDO is valid bit 31 0 no other bits can be changed e In the event that bit 29 is changed or 29bit CAN ID is sent CANopen will send SDO abort code 06090030h Sub index 2h Defines the transmission type SGDV OCB01A can generate PDOs using time triggers or event triggers Value range 00h time driven The CANopen device will actuate the received data at the next SYNC The time interval is set to sub index 03h FFh event driven PDO can be generated at any time by control word changing object 6040h Any other data will generate SDO abort code 06090030h Sub index 3h Inhibit time Defines the time interval for the time driven PDO 4 2 4 Process Data Objects PDOs Value range 0 disable inhibit time 0 65535 1 FFFFh time interval in 0 1 msec While the PDO is valid bit 31 0 in sub index 1h the value can not be changed Sub index 4h Compatibility entry reserved Any read or write access will generate SDO abort code 06090011h Sub index 5h Event timer Defines the minimum time interval between 2
6. 15 2 Classes The SGDV OCBO01A errors are divided into classes according to the CiA 301 standard Some of the classes indicate an error in the SGDV OCBO1A unit or a networking failure and some of them indicate an error in the SGDV or errors resulting from the use of an incorrect operation command CAN bus off CANopen CAN error passive communication error CAN overrun CAN buffer overflow SDO communication SDO protocol error SGDV OCBO1A SDO abort transfer error Wrong data received Serial communication lost Serial communication SGDV OCB01A Checksum error EMCY message error SGDV Serial buffer overflow Drive errors yond pele en SGDV EMCY message Wrong parameter setting Drive warning Kaming acou patamelels SGDV EMCY message modification 15 3 EMCY message format EMCY message format COB ID DATA 11 bits it Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Manufacturer specific additional bytes Additional Additional Additional Additional Additional Error byte 1 byte 2 byte 3 byte 4 byte 5 Error Register code __ Object Error Type 1001h Suberror 0 alarm code 1 warning 2 fault SGDV OCBO01A EMCY message 80h Node ID SGDV code 2 hex bytes of Var number ine 15 1 15 4 Generic error Error Code 1000h Additional pei t F1 Var ID 90 Generic unexpected error 15 5 CANopen communication errors Additional byte or Description and Device Reaction Error Code
7. 8110h 8110h 8110h 8120h Additional ea CAN controller overflow The receive message buffer of the CAN controller is full CAN TX buffer overflow The transmit buffer of the CANopen library is full CAN RX buffer overflow The receive buffer of the CANopen library is full CAN error passive The CAN controller has detected communication error and reported error passive 15 2 Additional byte l nor Description and Device Reaction 15 Error handling Error Handling The SGDV Contact OCBO01A has Yaskawa received an Support and unexpected error report the from the servo SGDV error drive code CAN message was lost Any motion will be terminated with profile deceleration Reset fault from control word object 6040h 80h or reset communication CAN message was lost Any motion will be terminated with profile deceleration Reset fault from control word object 6040h 80h or reset communication CAN message was lost Reset fault from control word object 6040h 80h or reset communication Any motion will be terminated with profile deceleration Reset fault from control word object 6040h 80h or reset communication Any motion will be terminated with profile deceleration 15 Error handling Additional byte Description and Device Reaction CAN recovered from bus off The CAN Reset fault from control word Any motion will object 604
8. 9 5 Object 6099h Homing Speed Homing Speed Se a A PDO e Homing speed ERN BEN Optional Yes Oh Number of entries u8 RO o o 0x02 Mandatory n el B maa This object defines the speed during the homing procedure Depending on the homing method there are two speeds the approach and the creep speed The approach speed is the speed used for searching for the external sensor and the creep speed is the speed used for searching for the zero position Value range 0 4294967295 0 FFFFFFFFh velocity user units 9 6 Object 609Ah Homing Acceleration ane Data Fe PDO Index Parameter Name me Access Type Category Mapping Homing This object defines the acceleration during the homing procedure Value range 0 4294967295 0 F FFFFFFFh acceleration user units Note The value of the profile acceleration object 6083h and the homing acceleration object 609Ah refer to the same SGDV variable The last acceleration value that was entered will be valid for both objects If a specific homing acceleration is required enter the value after the homing procedure has been completed 9 9 10 Profile velocity mode objects 10 Profile velocity mode objects 10 1 Mode specific control word The profile velocity mode uses several bits from the control word object 6040h under certain circumstances The specific bits of the control word are described in the following table Bit Function Meaning 0 execute or
9. Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection Observe the following precautions when wiring main circuit terminals e Remove detachable main circuit terminals from the SERVOPACK prior to wiring e Insert only one main circuit cable per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuit adjacent wires Install a battery at either the host controller or the battery unit of the encoder but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations e Locations subject to static electric
10. Segmented transfer Block transfer PDO communication Supported RPDOs Supported TPDOs PDO mapping entries SYNC Time stamp Emergency messages Node guarding Heartbeat Non volatile storage CANopen profile for drives Axis types Motor type Storage temperature Ambient temperature Ambient temperature to ensure long term reliability Ambient humidity Vibration Current consumption DS 301 V4 02 10 20 50 125 250 500 800 1000 Kbps Standard 11 bit 1 127 set by two rotary switches Slave 1 server No Yes No Producer and consumer default setting according to DSP 402 1 to 4 1 to 4 Dynamic with maximum 2 mapping entries Consumer No Producer No Producer and Consumer Yes DSP 402 V2 0 Linear and Rotary Brushless AC servo 20 to 85 C 0 to 55 C 45 C or less 90 RH or less non condensing 4 9 m s or less 0 28 A from 5VDC Servo Drive supply 1 3 1 SGDV OCB01A CANopen Network Module 1 5 Checking on delivery 1 5 1 Checking items When V Series products such as network boards are delivered check the items displayed in the table below Check Items Remarks Check if the delivered products match Check the types marked on the nameplates of the the ones you ordered network unit Check the overall appearance and check for damage Sneck for ANY VisIDIe damage or scratches resulting from transportation Check if the type of SGDV is applicable Che
11. lt s2 st sertinee es setae tee ee ee eee tee 5 2 5 4 Object 2101h Set Parameter sssrcetea eke s shee acs esas ae 5 2 5 5 Object 2211h Read Monitor 7 7777 777rrvS 5 3 5 6 Object 2300h User unit group enable 7 7 5 3 5 7 Object 2301h Position User Unit 7 77 77777777 m v 5 3 5 8 Object 2302h Velocity User Unit 7 7 7 7 7 7 7 5 4 5 9 Object 2303h Acceleration User Unit 5 4 5 10 Object 2400h Position Range Limit Designation 5 8 5 11 Object 2401h Target_Position_In_Range 5 8 5 12 Object 2402h Actual_Position_In_Range 5 8 6 Device contol ODECE as Sesa Samaa een sears reese E ceases 6 1 6 1 SGDV OCBO01A Device control General 6 1 6 1 1 CAN network management NMT 0 705 6 1 6 1 2 Controlling the Power Drive System PDS 6 2 6 1 3 Modes of operation 6 4 6 2 Object 603fh Error code nous ee tees eta eS See mice Bat 6 4 6 3 Object 6040h Control Word 6 4 6 4 Object 6041h Status Word 6 5 6 5 Object 60
12. what services are enabled There are 4 NMT machine states e Initialization Initialization Comes right after power up or hardware reset The NMT state machine automatically continues to the next state Reset application Sets the power on profile values from non volatile memory Reset communication Sets the communication values from the non volatile memory e Pre operational Communication via SDO service is possible PDO service is disabled but configuring PDO is enabled e Operational All communication objects are active e Stopped All communication objects are inactive except node control and error control The CANopen NMT master should comply with the following rules e The NMT message should not be sent with intervals shorter than 2 ms to the same node e The NMT master should wait for the boot up message before sending another NMT reset The boot up message is sent by a device when it boots up or after a power out during operation It is sent to the CANopen NMT master to indicate that the device has reached the state Pre operational Q IMPORTANT The NMT states are described in the following diagram The NMT states and transitions are specified in the CiA standard 301 6 1 6 Device control objects Network Management NMT States and Transitions Power on HW reset 15 16 14 P l 6 1 2 Controlling the Power Drive System PDS The power drive system defines how
13. 2 Change set point immediately 0 the next target set point will start after the current motion completes target reached 1 the next target set point will start immediately 0 target set point will be in absolute values Absolute relative l 1 target set point will be in relative values 1 axis will stop with deceleration Mode specific status word Bit functions Bit 10 12 13 Target reached Set point acknowledgement Following error In the event that the driver is not in Halt state object 6040h bit 8 0 0 target position not reached 1 target position reached In the event that the driver is in Halt state object 6040h bit 8 1 0 axis during deceleration 1 velocity is 0 0 ready to accept a new set point 1 previous set point in progress 0 no following error 1 following error 8 1 8 Profile position objects 8 3 Object 6067h Position Window Object 6067h Position Window ee Sub ANAE Data Access Default ee PDO Index Type Type Value gay Mapping This object indicates the configured symmetrical range of accepted positions relative to the tar get position If the actual value of the position encoder is within the position window the target position has been reached The value is given in user defined position units Acceptable position range 1 t Position window Position window Reference Position position o l O yy Target rea
14. RTR event driven the device starts sampling data on request and transmits it immediately Event driven FE device transmits PDO at every change of the mapped object Event driven FF device transmits PDO at every change of the mapped status word or based on the configuration of the Event Timer sync sync sync sync sync sync t synchronous cyclic PDO synchronous acyclic PDO Any other data will generate SDO abort code 06090030h 4 7 4 Process Data Objects PDOs Sub index 3h Inhibit time Defines the minimum time interval between 2 event driven PDOs if sub index 2h FEh or FFh Value range 0 disable inhibit time 0 65535 1 FFFFh time interval in 0 1 msec While the PDO is valid bit 31 0 in sub index 1h the value can not be changed Sub index 4h Compatibility entry reserved Any read or write access will generate SDO abort code 06090011h Sub index 5h Event timer Defines the maximum time interval between 2 event driven PDOs if sub index 2h FEh or FFh In case sub index 2h FFh sub index 5h must have a value different from zero otherwise the PDO will be triggered only once Value range 0 disable event timer 0 65535 1 FFFFh time interval in 1 msec 4 5 Object 1A00h 1A03h TPDO Mapping Parameter Object 1A00h 1A03h TPDO Mapping Parameter Index soe Parameter Name EVER MoS aac Categor FDO Index Type Type Value gory Mapping Transmit PDO fae
15. and Acceleration 2303h will be explained There are basically 2 types of user unit settings for the following basic applications Applications for linear movements using a ballscrew or linear motors e Applications using gear boxes for rotary movement Also there are two ways to set the user acceleration unit considering the dimensions e Type 1 is to set the Time Constant data for top speed for example 80 msec acceleration for 1000 mm sec Type 2 is to set physical data such as mm sec or Deg sec Note When setting another user unit the ratio between numerator sub index 1h and denomi nator sub index 2h must be below 1000 If this condition is not fulfilled the new user unit will not be enabled 5 4 5 Manufacturer specific objects Example for ballscrew application 1 User requirements and application data 1 User position unit 0 001 mm 2 User velocity unit 1 mm sec 3 User acceleration unit Type 1 1 1000 0 1 of the calculated acceleration for the target application Type 2 1 mm sec 4 Application data Encoder 20 bit 1048576 counts rev The movement for 1 motor revolution 2 mm 5 User acceleration type 1 Time Constant data for top speed Top speed 1000 mm sec 60 m min Calculated acceleration time to top speed 80 msec Note calculated acceleration for the target application 12500 mm sec 1 275G 2 Setting 1 Position user unit 2301h Number of encoder counts
16. cannot be reset unless Fn014 in an operation mode is executed 15 8 15 Error handling 15 7 3 Abort SDO Transfer Protocol The Abort SDO protocol breaks off SDO transmission and indicates the error that caused the break in transmission through an abort code This code is encoded as UNSIGNED32 value The following table shows possible reasons for an abort SDO Abort Code 0504 0005h 0601 0001h 0601 0002h 0602 0000h 0604 0041h 0604 0042h 0604 0043h 0606 0000h 0607 0010h 0609 0011h 0609 0030h 0609 0031h 0609 0032h 0609 0036h 0800 0000h 0800 0020h 0800 0022h Description Out of memory Attempt to read a write only object Attempt to write a read only object Object does not exist in the object dictionary Object cannot be mapped to the PDO The number and length of the objects to be mapped would exceed PDO length General parameter incompatibility reason Access failed due to a hardware error Data type does not match length of service parameter does not match Sub index does not exist Value range of parameter exceeded only for write access Value of parameter written too high Value of parameter written too low Maximum value is less than minimum value General error Data cannot be transferred or stored to the application Data cannot be transferred or stored to the application because of the present device state The abort codes not listed above are reserved 15 9 15 Error handling 15 7 4 Recovery procedure af
17. event driven PDOs Value range 0 disable event timer 0 65535 1 FFFFh time interval in 1msec 4 3 Object 1600h 1603h RPDO Mapping Parameter Object 1600h 1603h RPDO mapping parameter ae Data Access Default Receive PDO pN 0h Number of Entries See Table Mandatory i i 1603h Mapping EMYS See Table Optional Sub index Oh Number of entries Number of objects mapped in the PDO Value range Oh disable mapping 1h 1 object at least mandatory 2h 2 objects 3h 3 objects 4h 4 objects 5h 5 objects 6h 6 objects 7h 7 objects 8h 8 objects max 4 3 PDO Mapping No No No No No No No No No 4 Process Data Objects PDOs Sub index 1h to 8h Application object Value range Object Index Sub Index Length The length is the number of bits in hex format For example Length of Object with data type u32 is 20h length of object with data type i16 is 10h 4 3 1 Default values for RPDO Object 1600h RPDO 1 Mapping Value Description Function Sub index Oh Number of objects 1 Sub index 1h 60400010h le 16 Control Word Sub index 2h Sub index 3h Sub index 4h Object 1601h RPDO 2 Mapping Value Description Function Sub index Oh Number of objects l Object 6040h st ahi Sub index 1h Mapping 1 object 60400010h sib index 0 wie Control Word Object 607ah bs nd ahi Sub index 2h Mapping 2 object 607a0020h sub index 0 i32 Target Position
18. oe 2 w 0x6040 fo u16 Oxf Switch on and enable operation 16 2 16 Examples Step 2 Configure motion profile Read Sub Data wee Write Index index Type Value Description 3 r 0x607B 1 i32 Diazasaeas Cheong minimum position limit Checking maximum 4 0x607B 2147483647 Soe ie cee limit 5 on 0x608 Profile constant velocity in rev sec user units Profile acceleration in 6 w 0x6083 0 10000 2 rev sec user units Step 3a Configure and operate absolute motion Read ion Sub Data Value DEE Index TUNN 11a woo o Ma u16 Ot Description Modes of operation setting 1 p the target position to 3 rev positive direction Set motion active motor will move to the set point in absolute scale Set the new set point to 15 rev from the origin Bit 4 0 Bit 4 1 moving to the new set point Step 3b Configure and operate relative motion Read der Sub Data Value ENN Index Type ae ace 16 3 Description Modes of operation setting 1 me the target position to 3 rev positive direction Set motion active motor will move to the set point in relative scale Set the new set point to 15 revolutions from the origin Bit 4 0 16 Examples Read Sub Data ee Bit 4 1 12b w 0x6040 0 u16 Ox5f Bit 6 1 Motor will move the new set point Step 4 Verify that the homing procedure has ended Read Sub Data A Status word 1 41 1 1 ro fosajo ute r
19. the SERVOPACK 7 2 Mode of operation 6060h The pole detection code is 1 7 3 Control word 6040h In the following CiA402 FSA transition the pole detection starts e From Ready to switch ON to Switch ON e From Ready to switch ON to Operation enabled In the following CiA402 FSA transition the pole detection should be stopped e To Switch ON disabled e To Ready to switch ON e Fault CAUTION During the pole detection process the motor can move in great distance 7 4 Status word 6041h 7 1 7 Pole detection mode 7 5 Pole detection condition Rule1 Transition to Pole detection mode is only in Servo OFF states Rule2 Transition from Pole detection mode to other modes is only in Servo OFF states and after Pole detection completed Rule3 Any attempt to violate Rule1 or 2 will result in SDO Abort code 0x0609 0030 Note After the pole detection function is successfully performed the mode of operation must be set depending on the application 7 2 8 Profile position objects 8 Profile position objects 8 1 Mode specific control word The profile position mode uses some bits from the control word object 6040h under certain circumstances If no previous motion is being processed bit 4 will start the axis motion Control word bits 0 No new set point is demanded E EE 1 New set point is demanded p The activation of the new set point will be at the bit rising Bit 8
20. time Value range Consumer node ID 1 127 Heartbeat time Requested time cycle in 1 msec units If the heartbeat time is zero or the node ID is out of the above range then the heartbeat consumer object will not be active 3 9 Object 1017h Producer Heartbeat Time Sup Parameter Name Datan neces Default Value Category hee Index Type Type Mapping This object defines the Heartbeat cycle time The Heartbeat is a cyclic signal that a CAN device sends to the network The Heartbeat consumer receives this cyclic signal message and it can indicate that the heartbeat producer is working properly Index 1017h Value range 0 Disable Producer Heartbeat 1 65535 1 FFFFh Cycle time msec 3 5 3 Communication parameter objects 3 10 Object 1018h Identity Object Index sue Parameter Name Pata fag Default Value Category EDO Index Type Type Mapping ommo Mandatory oh Number oi Enies us R0 0a Mandaton No a Product Code ue RO onora No an Revision Numbor ge RO opion No an SevatNumber u2 RO opona No This object provides general identification information for the CANopen device 3 6 4 Process Data Objects PDOs 4 Process Data Objects PDOs 4 1 PDO objects overview The CANopen protocol allows the user to map objects into Process Data Objects PDOs to use these PDOs for real time data transfer A PDO message length is up to 8 bytes and an SDO mess
21. 0000h 7FFFFFFFh acceleration user units 10 8 Object 6085h Quick Stop Deceleration Object 6085h Quick stop deceleration PDO Index ee Parameter Name BIEN Rec REE Category Index Type Type Value Mapping Quick stop The object defines the quick stop deceleration value that is used when a Quick Stop command is given and the quick stop option code see 605Ah is set to 2 Note The deceleration value is calculated based on the SGDV value at initialization Value range 2147483648 2147483627 80000000h 7FFFFFFFh acceleration user units 10 3 11 Profile torque mode objects 11 Profile torque mode objects 11 1 Mode specific control word The profile torque mode uses several bits from the control word object 6040h under certain circumstances The specific bits of the control word are described in the following table Bit Function Meaning 0 execute or continue motion 8 Halt 1 stop motion Meaning In the event that the driver is not in Halt state object 6040h bit 8 0 0 target torque not reached 1 target torque reached In case that the driver is in Halt state object 6040h bit 8 1 0 axis during deceleration 1 velocity is 0 Bit Function Target torque reached 11 3 Object 6071h Target Torque Object 6071h Target Torque Index SUR Parameter Name Parana SSS Aul Categor PDO Index Type Type Value gory Mapping 6071h Oh Target torque ie RW o Manda
22. 0h controller has be terminated 80h or reset delecled jee with profile communication MANY tansi deceleration The SGDV enrorsand hag OCB01A will try to changed to bus recover this error off state PDO data The SGDV OCBO01A has received faulty data via PDO The faulty data will be ignored 15 6 Emergency message Emergency errors are triggered by internal errors and warnings detected within the servo drive The manufacturer specific error code OxFFOOh is used for this purpose The emergency telegram consists of 8 bytes with data as shown in the table below Manufacturer specific Error Field Emergency Error Code Error register i Reserved Code 0xFF00h object1001h 603Fh 1001h Z Manufacturer specific Error Field 0 Alarm Attribute veer 0 Sigma 5 fault 5 Appl Faul AONE SAPPIGAION FaH 1 CANopen application fault 18 23 No Effect Always 0 Reserved 24 31 No Effect Always 0 15 3 15 Error handling 15 7 Error code chart ESS E ee Error Reg Contents opie 1001h Emergency Code Emergency error code Name 0000 0002 Read Write Spon 8008h EEPROM error 2 0000 0002 8100h 8004h NMT Stop Manufacturer specific error field penjesey q oq 0q p n sS y tq We 0 Fault code 0 S eme Z L 10119 O148U06 O gt Z O D v D eh g O n op lt 0 0 EN N N k o gt 8210h oO o
23. 2 0 support the following modes Pole Detection Mode Profile Position Mode Homing Mode Profile Velocity Mode Profile Torque Mode Interpolated position mode Rotary switches for setting node ID up to 127 nodes Communication rate of up to 1 Mbps Standard 9 pin D type connector Two indicator LEDs according to CiA303 3 CANopen network module is conform to CiA Specifications Safety Standard UL508 Material Compliance UL94V 0 RoHS Directive 2002 95 EC WEEE Directive 2002 96 EC Low Voltage Directive 73 23 EEC EMC Directive 89 336 EEC 1 1 1 SGDV OCB01A CANopen Network Module 1 3 SGDV OCBO01A Model designation The network module that is mounted onto the servopack consists of the network card and the housing for the network card Model designation for the network card SGDV OC B 01A Product Series Sigma 5 Series Design revision order Option card specification 01 CANopen PCB Category OC Command Option Card Responsible Branch for Product A Japan B Europe Model designation for the housing SGDV OZ A 01A Series Design revision order Sigma 5 Series Type of Option Option case specification Case for option module General purpose 1 SGDV OCB01A CANopen Network Module 1 4 SGDV OCBO1A Technical specifications CANopen communication standards CAN bit rates CAN identifier CANopen node ID NMT services SDO communication Block transfer
24. 2211h 2h 5 6 Object 2300h User unit group enable User unit group enable Index sub Parameter Name ES EA e SERET Categor RDS Index Type Type Value gory Mapping 2300h User unit group enable u8 RW ft No Data IL This object enables the setting of the user units Procedure 1 FSA state must be Switch ON disabled 2 Set value to 0 3 Set the relevant User Units objects 4 Set 2300h object to 1 to activate the new user units After this procedure Sigma 5 will automatically update all values to the new units 5 7 Object 2301h Position User Unit Position user unit Index Sub Parameter Name PaE eea Categor He Index Type Type Value gory Mapping rt Position user unit Oh Number of Entries No Sees ene Numerator No Denominator No 5 3 5 Manufacturer specific objects 5 8 Object 2302h Velocity User Unit Velocity user unit Index ue Parameter Name TE Deel Categor Hee Index Type Type Value IBY Mapping Velocity user unit Oh Number of Entries No 1h Numerator No 2h Denominator No 2302h 5 9 Object 2303h Acceleration User Unit Acceleration user unit Index ee Parameter Name Pai Seve Devel Categor END Index Type Type Value gay Mapping Acceleration user unit Oh Number of Entries No 1h Numerator No 2h Denominator No 2303h Settings of the objects 2301h 2302h 2303h In the following examples the setting of the Position 2301h Velocity 2302h
25. 5Ah Quick stop option code 7 7 77 7 77 6 7 6 6 Object 6060h Modes of Operation 7 7 7 7 77 7 7 6 8 6 7 Object 6061h Modes of Operation Display 6 8 xiv Pole detection Mode s rs kee e ae tes aA ate sae eine eee eee 7 1 7 1 Introduction cs Sis che 2 Sage aera aa Eee Ste cern Serene 71 7 2 Mode of operation G060N e lt s e ce esbeessreeteseeceseeesest es eeee 7 1 7 3 Control word 6040h 7 1 7 4 Status word 6041h 7 1 7 5 Pole detection condition 7 2 S Profile pOSiliOn Ob GCIS sna ne ie e a a eee a 8 1 8 1 Mode specific control word lt 232s cee a Seta See eee eee e Sees 8 1 8 2 Mode specific status word 8 1 8 3 Object 6067h Position Window 7 7 8 2 8 4 Object 6068h Position Window Time 7 8 2 8 5 Object 607Fh Maximum Profile Velocity 8 3 8 6 Object 6081h Profile Velocity sees Seep are eee se et he eee ee setts 8 3 8 7 Object 6083h Profile Acceleration 8 3 8 8 Object 6084h Profile Deceleration 8 3 8 9 Object 608
26. 5h Quick Stop Deceleration 7 7 8 4 8 10 Object 607Ah Target Position sss5e ss Sse ee See ee ese See 8 4 8 11 Object 6062h Position Demand Value in User Units 8 4 8 12 Object 6063h Position Actual Value 7 8 5 8 13 Object 6064h Position Actual Value in User Units 8 5 9 Homing MOUS ODIiECISis sets eae 6 SG ate aie ene chee aE 9 1 9 1 Mode specific control word s lt s25e eros eset et are tee oe See eee 9 1 9 2 Mode specific status word 9 1 9 3 Object 607Ch Home Offset sso esate ass eee so ee Pee se eel ee 9 2 9 4 Object 6098h Homing Method 9 2 9 5 Object 6099h Homing Speed s esses eseecereereebese sp eres sens ee asics 9 9 9 6 Object 609Ah Homing Acceleration 9 9 10 Profile velocity mode objects 10 1 10 1 Mode specific control word 10 1 10 2 Mode specific status word 10 1 10 3 Object 606Bh Velocity Demand Value 10 1 10 4 Object 606Ch Velocity Actual Value 10 2 10 5 Object 60FFh Target Velocity 10 2 10 6 Object 60
27. 8 9LF United Kingdom Phone 44 0 1236 735000 Fax 44 0 1236 458182 Y YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2012 YASKAWA EUROPE GmbH All rights reserved MANUAL NO YEU SIEP C720829 20A Published in Germany February 2012 09 6 lt gt 0
28. 83h Profile Acceleration 10 2 10 7 Object 6084h Profile Deceleration 10 3 10 8 Object 6085h Quick Stop Deceleration 10 3 11 Profile torque mode objects 11 1 11 1 Mode specific control word 11 1 11 2 Mode specific status word 11 1 11 3 Object 6071h Target Torque 11 1 11 4 Object 6072h Maximum Torque 11 2 11 5 Object 6074h Torque Demand 11 2 11 6 Object 6077h Torque Actual Value 11 2 11 7 Object 6087h Torque Slope 11 2 12 Touch probe 12 1 12 1 Object 60B8h Touch probe function 12 1 12 2 Object 60B9h Touch probe status 12 2 12 3 Object 60BAh Touch probe pos1 pos value 12 2 12 4 Object 60BCh Touch probe pos2 pos value 12 3 13 Interpolated position mode 13 1 13 1 General information 13 1 13 2 Mode specific control word
29. AC Servo Drives V Series USER S MANUAL CANopen Network Module SGDV OCB01A To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual Please check www yaskawa eu com for up to date versions MANUAL NO YEU SIEP C720829 20A Copyright 2012 YASKAWA EUROPE GmbH All rights reserved No part of this publication may be reproduced stored ina retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this manual This manual describes the operation of the S DV OCB01A CANopen network module with the S V Series servo drive For a more complete understanding of the S V Series capabilities and features refer to the related manuals Be sure to refer to this manual and perform operations correctly Keep this ma
30. DC is disabled and the data is enabled back again to be refreshed when the WDC comes back to a normal state WDC is defined as normal when it is suc cessfully refreshed for 16 consecutive times Yes The Servo Unit detects this alarm if the checksum of the cyclic data refreshed by the network Card is inappropriate After detecting the alarm the cyclic data is disabled and the data is enabled back again to be refreshed when the WDC comes back to a normal state WDC is defined as normal when it is successfully refreshed for 16 consecutive times Yes Upon power on the Servo Unit confirms a Board ID signal output from the Network Card This alarm is detected if the Servo Unit determines that the Network Card is not connected After the alarm detection the DPM data exchange will not be carried out Upon power on the Servo Unit confirms a Board ID signal output from the Network Card This alarm is detected if Board ID or OpType network Card ID set during DPM Initial Sequence is found to be out of supported range Upon power on the Servo Unit confirms a Board ID signal output from the Network Card This alarm is detected if OpType network Card ID set during DPM Initial Sequence is different from the Board ID obtained upon previous power on It is to notify that the Network Card has been replaced by another type After the alarm detection the DPM data exchange will be continued This alarm
31. Either the device must be powered on or the application or communication must be reset for the newly set address to become effective The factory default setting for the Node ID is 1 CAUTION Set the board address using the rotary switches before applying the power Exceeding the Node ID range 1 to 127 causes a malfunction of the CANopen Network Module and consequently disables the RUN LED and the ERROR LED LED state OFF 1 6 1 SGDV OCB01A CANopen Network Module 1 6 4 S3 Baud rate selection switch The SGDV OCB01A can communicate using several baud rates and up to 1Mbps The SGDV OCB01A baud rate is set by the DIP switch S3 as defined in the table below ON ON ON ON OFF OFF OFF OFF PON ON TOK o Pore ore sites se 250 kbps 800 kbps DIP SW S3 It may be necessary to use repeaters for bus lengths greater than 1000 m Do not change the setting of switch 4 1 6 5 CAN connector The SGDV OCB01A is connected to the CAN Bus with the CN11 connector Connector type D type 9 pin male Pin No OO CO NI OD oO BR Ww Nj Shield Terminal Layout Name NC CAN L GND NC NC NC CAN H NC NC Connected to CAN cable shield Recommended mating connector Connector Parts Connector Cover 9 Pin D SUB for cable Female 17JE 09 H1C DDk 1 7 1 SGDV OCB01A CANopen Network Module 1 6 6 CANopen cable CANopen cable h
32. FFFFFh velocity user units 8 7 Object 6083h Profile Acceleration Object 6083h Profile Acceleration Sub E E NERS Data Access Default cree PDO Index Type Type Value gory Mapping Profile acceleration u32 Rw fo Mandatory Yes The object defines the desired acceleration during profile position motion Index 6083h Value range 0 4294967295 0 FFFFFFFFh acceleration user units 8 8 Object 6084h Profile Deceleration Object 6084h Profile Deceleration Sub ENETEIA Data Access Default Caor PDO Index Type Type Value gory Mapping The profile deceleration is given in the same units as the profile acceleration If this parameter is not used the profile acceleration value is also used for the deceleration 8 3 8 Profile position objects 8 9 Object 6085h Quick Stop Deceleration Object 6085h Quick stop deceleration Index oe Parameter Name Eide WAS Aa Categor PRO Index Type Type Value gory Mapping 6085h Oh Quek Stop u32 RW See note Optional Possible deceleration The quick stop deceleration is the deceleration value used to stop the motor if the Quick Stop command is given and the quick stop option code see 605Ah is set to 2 The quick stop deceleration is given in the same units as the profile acceleration Note The default value is calculated related to the value taken from the SGDV on initialization 8 10 Object 607Ah Target Position Object 607Ah Target
33. O oO 0000 0002 CAN in error 0000 0002 Recovered from en 8001h bus off opg 0000 0003 Wrong value ee0gn 8006h received via PDO BE 0000h processed due to length error 0000 0000 Wrong Node ID 0000 0000 Address is out of FFOOM oaosh the allowable aig range FFOOh IF Servo Unit Fre 0000 0002 8130h 8007h Heartbeat error ofo fo ofol ofo ol 0000 0000 PPO not 2 1 0000 0000 8220h 0000h Length exceeded A ofo fo ofol ofo ol 0000 0000 Command Option efe lo fololofofe Jani Initial Error Oom p gt gt oc a e e aE aae O O Error Command Option 0000 0000 FFOOh OEAth IF Memory Check 15 4 FFOOh FFOOh FFOOh FFOOh FFOOh FFOOh FFOOh 15 Error handling Command Option 0000 0000 IF Servo OEA2h Synchronization Error Command Option 0000 0000 OEA3h IF FEND Data Error 0000 0002 Wrong Sync 0007h period 0000 0002 NMT Reset 8003h Comm 0000 0003 Motion buffer full 0001h warning 0000 0002 Abnormal control 0009h state xxxx Other Sigma 5 Alarm and Warning Refer to Sigma 5 manual These errors are also reported to the SGDV amplifier 15 5 15 Error handling 15 7 1 Error code chart 1 Errors detected by the CANopen network card Attribute Bit Fault Code Same as Meaning Description display 16 A XXx s 1 wieje ye1adO yun om S JO WOHYd33 2801S This alarm is detected when the initial sequence is not complete
34. Parameter Mandatory aR er Ec Be wary We No 4h Mapping Entry 4 See Table Optional No Mapping Entry 5 See Table Optional No No 7m en Mapprg Enry use AW Se0 Tabie Optional No Maing Eniya te RW eo Tbe Oriona T We 4 8 4 Process Data Objects PDOs Sub index Oh Number of entries Number of objects mapped in the PDO Value range Oh disable mapping 1h 1 object at least mandatory 2h 2 objects 3h 3 objects 4h 4 objects 5h 5 objects 6h 6 objects 7h 7 objects 8h 8 objects max Sub index 1h to 8h Application object Value range Object Index Sub Index Length The length is the number of bits in hex format For example Length of objects with data type u32 or i32 is 20h length of objects with data type u16 or i16 is 10h 4 9 4 5 1 Default values for TPDO Object 1A00h TPDO 1 Mapping Description Function Sub index 1h 60400010h a 16 Status Word Subrindex sn Mapping sobject_ f Subindex7n Mapping 7 object f l Sub index 8h Mapping 8 object eoo i Object 1A01h TPDO 2 Mapping Value Description Function Sub index 1h 60400010h A 16 Status Word 4 Process Data Objects PDOs Object 1A01h TPDO 2 Mapping l Object 6064h Sub 2h nd ub index Mapping 2 object 60640020h or na Object 6064h Sub ind h rd ub index 3h Mapping 3 object 60640020h sdana 40 2 Object 6064h Sub index 4h th uD INQEX Ma
35. Position Index Dp Parameter Name Pale iA CO Gen Categor Be Index Type Type Value gory Mapping 607Ah Target position fizz Rw Mandatory Yes This object defines the target position value for the next profile position motion The value can be in terms of relative position or in terms of absolute position depending on bit 5 in the control word object 6040h Value range 2147483648 2147483627 80000000h 7FFFFFFFh position user units 8 11 Object 6062h Position Demand Value in User Units Object 6062h Position Demand Value in User Units Index Sub Parameter Name Belen e Bier Uy Categor oe Index Type Type Value gory Mapping value This object contains the value of the demanded position in the closed loop cycle calculations This value is the reference command for the trajectory generator Value range 2147483648 2147483627 80000000h 7 FFFFFFFh position user units 8 4 8 Profile position objects 8 12 Object 6063h Position Actual Value Object 6063h Position Actual Value Index D Parameter Name Para Gees auk Categor PPG Index Type Type Value gory Mapping This object contains the value of the actual position for the closed loop position control calculations Value range 2147483648 2147483627 80000000h 7FFFFFFFh position units 8 13 Object 6064h Position Actual Value in User Units Object 6064h Position Actual Value in User Units Index ale Pa
36. Sub index 4h Mapping 4 object Td 4 4 4 Process Data Objects PDOs Object 1602h RPDO 3 Mapping Description Function Sub index 1h 60400010h eet i 16 Control Word Sub index 2h DH a Sub Target Velocity Sub index 3h Mapping 3 object ee Sup Target Velocity Sub index 4h Mapping 4 object a ae sug Target Velocity Sub index 5h Mapping 5 object 60ff0020h oS sup Target Velocity Sub index 6h Mapping 6 object 60ffO020h E eae Su Target Velocity Sub index 7h 60ff0020h DA ies Sup Target Velocity Sub index 8h 60ff0020h a a Sup Target Velocity Object 1603h RPDO 4 Mapping Value Description Function Sub index Oh Number of objects Sub index 1h Mapping 1 object Sub index 2h Mapping 2 object Sub index 3h Mapping 3 object Sub index 4h Mapping 4 object Sub index 5h Mapping 5 object Sub index 6h Mapping 6 object Sub index 7h Mapping 7 object Sub index 8h Mapping 8 object 4 5 4 Process Data Objects PDOs 4 4 Object 1800h 1803h TPDO Communication Parameter Object 1800h 1803h TPDO Communication Parameter Index oe Parameter Name Sein Heeb erau Categor PDO Index Type Type Value a Mapping Transmit PDO Communication Mandatory Parameter 1 4 om Number ofrives ue RO os Mandaton No fan inne ute RW opira No an ompattiyEniy ue RO Optonal No sm Event timer ute RW opioa No Sub index 1h Contains the COB ID of the TPDO in the following structure Structur
37. The SDO client performs the following operations 1 Sets the parameter ID to object 2100h 1h 2 Reads the parameter value from object 2100h 2h 5 4 Object 2101h Set Parameter Set Parameter index Data Access Default Cainer PDO Type Type Value gory Mapping The CANopen SDO client can write each SGDV parameter value with the object 0x2101 The SDO client performs the following operations 1 Sets the parameter ID to object 0x2101 1 2 Writes the value to object 0x2101 2 This object is only active when the SGDV OCB01A is in SWITCH ON DISABLED machine state this can be done by CAN master or by sending the value 0 to the control word object 6040h O0h Sending object 2101h when the machine is in another state will generate SDO abort code 8000022h Some of the SGDV parameters only become effective after a RESET For details see the related manuals Changing these parameters requires the user to reset the SGDV 5 2 5 Manufacturer specific objects 5 5 Object 2211h Read Monitor Bae aS eNaS Data Access Default Ca PDO Type Type Value gory Mapping Read monitor Read monitor Number of Entries Var ID Var value SGDV OCB01A enables the user to read the SGDV monitor via the CANopen network Data can only be handled by the CANopen SDO service and can not map to PDOs The SDO client performs the following operations e Sets the monitor ID to object 2211h t1h Reads the data value from object
38. The physical inputs correspond to CN1 40 CN1 46 and can be assigned to logical input as limit switches an E stop or a home switch The binary code of the digital inputs state in object 60FDh is as follows Value range 0 not active 1 active 14 2 Object 60FEh Digital Output Object 60FEh Digital Output Index sue Parameter Name peis pites Bacu Categor poe Index Type Type Value gory Mapping 60FEh a Digital output a ae iy se Optional Yes on Fumer of enies ue Po O02 merse Pin Prvsical ouput uae RW Marestony 31 23 This object commands the digital output state The SGDV has 4 digital outputs OUT1 OUT3 are assigned for general use and OUT4 is assigned as an alarm output The digital outputs correspond to CN1 25 CN1 30 Sub index 1h set output on off by sending the binary state as follows Value range 0 output off 1 output on Sub index 2h set masking on off to specific output by sending binary state as follows Value range 0 masking off 1 masking on 14 1 15 Error handling 15 Error handling 15 1 General EMCY is one of the CANopen services The EMCY message CAN ID is 80h Node ID EMCY messages are prioritized immediately after NMT messages and before any data objects PDOs and SDOs Error messages are generated automatically once an error has occurred Error messages are only transmitted once for each error so the error handling should be in order of occurrence
39. age is 16 bytes Since the data contained in several SDOs can be configured into one PDO using PDOs can reduce each message length This reduces the amount of data transferred making communication more efficient PDOs use different Communication Object Identifiers COB ID which give them higher priority over SDOs SGDV OCBO01A supports 4 Receive PDOs RPDO and 4 Transmit PDOs TPDO Each PDO uses two objects one for mapping configuration and one for communication configuration e Mapping configuration defines which objects this PDO will include e Communication configuration defines the PDO communication parameters such as communication object PDO active disable generating trigger inhibit time and more The table below describes the objects that relate to the relevant PDOs PDO related objects Receive PDO Transmit PDO sono mi 4 2 Object 1400h 1403h RPDO Communication Parameter Object 1400h 1403h RPDO Communication Parameter Index h Parameter Name PE S EEE aN Categor Roe Index Type Type Value gory Mapping Receive PDO Communication Mandatory Parameter 1 4 om Number ofEnties us R0 8 Mandaton No fen mte ue aw Optional No an Compatbity Enty vs RO Optonal No sn Eventtimer ui aw opioa No 4 1 4 Process Data Objects PDOs Sub index 1h Contains the COB ID of the RPDO in the following structure Structure of COB ID of RPDO 29 28 11 000 000 000 000 00b 29bit CAN ID
40. alfunction The servomotor stopping method of turning the main circuit or control circuit power OFF without turning the servo OFF during operation can not be set in Parameter Pn001 Use the following method to stop the servomotor e When turning the main circuit power OFF without turning the servo OFF The servomotor will be stopped by dynamic braking DB e When turning the control circuit power OFF without turning the servo OFF The stopping method will vary depending on the SERVOPACK model Refer to the V Series User s Manual Design and Maintenance for details E Maintenance and inspection A CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury e When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product xi E Disposal A CAUTION e When disposing of the products treat them as ordinary industrial waste E General precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the produc
41. alue Function CANopen device does not save parameters on command i CANopen device saves parameters on command CANopen device does not save parameters autonomously CANopen device saves parameters autonomously On receipt of a correct save signature to the appropriate sub index CANopen stores the parameters to the device and the device generates an SDO for confirmation If the storage process fails CANopen responds with SDO abort code 06060000h e If an incorrect signature is sent CANopen responds with SDO abort code 08000020h 3 6 Object 1011h Restore Default Parameters Index oe Parameter Name Pae eee pee Categor PDR Index Type Type Value gory Mapping 1011h Bese Delault u32 Optional Parameter Oh Largest subindex u8 Mandatory No supported Restore all Parameters u32 Rw Mandatory No Writing access In order to avoid erroneous storage of parameters they are only stored when a specific signature is written to the appropriate sub index The signature that is written is load ASCII values MSB LSB E 64h 61h 6Fh 6Ch 3 3 3 Communication parameter objects Reading access When the appropriate sub index is read CANopen provides information about the storage functionality in the following format Storage Functionality MSB e When a correct load signature is received by the appropriate sub index CANopen restores the default parameters to the device and the device generates an SDO for confirm
42. andatory Yes This object defines the target velocity value for the next profile velocity motion This value is the reference command for the trajectory generator Value range 2147483648 2147483627 80000000h 7FFFFFFFh velocity user units 10 6 Object 6083h Profile Acceleration Object 6083h Profile Acceleration Index Sub Parameter Name Data i bee petra Categor ee Index Type Type Value gory Mapping 6083h Profile acceleration u32 RW Mandatory Yes The object defines the desired acceleration during the velocity motion profile Value range 2147483648 2147483627 80000000h 7FFFFFFFh acceleration user units Note The value of the profile acceleration object 6083h and the homing acceleration object 609Ah refer to the same SGDV variable The last acceleration value that was entered will be valid for both objects If a specific homing acceleration is required enter the value after the homing procedure has been completed 10 2 10 Profile velocity mode objects 10 7 Object 6084h Profile Deceleration Object 6084h Profile Deceleration Index SUD Parameter Name patag Acess Beau Categor PBO Index Type Type Value gory Mapping 6084h Ooh Profile deceleration u32 RW o Mandatory Possible The object defines the desired deceleration during the velocity motion profile If this parameter is not used the acceleration value will be taken instead Value range 2147483648 2147483627 8000
43. as a single twisted pair with overall shielding CANopen has a specified colour code and it is strongly recommended that this code is maintained Since CANopen networks run at high data rates they require cable specifically designed to carry high frequency signals Low quality cable will attenuate the signals and may render the signal unreadable for the other nodes on the network We can only guarantee correct and reliable operation if all other equipment installed on the CANopen network including the network cable has been approved by CAN in Automation CiA 1 6 7 Termination resistor The CAN bus network uses two bi directional signal wires for differential data transmission The CAN network requires the first and the last nodes to be terminated with a 120 Q resistor Node ID 1 127 w f ik CAN Master 1 6 8 SGDV OCB01A Dimensions CONNECTOR 24 NAMEPLATE 2 Hardware installation 2 Hardware installation 2 1 Mounting the CANopen network module The CANopen network module will be mounted on the right side of the Sigma V servopack To mount the network module to the servopack follow the instructions below 2 V Amplifier Spacer CANopen network card Mounting screw 3 for network card M3 x 12 Nameplate Cover for network card ae Mounting screws 1 and 2 for metal bar M3 x 6 Mounting screws and 2 for option card M3 x 6 1 Remove the cover from CN10 on the SGDV servo am
44. ation e If the restoration fails CANopen responds with an SDO abort code 06060000h e If an incorrect signature is sent CANopen responds with an SDO abort code 08000020h e The default values are set as valid after the device has been reset or power cycled 3 7 Object 1014h COB ID EMCY Sup Parameter Name Pana ees a Default Value Category PRO Index Type Type Mapping Ei ei eee a message This object indicates the configured COB ID frame message of the emergency object and whatever EMCY exists in the device Index 1014h 3 8 Object 1016h Consumer Heartbeat Time Index aup Parameter Name Balas AC SDE Bul Categor PDO Index Type Type Value gory Mapping Consumer heartbeat time Ft Optional No e ooreen Ferbane ae RW Gor This object indicates the expected consumer heartbeat cycle time The consumer heartbeat value must be higher than the producer cycle time Object 101 7h otherwise the consumer will perceive it as communication lost Monitoring this heartbeat will start after the reception of the first heartbeat Until it is received the state of the heartbeat producer is unknown 3 4 3 Communication parameter objects Sub index Oh Number of supported heartbeat consumers Value range 1h One consumer Sub index 1h Contains the definitions for the heartbeat consumer in the following structure Structure of the heartbeat consumer 31 24 23 16 15 0 Reserved Consumer node D Heartbeat
45. atory Parameter 3 Number of OxFFFFFFFF 0x80000400 COB ID 0x1 Node ID Node ID Node ID Mandatory RPDO 1403h Communication Mandatory Parameter 4 Number of OxFFFFFFFF 0x80000500 COB ID 0x1 Node ID Node ID Node ID Mandatory oh Transmission ug RW oxoo OxFF OxFF Mandatory Type RPDO Mapping Number of Mapping Entry 1 OxFFFFFFFF 0x60400010 Mandatory Meena city OAFEERTEE opona Mappi ENYA agama Celie Mapping Emy 4 ee Opinel TOENE KREERET e Mapping Enys ae Seton Mapping Enty 7 ae Opora Mapping Entry 8 cue onion RPDO Mapping 1601h z Parameter 2 Mandatory Number of Mapping Entry 1 OxFFFFFFFF 0x60400010 Mandatory Mapping Entry 2 OxFFFFFFFF 0x607A0020 Optional Mapping Entry 3 OxFFFFFFFF 0x607A0020 Optional 18 2 18 SGDV OCB01A objects based on EDS Data Access Minimum s arr e w pa or ao RPDO Mapping Number of th Mapping Entry 1 Entry 1 OxFFFFFFFF 0x60400010 CEEA Pa enr e w ot or aea o on memon e2 aw o0 uF FFFFEE ooro Opona on_ Waring Env oe an oo oere ooro Oona EEn Se ee 8h Mapping Entry 8 Entry 8 Optional ee ee oh Number of u8 RW 0x0 0x8 0x0 Mandatory Entries o roren e w o er o erar n reann ae aw oo oer o foa o Meena rn ose aw oo perre oaran onora ft Mapping Entry 7 fus2 Rw Joo OxFFFFFFFF 0x607A0020 Optional Mapping Entry 8 fus2 Rw Joo OxFFFFFFFF 0x607A0020 Optional TPDO 1800h Communicat
46. atus word The specific bits of the status word are described in the following table Status Word Bits 0 target position not yet reached 10 Target reached is 1 target position reached Interpolation 0 interpolation 12 a mode active 1 interpolation mode active 13 4 Object 60C 1h Interpolation Data Record Object 60Cth Interpolation Data Record Index ue Parameter Name metal acces paraul Categor PDO Index Type Type Value gory Mapping Interpolation data Mandatory Number of entries u8 1st set point Mandatory Yes This object contains the necessary data to perform the interpolated motion The SGDV OCBO01A interpolates the data points using a linear interpolation method and therefore the SGDV OCBO1A can refer to the interpolation data record as the new absolute set point Value range for sub index Oh 1 1 set point can be transmitted at a time cycle Value range 2147483648 2147483627 80000000h 7 FFFFFFFh position user units 13 3 13 Interpolated position mode 13 5 Object 60C2h Interpolation Time Period Object 60C2h Interpolation Time Period Index sup Parameter Name Beh Acres parauk Categor POG Index Type Type Value gory Mapping Interpolation time ron Nomberafenes us R0 x02 marcio Mandatory Mandaty oh Interpolation time const 3 Mandator index This object indicates the configurable time cycle The time cycle is given in the following format Time cycl
47. ched bit 10 on 6041h Value range 0 255 0 FFh Position User Units 8 4 Object 6068h Position Window Time Object 6068h Position window time Index a Parameter Name B A e Rien Categor PPE Index Type Type Value gory Mapping 6068h Position window time Optional Yes Description When the actual position is within the position window during the defined position window time which is given in multiples of msec the corresponding bit 10 target reached in the status word will be set to 1 8 2 8 Profile position objects 8 5 Object 607Fh Maximum Profile Velocity Object 607Fh Maximum Profile Velocity Index oie Parameter Name pene EAC AES Rely Categor PDO Index Type Type Value gory Mapping a seny ejowo garam h velocity This object defines the maximum permitted velocity during a profiled motion This parameter is the upper speed limit while calculating the motion profile Value range velocity user units 8 6 Object 6081h Profile Velocity Object 6081h Profile Velocity Sub paet Naive Data Access Default Saikar PDO Index Type Type Value gory Mapping Profile velocity u32 RW Mandatory Yes This object defines the desired velocity at the end of the acceleration ramp during profile position motion The velocity is valid for both directions since the direction is set by the target position relative to the current position Index 6081h Value range 0 4294967295 0 FFF
48. ck the nameplate of the SGDV for network unit 1 5 2 Nameplate The description and production details of the product are displayed on the network module s nameplate as shown below SERVOPACK _ TD CANopen Network Module __ i i el Model SGDV OCBOTA VER ON S7N_XXXXXXXXXX Serial z g Number Use with SGDV SERVOPACK only uses RoHS YASKAWA ELECTRIC EUROPE GMBH MADE IN JAPAN E 1 SGDV OCB01A CANopen Network Module 1 6 SGDV OCBO1A Hardware interface The table below describes the elements of the SGDV OCBO01A hardware interface as displayed in the figure on the right side of the table 1 RUN LED Indicates the status of the CANopen network state machine Indicates the status of the CAN physical layer 2 ERROR LED and indicates errors due to missing CAN messages St Address Sets the most significant bit of the CAN node 3 Switch address hexadecimal format See 1 6 3 S1 and S2 Address switches f Sets the least significant bit of the CAN node 4 S aaa address hexadecimal format See 1 6 3 S1 and S2 Address switches 5 So Daud Mal Sets the baud rate using the DIP switch S3 Selection Switch 6 CN11 connector D SUB 9 Pin Plug CAN Bus Connector 7 CN12 connector 14 Pin high density Serial Port connector 1 6 1 RUN LED status description The RUN LED indicates the status of the CANopen Ne
49. continue motion 8 Halt 1 stop motion 10 2 Mode specific status word In the event that the driver is not in Halt state object 6040h bit 8 0 0 target velocity not reached 1 target velocity reached In the event that the drive is in Halt state object 6040h bit 8 1 0 axis during deceleration 1 velocity is 0 10 Target reached 0 speed is not equal to 0 1 speed is equal to 0 13 Max slippage error Not supported 12 speed 10 3 Object 606Bh Velocity Demand Value Ae Sub a Namie Data Access Default E PDO Index Type Type Value gory Mapping Velocity demand l This object provides the value of the demanded velocity for the closed loop servo cycle of the trajectory generator Value range 2147483648 2147483627 80000000h 7FFFFFFFh velocity user units 10 1 10 Profile velocity mode objects 10 4 Object 606Ch Velocity Actual Value Object 606Ch Velocity Actual Value Index eae Parameter Name paraan ens Paraul Categor PBO Index Type Type Value gory Mapping Velocity actual This object provides the actual velocity value derived either from the velocity sensor or from the position sensor Value range 2147483648 2147483627 80000000h 7 FFFFFFFh velocity user units 10 5 Object 60FFh Target Velocity Object 60FFh Target Velocity Index ole Parameter Name SENN ate moet Categor EDO Index Type Type Value gory Mapping 60FFh Target velocity d2 RW oo M
50. d not recommended by CiA and object 605Ah not supported 6 Device control objects SGDV OCB01A Action Self initialization CANopen and serial communication are activated Sends POLLING requests to the SGDV until the SGDV answers Requests the SGDV version Sets the serial monitoring time Loads parameters and variables from the SGDV None Enables SGDV Drive functions are enabled start motion of SGDV Drive functions are disabled stop motion of SGDV Disables SGDV None Disables SGDV Disables SGDV Disables SGDV Executes quick stop function Stops motion Disables SGDV Executes error fault reaction Starts error handling Disables SGDV Clears errors depending on the error None 6 Device control objects 6 1 3 Modes of operation The translation of a user command into actual motion depends on the selected mode of operation The mode of operation has influence on some of the objects and these mode specific objects will act differently depending on the mode selection The SGDV OCBO01A has the following modes of operation Pole detection mode e Profile position mode e Homing mode e Profile velocity mode e Profile torque mode Interpolated position mode 6 2 Object 603fh Error code Object 603fh Error Code Index eu Parameter Name C e velllu Categor pee Index Type Type Value gory Mapping This object provides the error code of the last error which occurred in the driv
51. d within 10 s The timeout period between the power on and the Command Option IF completion of DPM initial OxOEAO 0 Servo Unit Initial sequence is provided for both Error Option Card and Servo Unit This alarm is not allowed for an alarm reset and the sequence is stopped after the alarm is detected The Option Card detects this alarm if there is a verify error during the memory check in the DPM initial sequence This alarm is not allowed for an alarm reset and the sequence is stopped after the alarm is detected so that the DPM data exchange will not be carried out Command Option IF Memory Check Error e Z e OxOEA1 0 After detecting the alarm the cyclic data except for the WDC is Command Option IF disabled and the data is enabled Servo back again to be refreshed when Synchronization the WDC comes back to a normal Error state WDC is defined as normal when it is successfully refreshed for 16 consecutive times OxOEA2 0 Yes Z Z Z O 15 6 15 Error handling dojs peeds 0197 Attribute Bit S Seale Fault m D Code D gt Same as Meaning Description 2 3 display 16 o g A Xxx 2 Q lt Oo The Option Card detects this alarm if the checksum of the cyclic data refreshed by the Servo Unit is inappropriate After detecting the alarm the cyclic data is OxOEA3 0 Commane Opuonts disabled and the data is enabled No Yes Yes Servo Data Error back again
52. d position mode 6 7 Object 6061h Modes of Operation Display Object 6061h Modes of Operation Display Index ele Parameter Name BEVEE AE Categor PDO Index Type Type Value gory Mapping sobik on Meges oh operation RW Optional Yes display This object indicates actual motion mode 6 8 6 Device control objects Note Since the SGDV OCB01A allows the user to switch between modes of operation dynamically during motion this object will be updated to the requested mode of operation object 6060h only when the state machine is in OPERATION ENABLED and after rising bit 4 of the control word in the modes of operation that conditioned this bit to start a new motion Value range Value Mode of operation 1 Pole detection mode 0 No mode assigned 1 Profile position mode 2 Not supported 3 Profile velocity mode 4 Profile torque mode 5 Reserved 6 Homing mode 7 Interpolated position mode 6 9 7 Pole detection mode 7 Pole detection mode 7 1 Introduction Setting the Pole detection mode of operation enables the pole detection in which a magnetic pole of a linear motor connected to a SERVOPACK can be detected When an incremental linear scale is used the detected phase information will not be saved and thus the pole detection mode is required at every power ON When an absolute linear scale is used the detected information will be saved into both SERVOPACK and serial converter or the equivalent connected to
53. e time period value 10 time cycle index sec The time units are in milliseconds and therefore the value of the time cycle index sub index 2 is fixed to 3 Value range for sub index 1h Minimum value 4 Maximum value 16 Increments of 1 Value range for sub index 2h 3 fixed value 13 6 Guidelines for interpolated motion execution 13 6 1 Working in continuous execution The following steps are necessary to implement interpolated motion with continuous streaming set points nae SYNC signal The SYNC cycle should be equal to the interpolation time period 2 Configure a RPDO to be of synchronous cyclic type and map the 1st set point interpolation data record object 60C1h 1h to it 3 Set the mode of operation to interpolation mode object 6060h 7 4 Switch to operation enabled state 5 Initiate motion by switching to interpolation active state by raising bit 4 in the control word object 6040h bit 4 0 gt 1 6 Verify that the mode of operation has changed to interpolation mode by reading the mode of operation display object value 6061h 7 7 Start sending the RPDOs containing the next set point for the next time cycle 13 4 14 Inputs and outputs objects 14 Inputs and outputs objects 14 1 Object 60FDh Digital Inputs Sub Data Access Default PDO Cat Index a Parameter Name ee ial TR ategory Mapping This object indicates the state of the digital inputs The SGDV supports 7 digital inputs
54. e a 1 3 Switch on enable operation MN 1 3 and 4 Disable voltage o x x jo X 7 9 10 12 Quick stop MEA X 7 10 11 Disable operation E O ee 1 5 Enable operation Oa a a ee 4 16 Fault reset 15 6 4 Object 6041h Status Word Table 65 Object 6041h Status Word Index elle Parameter Name Dae eoccsesa DAAU Categor PDD Index Type Type Value gory Mapping 6041h Status word u6 RO Optional Yes This object indicates the current state of the power drive system Value range The object structure is a 16 bit word The function of each bit is described in the following table 6 5 6 Device control objects Bit Functions 0 Machine state change See Table status words below 1 Machine state change See Table status words below 2 Machine state change See Table status words below 3 Machine state change See Table status words below 5 0 quick stop request 6 Machine state change See Table status words below 9 Remote 1 status word is processed 10 rue ene ee 11 E i See lt Details on Bit 11 gt 12 13 Operation mode specific Refer to Note below 0 interlock circuit closed 1 interlock circuit open 14 HBB signal For more detailed information about this bit please refer to section 14 7 4 Recovery Procedure after the interlock circuit is open Status Words and Corresponding Machine State Status word binary code Machine state x0xx Xxxx x0xx 0000 Not ready to switch on x0xx
55. e device Value range unsigned 16 6 3 Object 6040h Control Word Object 6040h Control Word Index sie Parameter Name PRAE E SSA aN Categor PDO Index Type Type Value gory Mapping 6040h Control word fuie RW Optional Yes This object defines and controls the Power Drive System PDS state and sets the motion functionality depending on the selected mode of motion The object structure is a 16 bit word The function of each bit is described in the table below Bit Functions Bit Function Meaning Changing machine state See table 0 Switch on Machine Commands and Transitions Changing machine state See table 1 Enable voltage Machine Commands and Transitions Changing machine state See table Quick stop Machine Commands and Transitions Changing machine state See table 7 Enable operation Machine Commands and Transitions 4 Operation mode specific Definitions on the specific mode section N 6 4 6 Device control objects Bit Function Meaning o gt Changing machine state See table 7 Fault reset Machine Commands and Transitions Operation mode specific functionality Hal i Q Definitions on the specific mode section 9 10 Reserved 11 15 Manufacturer specific The machine state command and the transition based on the control word coding are displayed in the table below Machine Commands and Transitions Command Transition AA Shutdown o jx a lu Jo 2 6 8 Switch on E WOT A
56. e of COB ID of TPDO 29bit CAN ID Bit Value Function 11bit CAN ID according to the object Default Value 180h Node ID 280h Node ID 380h Node ID 480h Node ID 29bit CAN ID extended Always 0 0 10 11 28 29 30 Always 1 PDO enable valid PDO disable is not valid 31 The validity bit bit 31 allows the user to configure PDO without having to use it e While the PDO is valid bit 31 0 no other bits can be changed In the event that bit 29 is changed or 29bit CAN ID is sent CANopen will send SDO abort code 06090030h 4 6 4 Process Data Objects PDOs Sub index 2h Seer transmission type SGDV OCB01A can generate PDOs using time triggers or event Oh Synchronous acyclic th Synchronous cyclic every SYNC 2h Synchronous cyclic every 2nd SYNC 3h Synchronous cyclic every 34 SYNC 4h Synchronous cyclic every 4 h SYNC FOh Synchronous cyclic every 240 SYNC Fih FBh Reserved FCh RTR only synchronous FDh RTR only event driven FEh Event driven manufacturer specific FFh Event driven Synchronous Acyclic triggered by an application specific event The message is transmitted synchronously with the Sync object but not periodically Synchronous cyclic transmitted within the synchronous window The number of the transmission type 1 to 240 indicates the number of Sync objects between two PDO transmissions RTR synchronous the device samples data at every SYNC and transmits it on request
57. e of operation different than interpolation 6060h lt gt 7 The SGDV OCBO01A will accept input Interpolation inactive data record and store it The axis will not move in this sub state The SGDV OCBO01A will accept data Interpolation active record The axis will move immediately to the next valid set point Ill 6040h bit4 0 gt 1 IV 6040h bit 4 1 gt 0 Motion from the interpolated data record can be executed in the following way Continuously one interpolation data record is sent together with the SYNC signal by a synchronous cyclic RPDO that the interpolation data record is mapped into The drive immediately executes the valid data record if the state machine is interpolation active time Master SYNC i ea E time e Jitter The time synchronization is based on the network s SYNC message and is ensured to be less then 2 usec 13 2 13 Interpolated position mode 13 2 Mode specific control word The specific bits of the control word are described in the following table Control Word Bits 0 interpolation mode inactive The drive will accept Interpolation mode new data records and store them in the input buffer active inactive 1 interpolation mode active The drive will execute the next valid data record in the next SYNC 8 Not supported 13 3 Mode specific st
58. edge of the home switch The next encoder index in the right direction will be the zero position Encoder index Home switch 9 Homing mode objects Method 5 Homing on the home switch and the index pulse Positive direction search The axis will search for the falling edge of the home switch The next encoder index in the right direction will be the zero position Negative direction search The axis will search for the rising edge of the home switch Once found it will change direction and search for the falling edge of the home switch The next encoder index in the right direction will be the zero position ZZ MMMM V1 V1 i Encoder index Home switch Method 6 Homing on the home switch reverse polarity and the index pulse Negative direction search The axis will search for the rising edge of the home switch The next encoder index in the left direction will be the zero position Positive direction search The axis will search for the falling edge of the home switch Once found it will change direction and search for the rising edge of the home switch The next encoder index in the left direction will be the zero position aa ead V1 Encoder index Home switch 9 Homing mode objects Method 17 Homing on the negative limit switch no index pulse The axis will search for the rising edge of the negative limit switch by speed command in the negative direction Once found it wi
59. egrees for 1 motor revolution 5 User acceleration type 2 Time Constant data for top speed 10 Rev sec 3600 Deg rev Top speed 10 Rev sec 3600 Deg sec Calculated acceleration time to top speed 80 msec Note calculated acceleration for the target application 45000 2 Setting 1 Position user unit 2301h Number of encoder counts for One user position unit Number of encoder counts for One user position unit 0 001 Deg 1048576 counts rev 36 Deg rev 0 001 Deg 1048576 36 counts sec 1000 msec Numerator 1048576 Denominator 36 1000 2 Velocity user unit 2302h Number of encoder counts per msec for One user velocity unit Number of encoder counts per sec for One user velocity unit 1 Deg sec 1048576 counts rev 36 Deg rev 1 Deg sec 1048576 36 counts sec 1000 msec Numerator 1048576 Denominator 36 1000 3 Acceleration user unit 2303h Number of encoder counts increments per msec for One user acceleration unit Type 1 Number of encoder counts per msec for top speed 3600 Deg sec 3 6 Deg msec 1048576 counts rev 36 Deg rev 3 6 Deg msec 1048576 10 Numerator 1048576 100 Denominator 10 80 1000 Type 2 Number of encoder counts per msec for 1 Deg sec 1048576 counts rev 36 Deg rev 1000 msec 1048576 10 36 1000 Number of encoder counts increments per msec for 1 Deg sec 1048576 36 1000 1000 Numerator 1048576 100 Denominator 36 1000 1000 5 6 5 Manufact
60. ffset Object 607Ch Home Offse Index Sub Parameter Data Access Default Value Category PDO Index Name Type Type Mapping 607Ch Home offset 0x00000000 Optional Yes This object shell indicates the difference between the zero position discovered during the homing procedure and the application desired zero position By setting the home offset the zero position will be offset from its physical position by the offset value Negative values indicate an offset in the opposite direction Home offset Home position Application desired zero Zero position position 9 4 Object 6098h Homing Method Homing Method index Sub Parameter Data Access perae Catear PDO Index Name Type Type gory Mapping 6098h Homing method is JRW f Mandatory Yes This object defines the homing method During the homing procedure the device searches for an external or internal sensor It can be a limit switch a dedicated home sensor a hard stop and or an encoder index Once it is found the device resets the position counter and decelerates until it stops The following methods are supported 9 2 9 Homing mode objects Method 1 Homing on the negative limit switch and index pulse The axis will search for the rising edge of the negative limit switch by speed command in the negative direction Once found it will change direction and search for the falling edge of the limit The next encoder index in the right direction w
61. following example describes the process of mapping a status word 6041h and position actual value 6064h into TPDO1 i N aN ol oO Example The Node ID is 7 The TPDO1 communication object is 1800h 4 Process Data Objects PDOs The TPDO1 mapping object is 1A00h and should perform as shown in Table 49 at the end of the procedure Object 1800h TPDO 1 Mapping Sub index Oh Sub index 1h Sub index 2h The Required CAN Messages Sub 2 u32 DEUS Value Index Type C0000187h u32 60410010h u32 60640020h u32 40000187h 6041h 6064h Description Disable TPDO1 for Node ID 7 180 7 Bit 31 1 Binary Destroying the number of the mapped objects in the mapping object Map object 6041h sub index 0 data type u16 10h Map object 6063h sub index 0 data type i32 20h Declaring about 2 objects that have been entered Enable TPDO1 for Node ID 7 180 7 Bit 31 0 Binary 5 Manufacturer specific objects 5 Manufacturer specific objects 5 1 Object 2004h Utility servo function Utility servo function Index oe Parameter Name PaA eu Categor PRO Index Type Type Value gory Mapping specific This object should be used for the SERVOPACK utility function By setting the value with SDO the indicated function is started After that the value shows the status of the function Value range Integer 8 Data description Value Data description Explanation 1 Last funct
62. for One user position unit Number of encoder counts for 1 mm 1000 user position units 1048576 counts rev 2 mm rev 1 mm 524288 counts Numerator 524288 Denominator 1000 2 Velocity user unit 2302h Number of encoder counts per msec for One user velocity unit Number of encoder counts per sec for 1 mm sec 1 user velocity unit 1048576 counts rev 2 mm rev 1 mm 524288 counts sec 1000 msec Numerator 524288 Denominator 1000 3 Acceleration user unit 2303h Number of encoder counts increments per msec for One user acceleration unit Type 1 Number of encoder counts per msec for top speed 1000 mm sec 1mm msec 1048576 counts rev 2 mm rev 1mm msec 524288 counts msec Numerator 524288 Denominator 80 1000 Type 2 Number of encoder counts per msec for 1 mm sec 524288 counts msec Number of encoder counts increments msec for 1 mm sec 524288 1000 1000 Numerator 524288 100 Denominator 1000 1000 5 5 5 Manufacturer specific objects Example for rotary table application 1 User requirements and application data Note Deg Rev dimension for rotary table deg rev servomotor dimension 1 User position unit 0 001 Deg 2 User velocity unit 1 Deg sec 3 User acceleration unit Type 1 1 1000 0 1 of the calculated acceleration for the target application Type 2 1 Deg sec 4 Application data Encoder 20 bit 1048576 counts rev The rotary table moves 36 D
63. hing of the encoder index position will be the zero position Z AMALIA LATE LLTE V1 Encoder index Method 34 Homing on the index pulse only positive direction The axis will search for the encoder index by speed command in the positive direction The latching of the encoder index position will be the zero position Z efits V1 Encoder index 9 7 9 Homing mode objects Method 35 Home on actual position By selecting this method and raising bit 4 of the control word object 6040h the axis actual position will be the zero position Peeeeeeeite tidedidisidd Position Object 6040h bit 4 Start Home Overview of homing methods Method Name ee SGDV Hardware Pre assignment Number 1 Negative limit switch and index pulse Positive limit switch and index pulse Positive NO home switch and index 3 pulse External sensor Positive NO home switch reverse 4 and index Polarity and index pulse Negative NC home switch and 5 The inputs that are assigned to these functions are described in the related manuals 17 index pulse polarity and index pulse Negative NC home switch reverse e Negative limit switch no index External Positive limit switch no index sensor Positive home switch ony Positive home switch reverse polarity Index only positive direction Index only Index only negative direction No inputs used On actual position 9 8 9 Homing mode objects
64. ill be the zero position prsrrrrrersrrrrrrerere eerd V1 Encoder index Negative limit switch Method 2 Homing on the positive limit switch and index pulse The axis will search for the rising edge of the positive limit switch by speed command in the positive direction Once found it will change direction and search for the falling edge of the limit The next encoder index in the left direction will be the zero position ZZ ead V1 Encoder index o o T J o o o Positive limit switch 9 Homing mode objects Method 3 Homing on the home switch and the index pulse Positive direction search The axis will search for the rising edge of the home switch Once found it will change direction and search for the falling edge of the home switch The next encoder index in the left direction will be the zero position Negative direction search The axis will search for the falling edge of the home switch The next encoder index in the left direction will be the zero position pe Bees V1 ______ Encoder index Home switch Method 4 Homing on the home switch reverse polarity and the index pulse Positive direction search The axis will search for the rising edge of the home switch The next encoder index in the right direction will be the zero position Negative direction search The axis will search for the falling edge of the home switch Once found it will change direction and search for the rising
65. ilure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction vii E Storage and transportation contd A CAUTION e If disinfectants or insecticides must be used to treat packing materials such as wooden frames pallets or plywood the packing materials must be treated before the product is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors E Installation A CAUTION Never use the product in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to ob
66. ion Name Peripheral Devices x V Series User s Manual Setup Rotational Motor SIEPS800000 43 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEPS800000 45 E Safety information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems N WARNING N CAUTION PROHIBITED MANDATORY Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows amp Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory I vi Safety precautions These safety precautions are very important Read them before performing any procedures such as checking products on delivery storage and transportation installation wiring operation and inspection or disposal Be sure to alway
67. ion Mandatory Parameter 1 Entries OxFFFFFFFF 0x40000180 COB ID i 0x1 Node ID Node ID Node ID Mandatory ee Compatibility TPDO 1801h Communication Mandatory Parameter 2 18 3 18 SGDV OCB01A objects based on EDS oan Data Access Minimum PDO Entries OxFFFFFFFF 0xC0000280 COB ID 0x1 Node ID Node ID Node ID Mandatory ia Compatibility TPDO 1802h Communication Mandatory Parameter 3 Entries OxFFFFFFFF 0xC0000380 COB ID e 0x1 Node ID Node ID Node ID Mandatory bai Compatibility TPDO 1803h Communication Mandatory Parameter 4 Entries OxFFFFFFFF 0xC0000480 COB ID 0x1 Node ID Node ID Node ID Mandatory iad Compatibility TPDO Mapping Number of Mapping Entry 1 Soars a OxFFFFFFFF 0x60410010 Mandatory Mapping Entry 2 u32 Rw 0x00000000 OxFFFFFFFF fOx0 Optional Mapping Entry 3 fus2 Rw 0x00000000 OxFFFFFFFF oo o Optional 4h Mapping Entry 4 fus2 Rw 0x00000000 OxFFFFFFFF oo o Optional Ea Mapping Entry 5 u32 Rw 0x00000000 OxFFFFFFFF oo o Optional Mapping Entry 6 u2 Rw 0x00000000 OxFFFFFFFF poo Optional Mapping Entry 7 u32 Rw 0x00000000 OxFFFFFFFF Ox0 Optional Mapping Entry 8 u32 Rw 0x00000000 OxFFFFFFFF Ox0 Optional aN 18 SGDV OCB01A objects based on EDS Sub Data Access Minimum PDO Index inde Parameter name type type A Max value Default value Category mapping TPDO Mapping 1A01h E Parameter 2 Mandatory bi RU mberot u8 Rw oxoo 0x08 0x02 Ma
68. ion completed with error 0 moope ration No effect Completed without error normal mode Noda tese Node is reset by oneself automatically Another way of doing Reset by NMT message Reset Application 2 to 127 No effect Note While executing the value is kept in this object When the function is completed the value will be set to 0 or less according to the status During the execution the value cannot be set to a different value 5 2 Object 203fh Manufacturer error code Manufacturer error code Index ule Parameter Name Sele Neues Peradi Categor Pie Index Type Type Value gory Mapping agste oh Maruste u32 ooo00000h Manufacturer Yos error code specific This object defines the error code specified by the manufacturer Value range Unsigned 32 Data description The object consists of 4 bytes with the data as shown in the description below Emergency error code and fault code is referred to section 15 6 Emergency message and 15 7 Error code chart oe 3 e e Error Monitor Attribute Fault Code Note The object shows not only Sigma V alarm codes but also Sigma V warning codes 5 1 5 Manufacturer specific objects 5 3 Object 2100h Get Parameter Get Parameter Data Access Default Ca PDO Type Type Value gory Mapping SGDV OCB01A can enable the user to read the SGDV parameters via the CANopen network Parameters can only be handled by the CANopen SDO service and can not map to PDOs
69. ity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies Failure to observe this caution may result in damage to the product E Wiring cont d A CAUTION Do not reverse the polarity of the battery when connecting it Failure to observe this caution may result in damage to the battery the SERVOPACK or cause an explosion Wiring or inspection must be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insulation Conduct trial operations on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction Do not frequently turn power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main poai devices like capacitors and fuses to deteriorate resulting in unexpected problems When using JOG operations Fn002 origin search operations Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse ove
70. ll change direction and search for the falling edge of the limit The falling edge will be the zero position Cepeda s V1 Negative limit switch Method 18 Homing on the positive limit switch no index pulse The axis will search for the rising edge of the positive limit switch by speed command in the positive direction Once found it will change direction and search for the falling edge of the limit The falling edge will be the zero position Z cccsseececseetetteetetterted Positive limit switch Method 19 Homing on the home switch positive direction no index pulse The axis will search for the rising edge of the home switch by speed command in the positive direction Once found it will change direction and search for the falling edge of the home switch The falling edge will be the zero position Z eeseceeseetettets1te1 111011 Home switch 9 6 9 Homing mode objects Method 20 Homing on the home switch reverse polarity positive direction no index pulse The axis will search for the falling edge of the home switch by speed command in the positive direction Once found it will change direction and search for the raising edge of the limit The raising edge will be the zero position A eikiiiiia 7 KddZ Home switch Method 33 Homing on the index pulse only negative direction The axis will search for the encoder index by speed command in the negative direction The latc
71. meter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Do not modify the product Failure to observe this warning may result in injury fire or damage to the product A WARNING Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury Do not come close to the machine immediately after resetting a momentary power loss The machine may restart unexpectedly Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 100 W or less fora SERVOPACK with a 100 200 V
72. ndator 0 Entries y E AA a erora Enya oe aw ooon ereere oeoa Onna rah Respro W pass FFA oooaooen oneal an Meena Ey ae RW ooon ereere oosa onion Meena Brn ose aw ooon ereere onsen Onna ee ee ee eee 8h Mapping Entry 8 Entry 8 RW 0x00000000 OxFFFFFFFF 0x60640020 Optional CAZEN Mapping h Number of u8 RW 0x00 0x08 0x02 Mandator 0 Entries e aaa 8h Mapping Entry 8 Entry 8 Optional e Mapping oh Number of u8 RW 0x0 0x08 0x0 Mandatory Entries Mapping Entry 2 0x00000000 OxFFFFFFFF Optional Mapping Entry 2 0x00000000 OxFFFFFFFF Optional Mapping Entry 3 0x00000000 OxFFFFFFFF Optional Mapping Entry 4 0x00000000 OxFFFFFFFF a Optional Mapping Entry 5 0x00000000 OxFFFFFFFF Optional Mapping Entry 6 an 0x00000000 OxFFFFFFFF Optional 7h Mapping Entry 7 Entry 7 RW 0x00000000 OxFFFFFFFF joxo Optional cee servo 203fh gt S fe oe 0x00000000 OxFFFFFFFF 00000000h Optional error code 2100h GetParameter Parameter Optional cal Of Parameter ID fuie Rw 0x0000 OxFFFF Po ee 18 SGDV OCB01A objects based on EDS Data Access Minimum 2101h SetParameter Parameter Optional Of Parameter ID 0x0000 OxFFFF eo Optional 2h Parameter value value ite 0x8000 Ox7FFF Optional A aea user Number of i 2h Monitor value value RO 0x80000000 0x7FFFFFFF Optional as unit group rsa tional unit aa Number 0x00 O
73. nual in a location where it can be accessed for reference whenever required This manual contains the following chapters e Chapter 1 e Chapter 2 e Chapters 3 5 e Chapter 6 e Chapters 7 13 e Chapter 14 e Chapter 15 e Chapter 16 e Chapter 17 e Chapter 18 Introduces the product specification and technical data Describes the installation and configuration of the hardware and communication Describes the communication PDOs and SGDV objects Describes the device control Describes the motion related objects in various modes of operation and the profile motion parameters I O Describes how to read and set analog or digital inputs outputs Describes error messages and error handling Provides examples Describes the data types Lists the SGDV OCB01A objects based on EDS m IMPORTANT explanations The following icon is displayed for explanations requiring special attention IMPORTANT e Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment E Notation used in this manual In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Example S ON S ON E Manuals related to the Sigma 5 series Refer to the following manuals as required Trial Operation Maintenance and Inspect
74. obe 2 60B8h Bit2 10 cannot be changed after 60B8h Bit4 12 was set to 1 Bit No Value Definition 0 Switch off touch probe 1 Enable touch probe 1 Trigger first event continuous Trigger with touch probe 1 input Trigger with zero signal of position encoder Reserved Switch off sampling at touch probe 1 Enable sampling at touch probe 1 not supported 6 7 User defined not used Switch off touch probe 2 Enable touch probe 2 Trigger first event continuous 10 Trigger with touch probe 2 input Trigger with zero signal of position encoder 11 12 Reserved Switch off sampling at touch probe 2 Enable sampling at touch probe 2 not supported 14 15 User defined not used 12 1 12 Touch probe 12 2 Object 60BQ9h Touch probe status Sub Data Access Default PDO ategor f Index cise Parameter Name Type Te T Mapping 60B9h Oh Touch probe status ute RO JO Optional Yes This object provides the status of the touch probe Value range Unsigned16 Bit No Value Definition 0 Touch probe 1 is switched off Touch probe 1 is enabled Touch probe 1 no value stored Touch probe 1 value stored Value 2 o not supported 3 to6 ee o Reserved 7 Shall toggle with every update of Touch probe 1 value stored 1 8 or Touch probe 2 is switched off Touch probe 2 is enabled 9 i es Touch probe 2 no value stored Touch probe 2 value stored 10 o not supported 11 to 14 OF Reserved 15 Shall toggle wi
75. onfigured COB ID frame message for the synchronization object and whatever this device will generate through synchronization The structure of the object is as follows X SYNC generate Ob 000 000 000 000 00b 11bit CAN ID 3 1 3 Communication parameter objects Value range Bit Function 0 10 11bit CAN ID 11 28 aes 29bit CAN ID extended 29 Pes Always 0 ah a Device does not generate SYNC message Device generates SYNC message 31 oss Not for use 3 4 Object 1008h Manufacturer Device Name Index sue Parameter Name DS R LOE Categor Hee Index Type Type Value gory Mapping Manufacturer Visible SGDV TOUS device name string mo OCB01A Optional me 3 5 Object 1010h Store Parameters Index ule Parameter Name Daa ae AE Categor PDO Index Type Type Value gory Mapping 1010h aore parametr u32 Optional field Oh Largest subindex ug Mandatory No supported 1h saya u32 RW Mandatory No Parameters Writing access In order to avoid erroneous storage of parameters they are only stored when a specific signature is written to the appropriate sub index The signature that is written is save ASCII values MSB LSB 3 2 3 Communication parameter objects Reading access On reading the appropriate sub index CANopen provides information about the storage functionality in the following format Storage functionality MSB 31 00 0000 0000 0000 0000 0000 0000 0000 Reading Message interpretation Bit V
76. oxot oon bit 10 1 target reached 15 in case of absolute PET 0x6064 i32 OUO Actual position in rev user 18 in case of relative units motion 16 4 17 Description of data types 17 Description of data types 17 1 Data types Several types of data can be used for data entry for CANopen objects The data type is one of the object definitions defined by the CiA 301 or CiA 402 standards The following table describes the data types and range values for each type Hexadecimal o oeoa o i 2147483648 i32 Integer 32 bit 80000000h 7FFFFFFFh 42147483627 4 bytes 17 1 18 SGDV OCB01A objects based on EDS 18 SGDV OCBO1A objects based on EDS 18 1 easel of objects Data Access Minimum 1000h Device ae ae Const o e 0x00420192 Mandatory osn o o o e e e e eee eee fe e ee _ Restore Default Number of Restore all th Default u32 Mandatory Parameters 1014h on COB ID EMCY e 0x00000081 oxooooooFF 0x80 Node Mandatory 1016h Consumer Optional 016 Heartbeat Time p entries Consumer 1 Producer Number of RPDO 1400h Communication Mandatory Parameter 1 Entries OxFFFFFFFF 0x40000200 COB ID 0x1 Node ID Node ID Node ID Mandatory ee 18 1 18 SGDV OCB01A objects based on EDS Sub Data Access Minimum PDO RPDO 1401h Communication Mandatory Parameter 2 Number of OxFFFFFFFF 0x80000300 COB ID 0x1 Node ID Node ID Node ID Mandatory RPDO 1402h Communication Mand
77. plifier 2 Mount the metal bar which is delivered with the network module to the SGDV amplifier with the screws 1 and 2 at both ends of the bar 3 Now plug in the CANopen network card to CN10 4 Attach the network card with the screws 1 2 and 3 to the servo amplifier do not forget the spacer for screw 3 5 Now snap on the cover for the network module to the servo amplifier the completed unit will look like the following picture 2 1 2 Hardware installation 2 2 Connecting to the CAN bus network Connect the CAN cable to CN6 connector See Section 1 6 5 CAN connector for the connector layout 2 2 3 Communication parameter objects 3 Communication parameter objects 3 1 Object 1000h Device Type AE Sub Parameter Data Access Detak Vale Caed PDO Index Name Type Type gory Mapping 1000h Device Type u32 RO 0x00420192 Mandatory No 3 2 Object 1001h Error Register ee Sub Parameter Data Access Default Value Ciedor PDO Index Name Type Type gory Mapping The object shell provides error information It is part of the emergency object Value range Bit Function 0 No error Generic error 1 7 Reserved not supported The error message and the error code are triggered by an EMCY object 3 3 Object 1005h COB ID SYNC ines Sub Parameter Data Access Datu Velicol eneo PDO Index Name Type Type gory Mapping 1005h COB ID SYNC u32 Rw Mandatory No This object indicates the c
78. ported drive modes 0x00000000 OxFFFFFFFF P Mandatory Yes 0x00000000 OxFFFFFFFF P Optional Yes 0x80000000 0x7FFFFFFF Lt Mandatory Yes OxFFFFFFFF 60FFh 6502h 18 8 Revision History The revision dates and numbers of the revised manuals are given at the bottom of the back cover MANUAL NO YEU SIEP C720829 20A Published in Germany February 2012 09 6 lt gt Date of jE Revision number publication Date of original publication Date of Rev I June 2009 2009 mez ain First edition edition August 2009 cea nee Slightly revised and updated November 2009 E3 All Chapters Completely revised and new objects added Information about Interpolated position mode added in January 2010 craptere Chapters 6 object 6060h and 6061h Object 6041h Description of bit functions corre sponding machine states profile position mode and Chapter 6 4 homing mode changed Object 605Ah Object description added Chapter 11 4 Object 6072h Example added Chapter 3 8 A 1016h Access type of sub index Oh changed Object 1800h 1803h Description of sub index 2h and Chapter 4 4 5h updated February 2012 AC Servo Drives V Series USER S MANUAL CANopen Network Module European headquarters YASKAWA EUROPE GmbH Hauptstra e 185 65760 Eschborn Germany Phone 49 0 6196 569 300 Fax 49 0 6196 569 398 Manufacturing facility YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G6
79. power supply 10 W or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in S V Series User s Manual Design and Maintenance SIEP S800000 45 46 Failure to observe this warning may result in injury or damage to the product E Storage and transportation A CAUTION Do not store or install the product in the following locations Failure to observe this caution may result in fire electric shock or damage to the product Locations subject to direct sunlight e Locations subject to temperatures outside the range specified in the storage installation temperature conditions e Locations subject to humidity outside the range specified in the storage installation humidity conditions e Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration e Do not hold the product by the cables motor shaft or detector while transporting it Fa
80. pping 4 object 60640020h ubades 6182 Sub index 5h Object 6064h e Object 6064h sub index 0 i32 Object 6064h sub index 0 i32 Sub index Oh Number of objects a Object 6041h st api Mapping 1 object 60400010h sub index 0 u16 Object 606ch nd ahi Mapping 2 object e0be00e00 sub index 0 i32 Object 606ch Mapping 3 object 606c0020h Pere Sub index 6h Sub index 7h Sub index 8h Sub index 1h Sub index 2h Sub ind h ub index 3 sub index 0 i32 Object 606ch x 4 th 1 Sub index 4h Mapping 4 object 606c0020h ok index 0 i32 Object 606ch th ap Sub index 5h Mapping 5 object 606c0020h sub index 0 i32 Object 606ch th api Sub index 6h Mapping 6 object 606c0020h sub index 0 i32 Object 606ch th ap Mapping 7 object 606 0020h sub index 0 i32 Mapping 8 object 606c0020h Object 606ch sub index 0 i32 Object 1A03h TPDO 4 Mapping Value Description Sub index th Mapping 1 object o Sub index 2h Mapping 2 object 4 10 Sub index 7h Sub index 8h Function Actual position in user units Actual position in user units Actual position in user units Actual position in user units Actual position in user units Actual position in user units Actual position in user units Function Status Word Actual Velocity value Actual Velocity value Actual Velocity value Actual Velocity value Actual Velocit
81. rameter Name ele Gees lie ill Categor ee Index Type Type Value gory Mapping pai in user unis eje ae RA in user units The object contains the value of the actual position in user units Value range 2147483648 2147483627 80000000h 7FFFFFFFh position user units 8 5 9 Homing mode objects 9 Homing mode objects 9 1 Mode specific control word The homing mode uses some bits from the control word object 6040h under certain circumstances Bit functions Bit Function Meaning 0 do not start homing 4 homi Sle nOrng 1 start or continue homing procedure Reserved oO Sx Reserved 8 Halt Not supported 9 2 Mode specific status word Command Transition mie je i ie Shutdown Cae X a ee oe 2 6 8 Swich on E Switch on enable operation E E E E 3 and 4 Disable voltage o x x jo x 7 9 10 12 Quick stop o x fo fi xX 7 10 11 Disable operation jo Ji Je E 5 Enable operation a E a 4 16 Fault reset 15 Homing status Control Word Bits Homing status Homing error Homing attained Target reached Bit 13 Bit 12 Bit 10 Homing in progress 0 Homing interrupted or not 1 started yet Homing attained but target 1 0 not reached Homing was completed 1 1 successfully 9 1 9 Homing mode objects Control Word Bits Homing status Homing error Target reached Bit 13 Bit 12 Bit 10 Homing error speed lt gt 0 FO 0 Homing error speed 0 PO 1 9 3 Object 607Ch Home O
82. rtravel or forward overtravel Take necessary precautions Failure to observe this caution may result in damage to the product When using the servomotor for a vertical axis install safety devices to prevent workpieces from falling due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using tuning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury Do not use the holding brake of the servomotor for braking Failure to observe this caution may result in malfunction E Operation cont d A CAUTION e Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution may result in fire or m
83. ry Yes 607Ah oh Target Position Position i2 RWw Ox80000000 Ox7FFFFFFF Mandatory Yes 2 Range Number of Range Limit Max Position 0x80000000 Ox7FFFFFFF Mandatory Range Limit 607Ch Oh Home Offset Offset Rw 0x80000000 Ox7FFFFFFF 0x00000000 Optional limit Highest subindex iie lin Software i32 RW ox80000000 ox7FFFFFFF Mandatory position limit Max software position limit 0x80000000 0x7FFFFFFF Lo Mandatory Max Profile 18 SGDV OCB01A objects based on EDS Index Sub Parameter name Deia Acess liu Max value Default value Category PPO Index type type value mapping 6081h e 0x00000000 0x7FFFFFFF iL Mandatory Yes n on eas u32 Rw __ oxo Ox7FFFFFFF Mandat 6083 0 Acceleration ange t gos4h on Profile u32 RW oxo Ox7FFFFFFF Mandatory deceleration Quick stop 6087h oh TOAS AGES S e toa 0x00000000 OxFFFFFFFF i Mandatory ee ee a SS me eine ore a f SEP mr een or i w e S O O O e EET epe e e e pe 1st set point is2 Rw 0x80000000 0x7FFFFFFF Mandatory Yes Interpolated time Number of Interpolation time period value 60C2h Interpolation time index 60C5h Max Acceleration eoch oh Max deceleration i Da ue i Es oe AcE 0x80000000 0x7FFFFFFF Optional o0 OxFFFFFFFF Po Optional Yes reise oe aes Em ai O c C e oi ELE e _ of vse Ontos EE Output Mask Target Velocity Sup
84. s observe these precautions thoroughly A WARNING Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminals while the power is ON Failure to observe this warning may result in electric shock After the power is turned OFF or after a voltage resistance test do not touch terminals while the CHARGE lamp is ON Residual voltage may cause electric shock Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury The multi turn output range for the S V Series absolute position detecting system is different from that of earlier systems 15 bit and 12 bit encoders In particular change the system to configure the S series infinite length positioning system with the S V Series The multi turn limit value needs not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of para
85. s to the peak torque of the motor Value range 32768 32767 8000 7FFFh 0 1 of peak torque 11 7 Object 6087h Torque Slope Object 6087h Torque Slope Index sls Parameter Name Sills eusse Peet Categor oR Index Type Type Value gory Mapping This object indicates the configured rate of change of torque This value can be changed only when the device is in SWITCH ON DISABLED state machine object 6040h 0 11 Profile torque mode objects Value range 0 4294967295 0 F FFFFFFFh 0 1 of rated torque sec Note When operating in Profile Torque Mode the speed limit parameter Pn480 for linear motors and Pn407 for rotary motors has always to be specified in an appropriate manner to avoid an unwanted excessive speed behaviour of the drive 12 Touch probe 12 Touch probe The touch probe function records an axis position at the point in time of an input digital signal Since the position is usually not recorded directly in the PLC but via an external hardware latch it is highly accurate and independent of cycle time The touch probe function controls this mechanism and determines the externally recorded position 12 1 Object 60B8h Touch probe function Sub Data Access Default PDO Categor Mises Index aonane Type Type Value Category Rating This object indicates the configured function of the touch probe Value range Unsigned16 Notes Bit 0 to 7 for touch probe 1 Bit 8 to 15 for touch pr
86. serve this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction viii m Wiring A CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W terminals for the servomotor connection Failure to observe this caution may result in injury or fire Securely connect the main circuit power supply terminals and servomotor connection terminals Failure to observe this caution may result in fire Do not bundle or run the main circuit cables together with the I O signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for I O signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 50 m and control power supply 24 V 0 V cables for a 400 V input SERVOPACK must be no longer than 10 m
87. st Path 2 Fixed rotation direction positive 3 Fixed rotation direction negative Note When the mode Shortest Path is selected the drive always moves the physically shortest distance to the target position and adjusts the sign of the running speed accordingly For the modes Fixed rotational direction the drive always moves in the direction specified by the appropriate mode 5 11 Object 2401h Target_Position_In_Range Target_Position_In_Range index Sub Parameter Data Access Default Caterer PDO Index Name Type Type Value gory Mapping 2401h Target_Position i32 Manufacturer Possible _In_Range specific Units Pos Units Data description The warped target command value when Position range limit executed 5 12 Object 2402h Actual_Position_In_Range Actual_Position_In_Range Wee Sub Parameter Data Access Default Guieaer PDO Index Name Type Type Value gory Mapping 2402h Actual_Position i32 Manufacturer Posaibi _In_Range specific Units Pos Units Data description The warped actual position value when Position range limit executed 5 8 6 Device control objects 6 Device control objects 6 1 SGDV OCB01A Device control General SGDV OCBO01A can be controlled in three ways CAN network management NMT e Controlling power drive system Modes of operation 6 1 1 CAN network management NMT The NMT state machine determines the behavior of CANopen communication functions and
88. ter the interlock circuit is open The motor is moving in the profile position mode CN8 was unplugged before the motor reached its target and HBB appears on the display of the SERVOPACK The statusword 6041h 5618h this means that the fault bit and the HBB bit are active Using the following steps the motor will be able to move again 1 Plug inthe CN8 connector status word 1618h 2 Reset the drive 6040h 0 80h A reset of the drive is a must because the fault bit is active status word 1650h 3 6040h 0 6 status word 1631h 4 6040h 0 7 5 6040h 0 OF 6 6040h 0 1F After completing the above steps the motor will continue to move to its target Specification for HBB status in statusword SV OFF HBB active during SV ON HBB input CN8 active LET active L SV ON SV OFF SV ON Drive Display HBB HBB CANopen status abnormal control with Emergency message Fault reset controlword 6040h bit 7 HBB status HBB HBB statusword 604 1h bit 14 15 10 16 Examples 16 Examples 16 1 Homing example This example describes the homing procedure The hardware must be configured appropriately otherwise the homing procedure will not begin For a quick application check method 33 Homing on encoder index positive direction is recommended since it does not require any I O pre assignment and does not exceed more then two motor revolutions during motion Note The entered values should be set in
89. th every update of Touch probe 2 value stored 1 Notes Bit 0 to 7 for touch probe 1 Bit 8 to 15 for touch probe 2 1 If the continuous latch is enabled object 60B8 bit 1 1 or bit 9 1 bit 7 or bit 15 of object 60BQ9h is toggled with every stored update of the touch probe value 12 3 Object 60BAh Touch probe posi pos value Sub Data Access Default PDO Categor 7 Index E Parameter Name Ee Toe vane gory Mapping This object provides the position value of the touch probe 1 The value shall be given in user defined position units Value range Integer32 Units Pos units 12 2 12 Touch probe 12 4 Object 60BCh Touch probe pos2 pos value Sub Data Access Default PDO Categor alo Index patel aie Type Type Value gory Mapping This object provides the position value of the touch probe 2 The value shall be given in user defined position units Value range Integer32 Units Pos units 12 3 13 Interpolated position mode 13 Interpolated position mode 13 1 General information The interpolated position mode can control multiple axes in synchronized motion or a single axis that requires a time based interpolated position In order to control multi axes movements the motion controller should calculate the trajectory and divide it into time segments according to the value of the interpolation time period object 60C2h The interpolation time period object is the time interval between two interpola
90. the SGDV responds to the user control word object 6040h user commands local signals or fault events The status word object 6041h monitors the state of the drive power The states and the transitions are displayed in the figure below and the following table a Power Drive Systems States and Transitions Power up reset 15 14 Fault reaction Legend Fault 6 2 SGDV OCB01A PDS Transitions eon oren CANopen event Transition 0 Automatic transition after power up or HW reset 1 Automatic transition 2 Shutdown command from device control Switch On command received from device control Enable operation command received from device control Disable operation command received from device control Shut down command received from device control Quick stop command received from the device control Shutdown command received from device control Disable voltage command received from device control Disable voltage or quick stop command 10 i received from device control Quick stop command received from i device control Ge ne Automatic transition when the quick stop function is completed 12 Or Disable voltage command received from device control 13 Error detected Stop remote node reset node reset communication received 14 Automatic transition 15 Fault reset command from device control Enable operation command from device 16 control not supporte
91. tion points and it sets the resolution of the system P4 t4 At 10 msec For example X Two dimensional interpolated curve Interpolation profile calculation The SGDV OCB01A interpolates the data points using a linear interpolation method and therefore any interpolation point can be referred to as the set point of the specified time cycle These set points are transmitted from the controller to the relevant S DV OCBO1A unit using the interpolation data record object 60C1h The movement between two given set points will be generated as a profile position motion in absolute values The interpolated position mode uses the network s SYNC signal for time coordination between the related SGDV OCB01A units TheSGDV OCB01A reduces the jitter of the SYNC between the axes to be less than 2 usec at 1 Mbps In interpolation mode the state machine Operation Enabled is divided into two sub states as shown in the figure below 13 1 13 Interpolated position mode 16 13 11 Interpolation active Operation enabled Interpolation mode sub states The number of transitions to from the Operation Enabled State correspond to the PDS Power Drive System transitions described in chapter 6 1 2 The functionality of the sub states is described in the following table Functionality of the Interpolation mode sub states Sub State Function Transitions interpolation mode of operation selected 6060h 7 II mod
92. to be refreshed when the WDC comes back to a normal state WDC is defined as normal when it is successfully refreshed for 16 consecutive times l The Node ID address is out of the Ox0A03 0 Node ID setting error allowable range 01 7Fh Yes 15 7 2 Error code chart 2 Errors detected by the servo unit Fault Attribute Code Bit Operate Same as Meaning Description alarm display 16 reset A XXx 0x00xx Alarm Warning from Same code of Sigma 5 Alarm Warning pe ODxx Sigma 5 A XXX agma ee manual This alarm is detected when the initial sequence is not completed within 10 s The doaa reout Period eekacen te power on ae 0x0E00 0 Option Card Initial p q provided for both Network Card and Servo Unit This alarm is not allowed for an alarm reset and the sequence is stopped after the alarm is detected Error 15 7 Fault Code Same as display A XXx 0x0E02 0x0E03 0x0E70 0x0E73 0x0E80 Attribute Bit Meaning Command Option IF Option Card Synchronization Error Command Option IF Option Card Data Error Error of Command Option Card not Detected Error of Command Option Card not Supported Error of Command Option Card not Matching 15 Error handling Operate alarm reset Description The Servo Unit detects this alarm if the WDC of the cyclic data refreshed by the Network Card is not updated properly After detecting the alarm the cyclic data except for the W
93. tory Yes This object defines the target torque value for the next profile torque motion This value is the reference command for the trajectory generator Value range 32768 32767 8000 7FFFh 0 1 of rated torque 11 Profile torque mode objects 11 4 Object 6072h Maximum Torque Object 6072h Maximum Torque Index Sus Parameter Name eal acess Peet Categor oe Index Type Type Value gory Mapping This object defines the maximum permitted torque for the motor and is given in 0 001 units of the rated torque Note The default value is the initialization value of the servo drive Example If the SGMJV 08 motor is being used on the machine with rated torque of 2 39 Nm and peak torque of 8 36 Nm then 6072 8 36 2 39 1000 3497dec This value can be changed depending on the application requirements 11 5 Object 6074h Torque Demand Object 6074h Maximum Torque Index Ue Parameter Name Bele ae a a eas Categor PON Index Type Type Value gory Mapping 6074h Torque demand ie RO Jo Optional Possible This object is the output value of the torque limit function if the torque control and power stage function are available The unit is 0 001 of the rated torque 11 6 Object 6077h Torque Actual Value Object 6077h Torque Actual Value Index cule Parameter Name R E ess Poca Categor PE Index Type Type Value gory Mapping Torque actual This object provides the actual value of the torque It correspond
94. ts in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification xii CONTENTS About this manual lil Safety precautions vi 1 SGDV OCB01A CANopen Network Module 1 1 1 1 Introduction 1 1 1 2 CANopen network module features 1 1 1 3 SGDV OCB01A Model designation 1 2 1 4 SGDV OCBO1A Technical specifications 1 3 1 5 Checking on delivery 2c rrr reer rere reece eeee 1 4 1 5 1 Checking items 1 4 1 5 2 Nameplate
95. twork Management NMT state of machine For more details about the NMT see Section 6 1 1 Table 3 describes the RUN LED states 1 SGDV OCB01A is in stopped state 2 SGDV OCB01A is in preoperational state 3 SGDV OCB01A is in operational state 1 5 1 SGDV OCB01A CANopen Network Module 1 6 2 ERROR LED status description The Error LED indicates the status of the CAN physical layer It also indicates errors due to missing CAN messages No LED State Description 1 SGDV OCBO01A is in working condition SINGLE FLASH Warning Limit Reached At least one of the error counters of the CAN 2 controller has reached or exceeded the warning limit 3 DOUBLE FLASH Error Control Event A guard event NMT or a heartbeat event has occurred TRIPLE FLASH Sync Error The SYNC message has not been received 4 within the configured communication cycle period time out See index 0x1006 5 Bus Off The CAN controller bus is off 1 6 3 S1 and S2 Address switches Each CAN device should be assigned with a unique identification number The identification number is referred to as the Node ID The Node ID range is from 1 to 127 The SGDV OCB01A has two hexadecimal rotary switches for setting the Node ID The Node ID is a combination of two hexadecimal digits The following table shows a few examples Decimal Address Switch S1 Switch S2 Hexadecimal Value Appearance x N S1 01 58 a245 S2 R 127
96. urer specific objects Example for linear motor application 1 User requirements and application data A linear motor moves a distance AB 1 4 m The motor acceleration and deceleration is equal to 5000 mm s The cruising velocity is equal to 1000 mm s The linear scale pitch is equal to 20 um and an 8 bit serial converter is connected to the motor 2 User settings and configuration Position user units Numerator 2301h 1h 28 resolution of serial converter 256 dec Denominator 2301h 2h 20 dec linear scale pitch Velocity user units Numerator 2302h 1h 28 resolution of serial converter 256 dec Denominator 2302h 2h 20 dec linear scale pitch User acceleration units Numerator 2303h 1h 28 20 1000 resolution of serial converter linear scale pitch 1000 256 20 1000 dec 12800 Denominator 2303h 2h 10000 dec 3 Profile position objects Profile velocity 6081h 1h 1000 dec Profile acceleration 6083h 1h 5000 dec Profile deceleration 6084h 1h 5000 dec Target Position 607Ah 1h 1400000 dec Speed mm s 1000 5 7 5 Manufacturer specific objects 5 10 Object 2400h Position Range Limit Designation Position Range Limit Designation Index D Parameter Name Paan AC aeS Weil Categor PBO Index Type Type Value gory Mapping 2400h Position range limit u8 RW Manufacturer No designation specific Data description Position range limit for 607Bh 0 Off 1 Shorte
97. user units depending on the user application Step 1 Perform servo on after power up Read Sub Data es on ae Ee ee 2 0x6040 u16 Oxf Switch on and enable operation Step 2 Configure the homing procedure Read Sub Data ae 3 Ox609A oo u32 Home Acceleration Acceleration setting Ww Ww Setting the approach 0x6099 1 u32 100 speed in rev sec user units Setting the creep 0x6099 u32 5 speed in rev sec user units 0x6098 o Ji Home Method Homing method setting 16 1 16 Examples Step 3 Set modes of operation to homing mode and start homing procedure Read Sub Data nae 10 w 0x6060 18 6 Modes of operation setting 11 w 0x6040 ute ox _ Start homing procedure Motion starts Step 4 Verify that the home procedure has ended Read Sub Data ne Status word 12 ask 0x6041 u16 XOX1 X1XX XXXX XXXX bit 10 and 12 rising home has finished successfully 0x0 CA 0x6064 i32 or the home offset Actual position in user value when Home off units set has been used 16 2 Profile position example This example will describe absolute or relative position movement to a sequence of set points Note The user units for this example are Position user units 1 1 revolution Velocity user units 1 1 rev sec Acceleration user units 1 1 rev sec2 If the user has set different user units the entered value should be changed accordingly Step 1 Perform servo on after power up Read Sub Data
98. velocity is not 0 Roe ie l Reserved 6 5 Object 605Ah Quick stop option code Quick stop option code Index Sue Parameter Name cil ieee Dec Categor le Index Type Type Value gay Mapping 605Ah Quick stop option code No The parameter quick stop option code determines what action should be taken if the Quick Stop Function is executed Value range Data description Explanation Manufacturer specific No effect Disable drive function Supported Slow down on slow down ramp Supported 6 7 6 Device control objects Value Data description Explanation Slow down on quick stop ramp Supported Slow down on the current limit Supported Slow down on the voltage limit Not supported Slow down on slow down ramp and stay in QUICK STOP Supported Slow down on quick stop ramp and stay in QUICK STOP Supported Slow down on the current limit and stay in QUICK STOP Supported Slow down on the voltage limit and stay in QUICK STOP Supported 32767 Reserved No effect 6 6 Object 6060h Modes of Operation Modes of Operation Index Pop Parameter Name Para ACEASI Detank Categor pRO Index Type Type Value gory Mapping 6060h Modes of operation fis Rw Optional Yes This object indicates the requested mode of motion Value range Value Mode of operation 1 Pole detection mode 0 No mode assigned 1 Profile position mode 2 Not supported 3 Profile velocity mode 4 Profile torque mode 5 Reserved 6 Homing mode 7 Interpolate
99. xFF Entries ih Numerator EAA 0x00000001 OxFFFFFFFF Mandatory 2302h _ Velocity user unit user Velocity user unit _ Entries Ste 0x00000001 OxFFFFFFFF 1 Mandatory RO 0x00000001 OxFFFFFFFF m Doue Entries pea Rw 0x00000001 OxFFFFFFFF Mandatory Sem OxFFFFFFFF 1 Mandatory a range FF In Range 2402h Actual Postion 0xs0000000 0x7FFFFFFF Optional In_Range Touch probe Touch probe Touch probe Touch probe 18 6 18 SGDV OCB01A objects based on EDS Sub Data Access Minimum PDO Index index Parameter name type type sine Max value Default value Category mapping Quick Stop F 605Dh oh Halt option code Optional Modes of Modes of 6061h Oh Operation 0x00 Ox0A Optional Yes Display Position Demand 6062h Oh Value in User 0x80000000 Ox7FFFFFFF Optional Units Position Actual 6063h Oh Value 0x80000000 Ox7FFFFFFF o Opiom Position Actual 6064h Oh Value in User 0x80000000 Ox7FFFFFFF Optional Yes Unit 6067h Position Window ai 0x00000000 OxFFFFFFFE ff Optional 606Bh veoh Pemang e 0x80000000 0x7FFFFFFF i 4 Optional Velocity Actual 606Ch Value 0x80000000 Ox7FFFFFFF Mandatory Yes 606Dh oh eal window eo OxFFFF Optional 6071h Target Torque OxFC18 0x03E8 Po Mandatory Yes 6074h oh Torque demand demand i1 ite RO 0x80000000 0x7FFFFFFF o Optional 6077h Jem eg Actual aaa 0x8000 Ox7FFF a Mandato
100. xxxx x1xx 0000 Switch on disabled x0xx xxxx x01x 0001 Ready to switch on x0xx xxxx x01x 0011 Switch on x0xx xxxx x00x 0111 Operation enabled x0xx xxxx x00x 0111 Quick stop active x0xx xxxXxX x0xx 1111 Fault reaction active x0xx Xxxx x0xx 1000 Fault x0xx Xxxx x0xx 1000 Main Power ON x0xx Xxxx x0xx 1000 Warning is occurred lt Details on Bit 11 gt If bit 11 internal limit active of the statusword is 1 this shall indicate that an internal limit is active The internal limits are manufacturer specific Explanation of DS402 6 6 6 Device control objects The internal limit active in the following cases 1 Software position limit 2 N OT P OT limit switch 3 Torque limit reached Profile position mode Bit No Definition e Halt Bit 8 in controlword 0 Target position not reached a Halt Bit 8 in controlword 1 Axis decelerates 1 Halt Bit 8 in controlword 0 Target position reached a Halt Bit 8 in controlword 1 Velocity of axis is 0 ooo Previous setpoint already processed waiting for new setpoint 12 1 Previous setpoint still in process setpoint overwriting shall be accepted 13 Reserved Homing mode Homing error occurred velocity is 0 Bit 13 Bit 12 Bit 10 Definition 0 aa Cael Homing procedure is in progress 0 bo i il Homing procedure is interrupted or not started 0 AT E ee Homing is attained but target is not reached 0 Homing procedure is completed successfully 1 Hos ee Homing error occurred
101. y value Actual Velocity value Actual Velocity value Function 4 Process Data Objects PDOs Object 1A03h TPDO 4 Mapping Function Subindex 3h Mapping 9 object f Subrindex 4n Mapping a object fs Subvindex 5h Mapping S object f Subrindex 6n Mapping object fs Subindex 7h Mapping 7 object fs Subrindex 8h Mapping object fs 4 6 Mapping procedure The following procedure is used for mapping which may take place during the Pre operational NMT state The procedure is relevant to RPDO and to TPDO oO N Remove the PDO by setting the validity bit bit 31 to 1b in sub index 01h of the corresponding PDO communication object Disable mapping by setting sub index 00h of the according mapping object to 00h Assign objects to corresponding sub indexes object A to sub index 01h object B to sub index 02h Enable mapping by setting sub index 00h of the mapping object to the number of the mapped objects Create a PDO by setting the validity bit bit 31 to Ob in sub index 01h of the corresponding PDO communication object If during step 3 the CANopen device detects that the mapping object and sub index are not existing or cannot be mapped the device will generate SDO abort code 06020000h or 06040041h If during step 4 the CANopen device detects that the RPDO is not valid or not possible the device will generate SDO abort code 06020000h or 06040042h The

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