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CANopen Communication Protocol

1. m ne s wE ngineering 3 Object Dictionary DS 301 Descriptionof Subindex 05 elements Description Fifth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 06 Description Sixth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes Subindex 07h Description Seventh object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 08 Description Eighth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Descriptionof Bit 31 16 index of the object to be mapped 16 bit format Bit 16 8 subindex of the object to be mapped 8 bit Subindex 01 SE 08 Bit7 0 length of the object in bits 8 bit DS301 en fm 14 05 07 CNI Engineering 29 3 Object Dictionary DS 301 kel S Se o STT a PDO mapping is dynamic it is possible to define which objects are mapped within the PDO This mapping can only be carried out in Pre operational state 3 16 Object 1800 1st Transmit PDO Parameter The object 1800 is used to customise the communication parameters for the first transmit PDO
2. Descriptionof Index 1801 object Object name 2nd Transmit PDO Parameter Object code RECORD Data type PDO CommPar Reference CiA DS 301 V4 02 page 111 CiA DS 402 V2 0 page 29 Descriptionof Subindex 00 elements Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 2 5 Preset value 5 Recordable No Subindex 01h Description COB ID used by the PDO Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 40000280 Node ID Recordable Yes Subindex 02h Description Transmission type Access rw read write PDO mapping No Unit Interval of values Unsigned8 Preset value 255 Recordable Yes 32 CNI Engineering DS301 en fm 14 05 07 m ne uve ngineering 3 Object Dictionary DS 301 Descriptionof Subindex 03 ahl Description PDO inhibition time Access rw read write PDO mapping No Unit multiples of 100 microseconds Interval of values Unsigned16 Preset value 0 Recordable Yes Subindex 05h Description Event time interval Access rw read write PDO mapping No Unit milliseconds Interval of values Unsigned16 Preset value 0 Recordable Yes Descriptionof Bit 31 0 PDO valid format 1 PDO not valid Subindex 01h Bit 30 0 RTR allowed on this PDO
3. Descriptionof Index 6099 SES Object name Homing Speeds Object code ARRAY Data type Unsigned32 Reference CIA DSP 402 V2 0 page 90 Descriptionof Subindex 00 pemen Description Number of elements Access ro read only PDO mapping No Unit Interval of values Integer32 1 Preset value 1 Recordable No Subindex 01h Description Speed during search for reset micro Access rw read write PDO mapping No Unit rpm Interval of values Unsigned32 1 8000 Preset value 500 Recordable Yes 5 20 Object 60FF Target Velocity The object 60FF sets the Target Velocity of the movement in Profile Velocity Mode Descriptionof Index 60FF IER Object name Target Velocity Object code VAR Data type Unsigned32 Reference CIA DSP 402 V2 0 page 128 Descriptionof Subindex 00h elements Description Target velocity Access rw read write PDO mapping Yes Unit rpm Interval of values Integer32 8000 8000 Preset value 0 Recordable Yes 80 CNI Engineering DSP402 en fm 14 05 07 6 Objects that are not implemented 6 Objects that are not implemented By changing the value of objects in the DSP 402 it is possible to modify the reaction of the motor in certain special conditions Some of these objects have not been implemented so the corresponding reaction of the motor has been preset by CNI and in the cu
4. Descriptionof Index 605Ch object Object name Disable Operation Option Code Object code VAR Data type Integer16 Reference CiA DSP 402 V2 0 page 53 Descriptionof Subindex 00 pleas Description Disable operation option code Access rw read write PDO mapping No Unit Interval of values Integer16 Preset value 0 Recordable Yes Description of 0 Disables the driving function not supported data 1 Slows down on the deceleration ramp and disables the driving function 2 32767 Reserved not supported 1 32768 Production specifications not supported The motor reacts as it would if this object were set to a value of 1 the motor brakes using the normal deceleration ramp object 60834 Profile Acceleration After this the power electronics are disabled Oggetti non implementati en fm 14 05 07 CNI Engineering 8 3 6 Objects that are not implemented kel Q S Se o zdl a 6 4 Object 605B Shutdown Option Code The parameter Shutdown Option Code determines which action should be taken with a Shutdown command Descriptionof Index 605Bp EES Object name Shutdown Option Code Object code VAR Data type Integer16 Reference CIA DSP 402 V2 0 page 52 Descriptionof Subindex 00 SSES Description Shutdown code Access rw read write PDO mapping No Unit Interval of values Integer16 Preset value 0 Recordable Yes Descriptiono
5. PDO mapping is dynamic it is possible to define which objects are mapped within the PDO This mapping can only be carried out in Pre operational state For example if in the 1st PDO you wish to receive not only the Controlword 6040 but also the objects Mode of Operation 6060 and Target position 607A it will be necessary to read the value of the object 1400 1 inthe value read set bit 31 to 1 so as to invalidate the 1st PDO in receive Send the value calculated to object 1400 2 in object 1600 subindex 00 write the value 0 to indicate that no object is mapped 3 in object 1600 subindex 01 write the value 60400010 to indicate that the first mapped object is the Controlword address 6040 subindex 00p with a length of 16 bit 2 byte 4 in object 1600 subindex 02 write the value 60600008 to indicate that the second mapped object is the Mode of Operation address 6060 subindex 00 with a length of 8 bit 1 byte 5 in object 1600 subindex 03 write the value 607A0020 to indicate that the third mapped object is the Target Position address 607A subindex 00p with a length of 32 bit 4 byte 6 Enable the PDO again by setting bit 31 in object 1400 to 0 26 CNI Engineering DS301 en fm 14 05 07 E aq 5 9 e STT aq 3 Object Dictionary DS 301 3 15 Object 1601 2 Receive PDO Mapping Parameter The object with index 16014 contains the mapping for the PDO that the device is ena
6. Descriptionof Index 1800 object Object name 1st Transmit PDO Parameter Object code RECORD Data type PDO CommPar Reference CIA DS 301 V4 02 page 111 CIA DS 402 V2 0 page 29 Descriptionof Subindex 00 enn Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 2 5 Preset value 5 Recordable No Subindex 01h Description COB ID used by the PDO Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 40000180 Node ID Recordable Yes Subindex 02h Description Transmission type Access rw read write PDO mapping No Unit Interval of values Unsigned8 Preset value 255 Recordable Yes 30 CNI Engineering DS301 en fm 14 05 07 m ne s wE ngineering 3 Object Dictionary DS 301 Descriptionof Subindex 03 ahl Description PDO inhibition time Access rw read write PDO mapping No Unit multiples of 100 microseconds Interval of values Unsigned16 Preset value 0 Recordable Yes Subindex 05h Description Event time interval Access rw read write PDO mapping No Unit milliseconds Interval of values Unsigned16 Preset value 0 Recordable Yes Descriptionof Bit 31 0 PDO valid format 1 PDO not valid Subindex 01h Bit 30 0 RTR allowed
7. Power Fault Disabled pi 3 Fault SH Reaction Active 0 14 Not Re dy t Y ot Ready to Switch On EEN 1 x gt Switch On Disabled 2 7 Vv Ready to Switch On Power Enabled o 6 10 12 v Switched On 9 8 4 5 v LJ Operation L QuickStop Enable P E Activ Introduzione en fm 14 05 07 CNI Engineering 3 1 Introduction to the CANopen communication protocol gt Q S Se o zdl a Table 3 DSP 402 States State Description Start This is the initial state on start up Not Ready to During this phase the servomotor performs diagnostic tests and Switch On initialisation If the brake is present it is enabled The motor is not engaged Switch On Disabled Initialisation has been completed The parameters have been loaded and can be changed The motor is not engaged Ready to Switch On The parameters can be changed The motor is not engaged Switched On The power part of the motor is active The motor is engaged The parameters can be changed There are no malfunctions Operation Enable The servomotor functions are active The motor is engaged There are no malfunctions Quick Stop Active The motor is stopping or is already stopped The motor is engaged If the motor is stopped the parameters can be changed Fault Reaction Active The motor is switching to safety mode due to a malfunction Fault The motor para
8. 4 8 Object 200A Proportional Gain of Position Loop The object 200A is the proportional gain of the position regulation loop Descriptionof Index 200A SES Object name Proportional Gain of position Loop Object code VAR Data type Integer16 Descriptionof Subindex 00 Siemens Description Proportional gain of the position loop Access rw read write PDO mapping No Unit x 0 01 Interval of values Integer16 0 32767 Preset value 500 Recordable Yes 44 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 E aq 5 9 a STT aq 4 Object Dictionary objects defined by the manufacturer 4 9 Object 200B Integral Gain of Position Loop The object 200B is the integral gain of the position regulation loop Description of Index 200Bh object Object name Integral Gain of position Loop Object code VAR Data type Integer16 Descriptionof Subindex 00 plement Description Integral gain of the position loop Access rw read write PDO mapping No Unit x 0 01 Interval of values Integer16 0 32767 Preset value 0 Recordable Yes 4 10 Object 200C Percentage Feedforward for Position Loop The object 200C is the percentage feedforward for the position regulator Descriptionof Index 200C epee Object name Percentage Feedforward for position Loop O
9. There are two possible types of reset on the SM137 see object 60984 Homing method m Manual reset Homing Method 35 the current position is assigned the value preset in object 607Cy Homing Offset It is obvious that this type of reset is difficult to relate to a specific mechanical position of the motor unless you perform a stop reset i e the motor is brought into contact with an obstacle and then this position is assigned the required value m Automatic reset Homing Method 1 or 2 the motor position is assigned the Homing Offset value at the moment in which the encoder zero index is read The precision of this type of reset is without doubt superior to the one described above This type of reset involves three phases e the motor starts to move at the speed assigned in the object 60994 Homing Speed Value The direction of rotation is determined by the type of reset if Homing Method 1 then the motor moves in the negative direction if Homing Method 2 then the motor moves in the positive direction e at the moment in which the Latch Zero Index bit changes to 1 the motor looks for the encoder zero index and on encountering the first index assigns the value written in object 607Cp Homing Offset to its position the motor starts to slow down until stopping The reset operation is complete Please note raising the Halt bit during the reset operation only results in a pause in the reset itself which will start up agai
10. 5 32767 Reserved not supported 1 32768 Production specifications not supported The motor reacts as it would if this object were set to a value of 1 the motor brakes using the normal deceleration ramp object 6083 Profile Acceleration Oggetti non implementati en fm 14 05 07 CNI Engineering 8 5 6 Objects that are not implemented kel Q S Se o zdl a 6 6 Object 605E Fault Reaction Option Code The parameter Fault Reaction Option Code determines what action will be taken if an error occurs on the drive Descriptionof Index 605E 995 Object name Fault Reaction Option Code Object code VAR Data type Integer16 Reference CIA DSP 402 V2 0 page 54 Descriptionof Subindex 00 SSES Description Fault reaction option code Access rw read write PDO mapping No Unit Interval of values Integer16 Preset value 2 Recordable Yes Descriptionof 0 Disables adjustment the motor is free to turn data 1 Slows down on the deceleration ramp not supported 2 Slows down on the quick stop ramp not supported 3 Lowers the current limit not supported 4 Lowers the voltage limit not supported 5 32767 Reserved not supported 1 32768 Production specifications not supported The motor reacts as it would if this object were set to a value of 0 the power electronics are disabled and the motor is brought to a stop at 0 rp
11. 1 RTR not allowed on this PDO Bit 29 0 11 bit identifiers CAN 2 0A 1 29 bit identifiers CAN 2 0B Bit 28 11 if bit 29 1 identify bits 28 11 of the 29 bit Bit 10 0 Bits 10 0 of the COB ID Description of 0 synchronous acyclic data updated on previous SYNC data 1 240 synchronous cyclic data updated on previous SYNC Subindex 02 241 251 reserved 252 synchronous on request data is updated on previous SYNC 253 asynchronous on request data is updated immediately on SYNC 254 asynchronous identical to value 255 255 asynchronous transmitted simultaneously to variation of one of the mapped objects or on expiry of the Event Timer preset The parameter Inhibit Time represents the minimum time in steps of 100 microseconds between two successive PDO transmits The parameter Event Timer involves a fixed time PDO transmit prescribed by the parameter in milliseconds even if the values of the mapped objects have not changed The PDO transmit will only take place in NMT OPERATIONAL state The PDO communication parameters can only be changed in NMT PRE OPERATIONAL state DS301 en fm 14 05 07 CNI Engineering 3 3 3 Object Dictionary DS 301 3 18 Object 1A00 1 Transmit PDO Mapping Parameter The object 1A00y contains the mapping for the first transmit PDO Descriptionof Index 1A00h opie Object name 1st Transmit PDO Mapping Parameter Object code RECORD Da
12. 5 1 7 Serial communication protocol ii 5 2 Object DICHIORaTV cis nina ian Cegedel ck dn ua a uon 7 2 1 Balen Re anm ODJECE clelia 7 2 1 1 Object description table eei tee e pd aleer E Rai oe gn 7 24 2 Object description table ene emer ehe inis 8 d Object Dictionary DS 301 irri ka eee ia ed unida 11 3 1 Object 1000p Device Type 4 eee ete PR Aree p eph EE Re ae 11 32 Object 1001g4 Error Register ucraini 11 3 3 Object 1002 Manufacturer Status Register ennn ennn 12 3 4 Object 1008 Manufacturer Device Name ennen ennen 13 3 5 Object 1009 Manufacturer Hardware Version 13 3 6 Object 100A Manufacturer Software Version eneen 14 3 7 Objeect T00O Guard Time a d Euer t her e usc eene 15 3 8 Object TOP Life Time Factor itn ern nde ERO NC dtes 16 3 9 Object 1010 Store Parameters 17 3 10 Object 1011 Restore Parameters eese 18 3 11 Object 10144 COB ID Emergency Message e 19 3 12 Object 14004 1 Receive PDO Parameter cccccceceeeseseeeeeeeeeeees 20 3 13 Object 14014 2 Receive PDO Parameter n 22 3 14 Object 1600 1 Receive PDO Mapping Parameter 24 3 15 Object 1601 2 Receive PDO Mapping Parameter 27 3 16 Object 1800 1st Transmit PDO Parameter ennen 30 3 17 Object 1
13. Actual Value 10 10 11 101 105 80 83 86 Velocity Actual Value 0 0 5 20 20 20 20 15 0 5 3 Object 6060 Modes of operation The object 6060 regulates the control guide operating mode The Smart Motor uses the following operating modes Profile Position Mode Reference CA DSP 402 Profile Velocity Mode Reference CiA DSP 402 Homing Mode Reference CiA DSP 402 Description of Index 6060 RES Object name Modes of operation Object code VAR Data type Integer8 Reference CiA DSP 402 V2 0 page 68 Descriptionof Subindex 00 SEI Description Modes of operation Access wo write only PDO mapping Yes Unit Interval of values Integer8 0 1 3 6 Preset value 0 Recordable Yes Descriptionof 0 OFF no mode selected data 1 Profile Position Mode 2 Velocity mode not supported 3 Profile velocity mode 4 Torque profile mode not supported 5 reserved 6 Homing mode 7 Interpolated Position mode not supported 8 127 reserved 1 128 Manufacturer specific not supported DSP402 en fm 14 05 07 CNI Engineering 69 5 Objects Dictionary DSP402 5 a 5 5 a Profile Position Mode In Profile Position Mode value 1 it is possible to carry out positioned movements at variable speeds The following parameters can be modified to change the characteristics of the movement and monitor its progress
14. CNI Engineering Messaggi Emergenza en fm 14 05 07 E aq 5 9 a STT aq 8 SDOInterrupt Codes 8 SDO Interrupt Codes The protocol Abort SDO Transfer interrupts an SDO transfer due to an error The following table lists all the SDO interrupt codes that may occur during data exchanged via the SDO service see DS301 version 4 02 page 48 Interrupt Description Code hex 05030000 Toggle bit not alternate 05040001 Client server command specified is invalid or unknown 06010000 Access to an object not supported 06010001 Attempting to read a write only object 06010002 Attempting to write a read only object 06020000 The object does not exist in the objects dictionary 06040041 The object cannot be mapped in the PDO 06040042 The number and length of the objects to be mapped might exceed the length of the PDO 06060000 Access failed due to a hardware error 06070010 The data type is not correct or the parameter length is not correct 06070012 Incorrect data type the parameter is too long 06070013 Incorrect data type the parameter is too short 06090011 The subindex does not exist 06090030 The interval of values for the parameter is too large only for write access 08000000 General error 08000020 The data item cannot be transferred or stored in the application 08000022 The data item cannot be transferred or stored in the application due to the curre
15. Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 1 Preset value 1 Recordable No Subindex 01h Description Restore all preset parameter values Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 1 Recordable No Descriptionof Bit 31 1 reserved format Bit 0 O the device does not restore the parameters Subindex 01 Read 1 the device restores the parameters Access Descriptionof Bit 31 24 64 d ASCII characters ISO 8859 du 01 Bit 23 16 61 a ASCII characters ISO 8859 Write Bit 15 8 6F o ASCII characters ISO 8859 Access Bit 7 0 6C l ASCII characters ISO 8859 18 CNI Engineering DS301 en fm 14 05 07 E aq 5 Ti zdl aq 3 Object Dictionary DS 301 3 11 Object 1014 COB ID Emergency Message The object 10144 defines the COB ID for the object Emergency EMCY Descriptionof Index 1014 object Object name COB ID Emergency Message Object code VAR Data type Unsigned32 Reference CIA DS 301 V4 02 page 98 Descriptionof Subindex 00 elemens Description COB ID of the emergency message EMCY Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 80 Node ID Recordable Yes Description of Bit 31 0 EMCY exists is valid format 1 EMCY does not exi
16. Object 60404 Controlword e Object 60414 Statusword e Object 60654 Following Error Window Object 60664 Following Error Timeout e Object 60644 Position Actual Value e Object 607Ap Target Position e Object 6081p Profile Velocity e Object 60834 Profile Acceleration See paragraph 5 2 2 Controlword and Statusword in Profile Position Mode If the Smart Motor has never been reset since starting positioned movements in Profile Position Mode are not allowed Profile Velocity Mode In Profile Velocity Mode value 3 it is possible to carry out movements at variable velocity without a final target position The following operating parameters can be modified or tested during Profile Velocity Mode e Object 60404 Controlword e Object 60414 Statusword e Object 606C Velocity Actual Value e Object 60834 Profile Acceleration e Object 60FFp Target Velocity See paragraph 5 2 2 Controlword and Statusword in Profile Velocity Mode Homing Mode Homing Mode value 6 allows the position of the motor to be initialised Reset takes place both via a movement to detect the encoder zero index and by assigning the motor a position The following operating parameters can be set and or monitored during Homing Mode e Object 60404 Controlword e Object 60414 Statusword Object 607C Homing Offset e Object 6083 Profile Acceleration Object 60984 Homing Method e Object 60994 Homing Speed Value ws See paragraph 5
17. Timeout for Maximum Torque nnen nennen 48 4 16 ODjecb20 19s BIE Aare atie 48 4 17 Object 20144 Electric Angle On Zero Index nennen 49 4 18 Object 2015 First Component of Speed Loop Feedforward 49 4 19 Object 2016 Second Component of Speed Loop Feedforward 50 4 20 Object 2017 Third Component of Speed Loop Feedforward 50 4 21 Object 2018 Fourth Component of Speed Loop Feedforward 51 4 22 Object 3000 Special Commands 51 4 23 Object 30104 Sampling Variables iii 54 4 24 Object 5f00 Reserved ENEE 55 4 25 EE EE 56 Objects Dictionary DSP402 na anannnneenenennnnennnnenenennennnenneeenenn 57 5 1 Object 6040 Controlword annae enne vene seeneneevennneereneerenserenn 57 5 2 Object 6041p Statusword EE 58 5 2 1 Controlword and Statusword in Profile Position Mode 60 5 2 2 Controlword and Statusword in Profile Velocity Mode 66 5 2 8 Controlword and Statusword in Homing Mode nennen 67 5 3 Object 6060 Modes of operation EEN 69 5 4 Object 6061 Modes of operation display eenen 71 5 5 Object 60644 Position Actual Value nennen enne reneneer enen KE 72 5 6 Object 6065 Following Error WIDOOW arran penetrante le 72 5 7 Object 6066 Following Error Timeout nnen ennen vennen 73 5 8 Object 600 Position ee 73 5 9 Object 6068 Position Window Time i 74 5 10 Object 606B Ve
18. Unit Interval of values Unsigned32 Preset value 40000200 Node ID Recordable Yes Subindex 02h Description Transmission type Access rw read write PDO mapping No Unit Interval of values Unsigned8 Preset value 255 Recordable Yes 20 CNI Engineering DS301 en fm 14 05 07 E aq 5 9 e STT aq 3 Object Dictionary DS 301 Descriptionof Bit 31 0 PDO valid format 1 PDO not valid Subindex 01h Bit 30 0 RTR allowed on this PDO 1 RTR not allowed on this PDO Bit 29 0 11 bit identifiers CAN 2 0A 1 29 bit identifiers CAN 2 0B Bit 28 11 if bit 29 1 identify bits 28 11 of the 29 bit Bit 10 0 Bits 10 0 of the COB ID Descriptionof 0 synchronous RPDO1 is synchronised by the next SYNC data 1 240 synchronous same function as value 0 Subindex 02 241 251 reserved 252 not allowed in receive PDOs 253 not allowed in receive PDOs 254 asynchronous same value as 255 255 asynchronous RPDOI is immediately active straight after receiving preset Receive PDOs are only processed in a state of NMT OPERATIONAL The PDO communication parameters can only be changed in a state of NMT PRE OPERATIONAL DS301 en fm 14 05 07 CNI Engineering 2 1 3 Object Dictionary DS 301 gt Kl S Se o zdl a 3 13 Object 1401 2 Receive PDO Parameter The object 1401 allows customisation of the communication parameters for th
19. X x x Status Setpoint 0 0 0 Te Si 0 1 1 0 0 word Acknowledged Target 1 1 1 0 0 0 0 010 0 0 0 1 Reached DSP402 en fm 14 05 07 CNI Engineering 61 mu Rep 5 Objects Dictionary DSP402 ngineering Time t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 tio ti ti 1 2 Target Position 10 100 100 x x 50 50 50 x x X X X Position Actual Value 10 10 10 11 fe 100 99 50 Velocity Actual Value 0 0 0 50 50 0 50 Before the first movement to position 100 terminates the master requests a new movement at time t6 Simultaneously the Change Setpoint Immediately bit is down so that the motor waits for the first movement to conclude before running the second In effect at time t9 the motor reaches position 100 immediately starts the new movement and does not raise the Target Reached bit The second movement is completed at time t12 Example 3 Absolute triple movement Time t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 Contr New setpoint 0 0 1 1 0 0 1 1 0 0 1 olword Change Setpoint Au cH E WE E E MEE Immediately abs rel X X 0 0 X X 0 0 X X Status Setpoint 0 0 0 1 1 0 0 1 1 0 0 word Acknowledged Target Reached 1 1 1 0 0 0 0 0 0 0 0 Target Position 10 10 10 x x 50 50 50 x x 75 0
20. item is the encoder increment Descriptionof Index 6064 BEES Object name Position Actual Value Object code VAR Data type Integer32 Reference CIA DSP 402 V2 0 page 99 Descriptionof Subindex 00 elements Description Current position value Access ro read only PDO mapping Yes Unit increment Interval of values Integer32 Preset value No Recordable No 5 6 Object 6065 Following Error Window The object 6065 regulates a symmetrical position tolerance for control of the following error A value of 28 1 for the following error window disables the following error control The following error window works together with object 60664 Following Error Timeout Descriptionof Index 6065 object Object name Following Error Window Object code VAR Data type Unsigned32 Reference CiA DSP 402 V2 0 page 100 Descriptionof Subindex 00 ements Description Following error window Access rw read write PDO mapping No Unit encoder counts Interval of values Unsigned32 1 7FFFFFFF FFFFFFFF Preset value 4294967295 Recordable Yes 72 CNI Engineering DSP402 en fm 14 05 07 5 Objects Dictionary DSP402 5 7 Object 6066 Following Error Timeout The object 6066 sets a time window to check the following error The following error timeout works together with object 6065 Following Error Win
21. on this PDO 1 RTR not allowed on this PDO Bit 29 0 11 bit identifiers CAN 2 0A 1 29 bit identifiers CAN 2 0B Bit 28 11 if bit 29 1 identify bits 28 11 of the 29 bit Bit 10 0 Bits 10 0 of the COB ID Description of 0 synchronous acyclic data updated on previous SYNC data 1 240 synchronous cyclic data updated on previous SYNC Subindex 02 241 251 reserved 252 synchronous on request data is updated on previous SYNC 253 asynchronous on request data is updated immediately on SYNC 254 asynchronous identical to value 255 255 asynchronous transmitted simultaneously to variation of one of the mapped objects or on expiry of the Event Timer preset The parameter Inhibit Time represents the minimum time in steps of 100 microseconds between two successive PDO transmits The parameter Event Timer involves a fixed time PDO transmit prescribed by the parameter in milliseconds even if the values of the mapped objects have not changed The PDO transmit will only take place in NMT OPERATIONAL state The PDO communication parameters can only be changed in NMT PRE OPERATIONAL state DS301 en fm 14 05 07 CNI Engineering 3 1 3 Object Dictionary DS 301 gt Kl S Se o di a 3 17 Object 1801 2 Transmit PDO Parameter Object 1801 is used to customise the communication parameters for the second transmit PDO see also paragraph 3 16 object 18004 18 Transmit PDO Parameter
22. to be certain that the motor is ready to receive the command Also before sending the command it is necessary to write any parameters to subindexes 02 and 03 If the command foresees a response it is only possible to read the response after the subindex 01 has once again taken on the value CMDNULL This procedure is illustrated in Figure 1 Oggetti definiti dal costruttore en fm 14 CNI Engineering 53 05 07 4 Object Dictionary objects defined by the manufacturer kel Kl S Se o zdl a Figure 1 4 23 3000 01 E CMDNULL Write param 1 in 3000 02 and param 2 in 3000h 03 E ee Write the command in 3000 01 3000 01 CMDNULL Read response in 3000 044 Object 3010 Sampling Variables With this object it is possible to sample the values of the drive firmware internal variables Descriptionof Index 3010 object Object name Sampling variables Object code RECORD Data type Descriptionof Subindex 00h elements Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 4 Preset value 4 Recordable No 54 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 E aq 5 9 a STT aq 4 Object Dictionary objects defined by the manufacturer Descriptionof Subindex 01h elements Description First address f
23. to change the node number it is necessary to turn the motor off and then on again 9 4 Meaning of the green LED The flashes emitted by the Smart Motor green LED have a precise meaning during the procedure to assign the baudrate described in the paragraph Baudrate the meaning is also described in this paragraph On the other hand if the motor is turned on with Dip switch 6 set to Off normal operation you will have the following m The LED flashes at half second intervals 250 milliseconds on 250 milliseconds off the motor is operating correctly and is in pre Operational state as described in DS301 States m TheLED is permanently on the motor is operating correctly and is in Operational state m The LED flashes at 200 millisecond intervals 100 milliseconds on and 100 milliseconds off during the initial autocheck phase the motor has detected that the firmware saved in the flash memory is not correct In this case the motor is not operational and it will be necessary to set the firmware again Please contact the supplier m TheLED flashes at 64 msec intervals 32 msec on and 32 msec off internal error One of the causes may be that incorrect PDO mapping parameters have been saved to the flash memory too long or wrong length non existent object to be mapped If necessary contact the supplier 92 CNI Engineering Configurazione Dispswitch en fm 14 05 07
24. 0 Position Actual Value 10 10 10 11 E Se oi x us in js Velocity Actual Value 0 0 0 50 A 2f Ze Wi 50 Time t11 t12 t13 t14 t15 t16 t17 t18 t19 Control New Setpoint 1 1 1 0 0 0 0 0 0 word Change Setpoint 0 0 0 x x x x x x Immediately abs rel 0 0 0 X x X X x X Status Setpoint Acknowledged 0 0 1 1 0 0 0 0 0 word Target Reached 0o 0 0l o o o o olo Target Position 75 X X X x x x x 1 Position Actual Value 100 99 nd m sei 75 74 ne 50 Velocity Actual Value 0 50 50 0 50 0 If before completing the first movement final position 100 the master requests a second one at time t6 final position 75 and then a third one at time t10 final position 50 the motor is unable to receive the latter positioning as it only has a single element queue It will therefore not raise the Setpoint Acknowledge bit until immediately after it has terminated the first movement time t13 62 CNI Engineering DSP402 en fm 14 05 07 5 Objects Dictionary DSP402 Example 4 Absolute double movement with Change Setpoint Immediately active Time t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 til Control New Setpoint 0 0 1 1 0 0 1 1 0 0 0 0 word Change x x x x x x 1 1 x x x x Setpoint Immediately abs rel X X 0 0 X X 0 0 X X X X Status Setpoint 0 0 0 1 1 0 0 1 1 0 0 0 word Acknowledged Target Reached 1 1 1 0 0 0 0 0 0 0
25. 0 1 Target Position 10 100 100 x x 50 50 50 x X X X Position Actual Value 10 10 10 12 60 64 66 66 64 50 Velocity Actual Value 0 0 0 50 100100 50 0 50 0 Before the first movement to position 100 ends the master requests a new movement at time t6 with the Change Setpoint Immediately bit set to 1 In this case the motor has reached position 64 and has to slow down and reverse to reach position 50 Deceleration starts at time t7 you can see the speed dropping and changing from positive to negative Example 5 Relative single movement Time t0 t1 t2 t3 14 t5 t6 Controlword New Setpoint 0 0 1 1 0 0 0 Change Setpoint Immediately x x x x X x x abs rel x x 1 1 x x x Statusword Setpoint Acknowledged 0 0 0 1 1 0 0 Target Reached 1 1 1 0 0 0 1 Target Position 10 100 100 x X X X Position Actual Value 10 10 10 11 110 Velocity Actual Value 0 0 0 150 50 0 In this case the movement is incremental and the final position is therefore equal to last Target Position Target Position 10 100 110 Example 6 Relative double movement Time tO t1 t2 t3 t4 05 t6 0 108 19 ti0 til Control New Setpoint 0 0 1 1 0 0 1 1 0 0 0 0 word Change x x x x x x 0 0 x x x x Setpoint Immediately abs rel x X 1 1 X x 1 1 x Stat
26. 00 on SM137 35 on SM140 Preset value 250 on SM137 900 on SM140 Recordable Yes Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 47 4 Object Dictionary objects defined by the manufacturer gt Kl S Se o zdl a 4 15 Object 2012 Timeout for Maximum Torque The object 2012 is the time during which the speed regulator torque must continuously exceed the one foreseen in object 2011 in order to switch the motor to Fault Descriptionof Index 2012 99 061 Object name Timeout for Maximum Torque Object code VAR Data type Integer16 Descriptionof Subindex 00h SEET Description Timeout for maximum torque Access rw read write PDO mapping No Unit msec Interval of values Integer16 0 10000 Preset value 1000 Recordable Yes 4 16 Object 2013 Bit A The object 2013 contains 16 bits the meanings of which are given in paragraph 4 25 Descriptionof Index 2013 SPIRE Object name Bit_A Object code VAR Data type Integer16 Reference Paragraph 4 25 Descriptionof Subindex 00h elements Description Bit_A Access rw read write PDO mapping No Unit Interval of values Integer16 Preset value 1 Recordable Yes 48 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 mue sus ngineering 4 Object Dictionary objects defined by the ma
27. 2 3 Controlword and Statusword in Homing Mode If the Smart Motor has never been reset since starting positioned movements in Profile Position Mode are not allowed 70 CNI Engineering DSP402 en fm 14 05 07 E aq 5 9 e STT 5 Objects Dictionary DSP402 5 4 Object 6061 Modes of operation display The object 6061 shows the current operating method The meaning of the return value corresponds to object 60604 Modes of operation Descriptionof Index 6061 object Object name Modes of operation display Object code VAR Data type Integer32 Reference CiA DSP 402 V2 0 page 56 Description of Subindex 00 elements Description Active operating mode Access ro read only PDO mapping Yes Unit Interval of values Integer8 Preset value No Recordable No Descriptionof 0 OFF no mode selected data 1 Profile Position Mode 2 Velocity mode not supported 3 Profile velocity mode 4 Torque profile mode not supported 5 reserved 6 Homing mode 7 Interpolated Position mode not supported 8 127 reserved 1 128 Manufacturer specific not supported DSP402 en fm 14 05 07 CNI Engineering 71 5 Objects Dictionary DSP402 gt Kl S Se o zdl a 5 5 Object 6064 Position Actual Value The object 6064 shows the current position of the Smart Motor in the logic memory position The unit of measurement for this data
28. 37 SM140 motors Serial communication protocol distributed by CNI Engineering S r l Introduzione en fm 14 05 07 CNI Engineering 5 1 Introduction to the CANopen communication protocol angineering 6 CNI Engineering Introduzione en fm 14 05 07 E aq 5 9 e STT aq 2 Object Dictionary 2 Object Dictionary This section describes the Object Dictionary that is to say the series of objects defined within the Smart Motor that allows commands to be send and or dimensions such as the position and the speed to be monitored 2 1 Definition of an object Each object is defined using the following tables Object description table Input description table Format description table Data description table 2 1 1 Object description table Description of object Index Numerical identification for the object Object name Symbolic name of the object Object code Structure of the object Data type Type of object Reference Reference to the CiA profile Index The index of an object is defined in hexadecimal form this can be identified by the fact that there is a lower case letter h at the foot of the index for the object in question The following types of index are used e 1000 1FFF Objects with communication profile CIA DS 301 V4 02 e 2000 5FFF Objects defined by the manufacturer 6000 9FFF Objects with the device profile CIA DSP 402 V2 0 Object Name
29. 402 en fm 14 05 07 CNI Engineering 77 5 Objects Dictionary DSP402 kel S Se o zdl a 5 15 Object 6081 Profile Velocity The Profile Velocity is the speed normally obtained at the end of the acceleration ramp during a movement in Profile Position Mode and it is valid for both directions of movement Descriptionof Index 6081 epee Object name Profile Velocity Object code VAR Data type Unsigned32 Reference CiA DSP 402 V2 0 page 81 Descriptionof Subindex 00 elements Description Velocity profile Access rw read write PDO mapping No Unit rpm Interval of values Unsigned32 0 8000 Preset value 0 Recordable Yes 5 16 Object 6083 Profile Acceleration The object 6083p sets acceleration of the drive movements in Profile Position Mode Profile Velocity Mode and Homing Mode Descriptionof Index 6083h object Object name Profile Acceleration Object code VAR Data type Unsigned32 Reference CiA DSP 402 V2 0 page 82 Descriptionof Subindex 00h ements Description Acceleration profile Access rw read write PDO mapping No Unit 10000 counts sec Interval of values Unsigned32 1 32767 Preset value 32 Recordable Yes 78 CNI Engineering DSP402 en fm 14 05 07 E aq 5 Da STT aq 5 Objects Dictionary DSP402 5 17 Object 6085 Quick Stop Deceleration The Quick Stop Decele
30. 6 Object 100A Manufacturer Software Version The object with index 100A contains the description of the software version loaded on the device Descriptionof Index 100A SE Object name Manufacturer Software Version Object code VAR Data type Visible String Reference CiA DS 301 V4 02 page 91 Descriptionof Subindex 00 elements Description Software version Access const PDO mapping No Unit Interval of values Visible string lt 15 characters Preset value Currently 00120 or 00123 Recordable No 14 CNI Engineering DS301 en fm 14 05 07 E aq 5 Da STT aq 3 Object Dictionary DS 301 3 7 Object 100C Guard Time The objects with indexes 100Ch and 100Dy include the Guard Time in milliseconds and the Life Time Factor The Life Time Factor multiplied by the Guard Time gives the maximum interval for the Life Guarding Protocol if within this time the peripheral device NMT Slave does not receive Node Guarding packages from the Master the peripheral device will revert to safety mode This has a value of 0 if Node Guarding surveillance of the CANopen node is disabled By means of the Node Guarding protocol an NMT Master supervises communication with the peripheral devices NMT Slaves The Guard time is indicated in milliseconds Descriptionof Index 100Ch Object Object name Guard Time Object code VAR Data type Unsigned16 Ref
31. 8 Single movement with stop In this specific Time t0 t t2 t3 t4 t5 t6 t7 t8 Controlword New Setpoint 0 1 1 x Change Setpoint x x x x x x x x x Immediately abs rel x x 0 0 x x X X x Status word Setpoint Acknowledged 0 0 0 0 0 0 1 0 0 target reached 0 0 0 1 1 0 0 0 0 Target Position 1 1 1 0 0 0 0 0 1 Position Actual Value 10 10 10 x x X X X X 0 0 Velocity Actual Value 10 10 10 11 40 42 43 43 Control word New Setpoint 0 0 0 50 10 10 50 0 0 0 At time t6 the master raises the Halt bit to stop the motor As soon as possible a braking operation is carried out bringing the motor to a position that is different from the set Target Position At the 64 CNI Engineering DSP402 en fm 14 05 07 5 Objects Dictionary DSP402 end of the braking operation the motor raises the Target Reached bit If a double Setpoint were to have been sent the Halt would also have aborted this second movement If the Halt bit is returned to 0 during the braking ramp it is possible to send the motor another movement which will be carried out as soon as braking has terminated DSP402 en fm 14 05 07 CNI Engineering 65 5 Objects Dictionary DSP402 kel e S Se o zdl a 5 2 2 Controlword and Statusword in Profile Velocity Mode In this mode it is possible to carry out movements at the requested velocity withou
32. 801 2 Transmit PDO Parameter ennen nennen 32 3 18 Object 1A00 1 Transmit PDO Mapping Parameter 34 3 19 Object 1A01 2nd Transmit PDO Mapping Parameter 37 4 Object Dictionary objects defined by the manufacturer 41 4 1 Object 2000 Proportional Gain of Current Loop 41 4 2 Object 2001 Integral Gain of Current Loop nnee nnen eenen 41 H5834D00091 NG 02TOC fm 14 05 07 CNI Engineering mme Rep INDEX ngineering 4 3 Object 2004 Maximum Value of Current Loop Output ee 42 4 4 Object 2005 Proportional Gain of Speed Loop nnen 42 4 5 Object 2006 Integral Gain of Speed Loop 43 4 6 Object 2007 Percentage Feedforward for Speed Loop 43 4 7 Object 2009 Maximum Value of Speed Loop Output 44 4 8 Object 200A Proportional Gain of Position Loop 44 4 9 Object 200B Integral Gain of Position Loop 45 4 10 Object 200C Percentage Feedforward for Position Loop 45 4 11 Object 200E Maximum Value of Position Loop Output 46 4 12 Object 200F4 Maximum Speed Following Error 46 4 13 Object 20104 Maximum Duration of Speed Following Error 47 4 14 Object 2011p Maximum Torque ii 47 4 15 Object 2012
33. H5834D0009I NG Users Manual for SM 137 SM 140 motors 02 05 15 2007 5 a 5 o 5 CANopen Communication Protocol slap CNI Engineering S r l Publication information Update List Revision Added Deleted Changed 00 Unreleased 01 Sect 9 1 02 New Layout CNI ENGINEERING S r l No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanic including photocopying without the express written permission of CNI Engineering Manual written by the CNI Engineering Technical Publications Office H5834D0009ING 02_Cop fm PUBLICATION ISSUED BY Documentation office Via Carpanelli 24 40011 Anzola dell Emilia Bo Italy Tel 39 051 6508911 Fax 39 051 6508912 Info cnicnc com www cnicnc com o Ze Registered offices Via dell Artigianato 1 48011 Alfonsine Ra Italy Tel 39 0544 84277 Fax 39 0544 80635 P I e C F 02248390391 Document Code H5834D0009I NG Document revision 02 Document edition 05 15 2007 Manual written by the CNI Engineering Technical Publications Office H5834D0009ING 02_Col fm mae Rep ngineering INDEX INDEX 1 Introduction to the CANopen communication protocol 1 1 1 CiA Can in Automation specifications ii 1 12 e ee Mee EE 1 1 3 DS 301 tee 1 1 4 EE EE eeneg 2 1 5 DSP A02 SES s ee ea Neenee EE 3 6 Operating modes inbe eee aac
34. Indicates the symbolic name of the object Object Code One of the following object structures Object Codes will be assigned to all objects VAR Single value for example of the type Integer8 Unsigned32 etc ARRAY A set of data in which all the elements have the same data type The subindex OO determines the number of elements e RECORD A set of data made up of elements of different type The subindex 00 determines the number of elements Dizionario Oggetti en fm 14 05 07 CNI Engineering 7 mame uus 2 Object Dictionary angineering Data type The data types that an object can have are the following Name Description Interval Bytes Integer8 8 bit values 128 127 1 Integer16 16 bit values 32768 32767 2 Integer32 32 bit values 2147483648 2147483647 4 Unsigned8 8 bit values 0 255 1 Unsigned16 16 bit values 0 65535 2 Unsigned32 32 bit values 0 4294967295 4 Visible string ASCII symbols 20h 7Eh lt 15 String of octets ASCII symbols 00Kh FFh lt 16 CIA Reference The Reference row in the definition of an object contains a reference to the CAN profile definition used in the CIA CAN in Automation manual 2 1 2 Object description table Description of Subindex Sequential number identifying the object from elements other objects with the same index Description Indicates the name of the parameter Access Indic
35. Object code VAR Data type Unsigned16 Reference CIA DSP 402 V2 1 page 50 Descriptionof Subindex 00 Samen Description Statusword Access ro read only PDO mapping Yes Unit S Interval of values Unsigned16 Preset value Recordable No 58 CNI Engineering DSP402 en fm 14 05 07 5 Objects Dictionary DSP402 Descriptionof Bit 15 14 Manufacturer specific format Bit 13 12 Operating mode specific Bit 11 Internal Limit Active not implemented Bit 10 Target Reached Bit 9 Remote Bit 8 Manufacturer specific Bit 7 Warning message Bit 6 Switch On Disabled Bit 5 Quick Stop Bit 4 Voltage Enabled Bit 3 Fault Bit 2 Operation Enabled Bit 1 Switched On Bit 0 Ready to Switch On The condition of the machine in CANopen states is represented by bits 0 3 by bit 5 and by bit 6 The following operating conditions are shown by the Statusword the bits marked with an x are irrelevant States Statusword bits Switch on Quick Fault Operation Switched Ready to disabled Stop Bit3 Enabled on switch on Bit 6 Bit 5 Bit 2 Bit 1 Bit 0 Not ready to switch on 0 X 0 0 0 0 Switch on disabled 1 x 0 0 0 0 Ready to switch on 0 1 0 0 0 1 Switched on 0 1 0 0 1 1 Operation Enabled 0 1 0 1 1 1 Quick Stop active 0 0 0 1 1 1 Fault reaction active 0 X 1 1 1 1 Fault 0 X 1 0 0 0 Bit 10 and bits 12 and 13 have dif
36. also possible to select whether the motor is to perform the new movement sent immediately or only at the end of any other movement in progress If after startup the Smart Motor has never been reset the positioned movements in Profile Position Mode are not allowed In this mode the controlword bits involved are 4 5 6 and 8 Name Bit Val Description Notes New Set Point 4 O Does not use the In Operation Enabled state a Target Position positioning operation is made active 1 Activates the Target value 01 or value 1 in input to the Position Operation Enabled state The drive acknowledges that the movement command has been received by raising the Setpoint Acknowledged bit in the Statusword object 6041 Statusword bit 12 Change Set 5 O Terminates the current If this is set to 1 it allows on the spot Immediately positioning and then changing of both the end position and starts the next one the movement speed 1 Interrupts the current positioning and starts the new one abs rel 6 O The Target Position is If itis set to 1 the end position of the an absolute value movement will be the same as the last 1 The Target Position is Target Position plus the current Target a relative value Position On the other hand if the Change Set Immediately bit is active the end position will be the Position Actual Value plus the Target Position Halt 8 O Performs positioning A value of 1 allo
37. alues Integer32 Preset value 0 Recordable Yes 76 CNI Engineering DSP402 en fm 14 05 07 5 Objects Dictionary DSP402 5 14 Object 607D Software Position Limit Software Position Limit contains the sub parameters Min Position Limit and Max Position Limit These parameters define the absolute position limits for the Position Demand Value and for the Position Actual Value Each new Target Position must be restricted within these limits If the Smart Motor has never been reset since startup control of the software limits is not enabled Furthermore in Homing Mode also the software limits control is not enabled Descriptionof Index 607Djg object Object name Software Position Limit Object code ARRAY Data type Integer32 Reference CiA DSP 402 V2 0 page 80 Descriptionof Subindex 00 eee Description Number of elements Access ro read only PDO mapping No Unit a Interval of values Integer32 Preset value 2 Recordable No Descriptionof Subindex 01 piemanig Description Minimum position limit Access rw read write PDO mapping No Unit encoder counts Interval of values Integer32 Preset value No Recordable Yes Descriptionof Subindex 00 Sigma Description Maximum position limit Access rw read write PDO mapping No Unit encoder counts Interval of values Integer32 Preset value No Recordable Yes DSP
38. alues Unsigned32 Preset value 00020192 Recordable No Descriptionof Bit 31 24 Not used format Bit 23 16 Inverter type Bit 17 1 servo driven Bit 15 0 Device CIA profile 01924 2402 3 2 Object 1001 Error Register Object 1001 is an error register for the device Description of Index 1001 object Object name Error Register Object code VAR Data type Unsigned8 Reference CiA DS 301 V4 02 page 87 CIA DSP 402 V2 0 page 24 DS301 en fm 14 05 07 CNI Engineering 11 3 Object Dictionary DS 301 D Descriptionof Subindex 00 elements Description Error register Access ro read only PDO mapping No Unit S Interval of values Unsigned8 Preset value 0 Recordable Yes Descriptionof Bit 7 Specific to manufacturer format Bit 6 Reserved always 0 Bit 5 Specific to device CIA profile Bit 4 Communication error overrun error state Bit 3 Temperature Bit 2 Power Bit 1 Current Bit 0 Generic error 3 3 Object 1002 Manufacturer Status Register Object 1002 is a status register for element customised by the manufacturer Descriptionof Index 1002 objec Object name Manufacturer Status Register Object code VAR Data type Unsigned32 Reference CiA DS 301 V4 0 pages 9 65 Descriptionof Subindex 00 cemeng Description Manufacturer status register Access
39. ates the object s access attribute PDO mapping Determines whether or not the object can be mapped in a PDO Unit Indicates the unit of measurement for the object Interval of values Indicates the interval of values for the object Preset value Indicates the preset value of the object Recordable Indicates whether or not the object can be recorded in a permanent manner Subindex The subindex of an object comprises a hexadecimal number identified by a lower case letter h at the foot of the object s subindex In the case of single objects VAR only the subindex 00 will be assigned In the case of intervals of values ARRAY or RECORD the value of subindex 00 determines the size of the group of values Description Indicates the name of the parameter in question CNI Engineering Dizionario Oggetti en fm 14 05 07 2 Object Dictionary Access An access attribute will be assigned for each object Value Description rw The value of the object is both readable and writable ro The value of the object is read only wo The value of the object is write only const Read only access the value is constant PDO mapping The PDO mapping line of an object in input indicates whether or not the parameter can be mapped within a PDO Process Data Object Unit of measurement The physical unit for parameters must be defined explicitly for each object Unit e The positions are expres
40. aximum speed following error allowed Access rw read write PDO mapping No Unit rpm Interval of values Integer16 0 8000 Preset value 0 Recordable Yes 46 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 4 Object Dictionary objects defined by the manufacturer 4 13 Object 2010 Maximum Duration of Speed Following Error The object 2010 is the time for which the speed following error must continually exceed the value foreseen in object 200F in order to switch the motor to Fault Description of object Index 2010 Object name Maximum Duration of Speed Following Error Object code VAR Data type Integer16 Descriptionof Subindex 00h piemens Description Maximum duration of the speed following error Access rw read write PDO mapping No Unit Msec Interval of values Integer16 0 10000 Preset value 0 Recordable Yes 4 14 Object 2011 Maximum Torque The object 2011 is the maximum torque required from the speed regulator If this is exceeded in a continuous manner for longer than foreseen in object 20124 the motor will switch to Fault Description of Index 20114 SSES Object name Maximum torque Object code VAR Data type Integer16 Descriptionof Subindex 00 siemens Description Maximum torque Access rw read write PDO mapping No Unit Ampere x 0 01 Interval of values Integer16 0 9
41. bject code VAR Data type Integer16 Description of Subindex 00 SEI Description Percentage feedforward for the position regulator Access rw read write PDO mapping No Unit Interval of values Integer16 0 100 Preset value 100 Recordable Yes Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 45 4 Object Dictionary objects defined by the manufacturer kel Kl S Sa zdl a 4 11 Object 200E Maximum Value of Position Loop Output The object 200E is the absolute maximum value of the position regulation loop output Descriptionof Index 200E SES Object name Maximum value of position loop output Object code VAR Data type Integer16 Descriptionof Subindex 00 E SE Description Absolute maximum value of the position loop output Access rw read write PDO mapping No Unit rpm Interval of values Integer16 1 8000 Preset value 4500 Recordable Yes 4 12 Object 200F Maximum Speed Following Error Object 200F is the maximum speed following error which when exceeded for a time longer than that foreseen in object 2010p will switch the motor to Fault If the value is 0 the speed following error control is disabled Descriptionof Index 200F EEN Object name Maximum Speed Following Error Object code VAR Data type Integer16 Descriptionof Subindex 00h SEET Description M
42. bject name Maximum value of current loop output Object code VAR Data type Integer16 Descriptionof Subindex 00 E SE Description Maximum value of the current regulation loop output Access rw read write PDO mapping No Unit Volt x 0 1 Interval of values Integer16 1 193 on SM137 1 195 on SM140 Preset value 193 on SM137 195 on SM140 Recordable Yes 4 4 Object 2005 Proportional Gain of Speed Loop The object 2005p is the proportional gain of the speed regulation loop Descriptionof Index 2005 OOI Object name Proportional Gain of Speed Loop Object code VAR Data type Integer16 Descriptionof Subindex 00 SE Description Proportional gain of the speed regulation loop Access rw read write PDO mapping No Unit x 0 01 Interval of values Integer16 0 32767 Preset value 150 on SM137 600 on SM140 Recordable Yes 42 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 mue sus ngineering 4 Object Dictionary objects defined by the manufacturer 4 5 Object 2006 Integral Gain of Speed Loop The object 2006 is the integral gain of the speed regulation loop Descriptionof Index 2006 object Object name Integral Gain of Speed Loop Object code VAR Data type Integer16 Descriptionof Subindex 00 SEKR Description Integral gain of the speed regula
43. bled to receive see also paragraph 3 14 object 16004 1 Receive PDO Mapping Parameter Description of object Index 1601 Object name 2nd Receive PDO Mapping Object code RECORD Data type PDO mapping Reference CiA DS 301 V4 02 page 109 CiA DS 402 V2 0 page 25 DS301 en fm 14 05 07 CNI Engineering 2 7 3 Object Dictionary DS 301 kel S Se o zdl a Description of elements Subindex 00 Description Number of mapped objects requested in the PDO Access rw read write PDO mapping No Unit S Interval of values Unsigned8 1 8 Preset value 1 Recordable Yes Subindex 01h Description First object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 60400010 Recordable Yes Subindex 02 Description Second object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 6060008 Recordable Yes Subindex 03h Description Third object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 04 Description Fourth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 28 CNI Engineering DS301 en fm 14 05 07
44. cts as time passes Time tO tl t2 13 14 t5 t6 t7 t8 t9 t10 t t1 ti 2 3 Contr Halt 1 0 0 0 0 0 0 0 0 1 1 1 1 1 olwor d Status Target word Reached Speed 1 1 1 0 0 0 0 0 0 0 001 1 0 Target Velocity x 10 10 10 10 20 20 20 20 x X x x X 66 CNI Engineering DSP402 en fm 14 05 07 5 Objects Dictionary DSP402 Time tO t1 t2 t3 t4 t t6 t7 t8 t0 HO U U ti 1 7 Velocity Actual 0 0 1 10 10 10 20 20 19 0 Value 0 0 1 0 0 9 At the time t1 the Halt bit is lowered by the master and the motor starts to move lowering the Target Reached bit an acceleration ramp is in progress and therefore the Target Velocity has not yet been reached At time t4 the motor has terminated its ramp and the Target Reached bit is raised accord ingly At time t5 the Target Velocity is changed by the master and the motor therefore starts another ramp to reach the new speed At time t9 the master raises the Halt bit requesting the motor to stop A deceleration ramp is started which 5 2 3 will cause the motor to stop at time t13 In this mode it is possible to reset the smart motor In homing mode the Controlword bits involved are numbers 4 8 and 12 Controlword and Statusword in Homing Mode Name Bit Va
45. does not save the parameters on command 1 device saves the parameters on command Descriptionof Bit 31 24 65 e ASCII characters ISO 8859 format 3 Vu Subindex Bit 23 16 76 v ASCII characters ISO 8859 01p Write Bit 15 8 61 ai ASCII characters ISO 8859 access Bit 7 0 73 s ASCII characters ISO 8859 DS301 en fm 14 05 07 CNI Engineering 17 3 Object Dictionary DS 301 kel Q S Se o zdl a 3 10 Object 1011 Restore Parameters The object with index 1011 is used to restore the parameter values preset by the manufacturer according to the communication or profile of the device During read access the device provides information on its ability to regenerate these values By writing the instruction load in the subindex the factory settings for the corresponding parameters will be restored and the factory settings will be restored as the current parameter values after the command NMT Reset Node has been performed or after the peripheral device has been turned off and then on again These parameters can be saved in the permanent memory and they will be available as Power On Defaults Descriptionof Index 1011 objec Object name Restore Default Parameters Object code ARRAY Data type Unsigned32 Reference CiA DS 301 V4 02 pages 9 72 Descriptionof Subindex 00 elemens
46. dow Descriptionof Index 6066 object Object name Following Error Timeout Object code VAR Data type Unsigned16 Reference CiA DSP 402 V2 0 page 100 Descriptionof Subindex 00h piemens Description Following error timeout Access rw read write PDO mapping No Unit milliseconds Interval of values Unsigned16 0 1000 Preset value 0 Recordable Yes If the motor commits a following error higher than the Following Error Window for a continuous period of time exceeding the Following Error Timeout the motor will switch to a state of Fault see DSP402 states and the 16 lowered bits of object 10024 Manufacturer Status Register will contain the value 6 corresponding to ALMAXERRORP 5 8 Object 6067 Position Window The Position Window defines a symmetrical interval of acceptable positions around the Target Position If the current value of the position encoder is within the Position Window the Target Position is considered to have been reached If the value of the Position Window is 2 1 the position of the control window is disabled The Position Window works in combination with object 60684 Position Time Window Descriptionof Index 6067 SES Object name Position Window Object code VAR Data type Unsigned32 Reference CiA DSP 402 V2 0 page 100 Descriptionof Subindex 00h SIE Description Position window Access rw read write PDO mapp
47. e master via the NMT protocol An Enter_Pre Operational_State is received from the master via the NMT protocol A Stop_Remote_Node is received from the master A Reset_Node is received from the master A Reset Communication is received from the master As soon as the Reset_Application phase has terminated Reset Communication starts automatically CNI Engineering Introduzione en fm 14 05 07 1 Introduction to the CANopen communication protocol The protocols supported by the various states are shown in table 2 Table 2 Protocols supported State Meaning Protocols SDO PDO SYNC EMGCY NMT BOOTUP Reset Application The hardware is initialised X and the typical device parameters are reloaded Reset The CANopen parameters X Communication are reloaded from flash Pre Operational The device is operational X X X X Operational The device is operational X X X X X Stopped The device is in safety X mode 1 5 DSP 402 States As already mentioned the specification DSP 402 defines the standard behaviour of a CANopen servomotor The states of the motor from a drive point of view are defined in the specification The transitions automatic device is outlined in figure 2 Figure 2 DSP 402 States
48. e second receive PDO RPDO2 see also paragraph 3 12 object 14004 1 Receive PDO Parameter Descriptionof Index 1401 SES Object name 2nd Receive PDO Parameter Object code RECORD Data type PDO CommonPar Reference CiA DS 301 V4 02 page 107 CIA DS 402 V2 0 page 25 Descriptionof Subindex 00 elemens Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 2 5 Preset value 2 Recordable No Subindex 01h Description COB ID used by the PDO Access rw read write PDO mapping No Unit S Interval of values Unsigned32 Preset value 40000300 Node ID Recordable Yes Subindex 02h Description Transmission type Access rw read write PDO mapping No Unit Interval of values Unsigned8 Preset value 255 Recordable Yes 22 CNI Engineering DS301 en fm 14 05 07 E aq 5 9 e STT 3 Object Dictionary DS 301 Descriptionof Bit 31 0 PDO valid format 1 PDO not valid Subindex 01h Bit 30 0 RTR allowed on this PDO 1 RTR not allowed on this PDO Bit 29 0 11 bit identifiers CAN 2 0A 1 29 bit identifiers CAN 2 0B Bit 28 11 if bit 29 1 identify bits 28 11 of the 29 bit Bit 10 0 Bits 10 0 of the COB ID Description of 0 synchronous RPDO2 is synchronised by the next SYNC data 1 240 synchronous same function as va
49. el commands 4 1 Object 2000 Proportional Gain of Current Loop The object 2000 is the proportional gain of the current regulation loop Description of Index 2000 SES Object name Proportional Gain of Current Loop Object code VAR Data type Integer16 Description of Subindex 00 Siemen Description Proportional gain of the current regulation loop Access rw read write PDO mapping No Unit x 0 01 Interval of values Integer16 0 32767 Preset value 30 on SM137 40 on SM140 Recordable Yes 4 2 Object 2001 Integral Gain of Current Loop The object 2000 is the integral gain of the current regulation loop Descriptionof Index 2001 object Object name Integral Gain of Current Loop Object code VAR Data type Integer16 Descriptionof Subindex 00 gemens Description Integral gain of the current regulation loop Access rw read write PDO mapping No Unit x 0 01 Interval of values Integer16 0 32767 Preset value 12 on SM137 10 on SM140 Recordable Yes Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 41 4 Object Dictionary objects defined by the manufacturer 5 E 5 5 a 4 3 Object 2004 Maximum Value of Current Loop Output The object 2004 is the maximum absolute value of the current regulation loop output Descriptionof Index 2004 SSES O
50. erence CiA DS 301 V4 02 page 92 Descriptionof Subindex 00 elements Description Peripheral device watch dog Access rw read write PDO mapping No Unit milliseconds Interval of values Unsigned16 Preset value 0 Recordable Yes DS301 en fm 14 05 07 CNI Engineering 1 5 3 Object Dictionary DS 301 kel Q S Se o zdl a 3 8 Object 100D Life Time Factor The object with index 100D regulates the Life Time for Life Guarding The Life Time Factor multiplied by the Cycle Time of the Guard Time object 100C peripheral device watch dog gives the Life Time The Life Time Factor is set to O if it is not used The reaction of the SmartMotor to a loss of connection with the NMT Master Life Guarding Event can be regulated using object 60074 Abort Connection Option Code Descriptionof Index 100Dp EES Object name Life Time Factor Object code VAR Data type Unsigned8 Reference CIA DS 301 V4 02 page 92 Descriptionof Subindex 00h elements Description Life time factor Access rw read write PDO mapping No Unit 2 Interval of values Unsigned8 Preset value 0 Recordable Yes Object 6007 Abort Connection Option Code is currently not implemented The behaviour of the motor is the same as if the object had a value of 1 a malfunction that switches the SM to a state of Fault 16 CNI Engi
51. f 0 Disables adjustment the motor is free to turn data 1 Slows down on the deceleration ramp not supported 2 Slows down on the quick stop ramp not supported 3 Lowers the current limit not supported 4 Lowers the voltage limit not supported 5 32767 Reserved not supported 1 32768 Production specifications not supported The motor reacts as it would if this object were set to a value of 0 Setting the parameter to a value of 0 disconnects the power electronics with a Shutdown order i e the motor is still free to turn 84 CNI Engineering Oggetti non implementati en fm 14 05 07 6 Objects that are not implemented 6 5 Object 605D Halt Option Code The parameter Halt Option Code determines what action will be taken if bit 8 halt of the Controlword is active Descriptionof Index 605Dp SSES Object name Halt Option Code Object code VAR Data type Integer16 Reference CiA DSP 402 V2 0 page 54 Descriptionof Subindex 00 elements Description Halt code Access rw read write PDO mapping No Unit Interval of values Integer16 Preset value 1 Recordable Yes Description of 0 Disables driving the motor is free to turn not supported data 1 Slows down on the deceleration ramp 2 Slows down on the quick stop ramp not supported 3 Lowers the current limit not supported 4 Lowers the voltage limit not supported
52. ferent meanings according to the type of operating mode Bit 11 Internal Limit Active piloted by the drive indicates that an internal limitation is active for a example software limit in current position If bit 9 is set then the parameters can be modified via the CAN network and the drive will perform the commands contained in the Controlword If the remote bit is reset then the drive is in local mode and will not perform the commands The drive might transmit messages containing valid values according to the configuration of the drive itself The drive supports the SDO protocol in local mode A drive message is active if bit 7 is set The presence of the message may be due to an error or to a state that must be mentioned for example a temperature limit reached or refusal of a command received The cause of the message must be read by accessing object 10024 Manufacturer Status Register The bit is raised by the device and can be lowered using bit 11 Warning Acknowledge in the Controlword When bit 4 voltage enable is set to 1 voltage has been supplied to the drive power supply DSP402 en fm 14 05 07 CNI Engineering 59 5 Objects Dictionary DSP402 kel e S Se o zdl a 5 2 1 Controlword and Statusword in Profile Position Mode In profile position mode it is possible to perform positioned movements at the speed required Positions can be absolute or relative with respect to the current position Furthermore it is
53. gineering DS301 en fm 14 05 07 E aq 5 9 e STT aq 3 Object Dictionary DS 301 Descriptionof Subindex 07 elements Description Seventh object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 08 Description Eighth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes Description of Bit 31 16 index of the object to be mapped 16 bit format Bit 16 8 subindex of the object to be mapped 8 bit Subindex 01p SES 08 Bit7 0 length of the object in bits 8 bit PDO mapping is dynamic it is possible to define which objects are mapped within the PDO see also paragraph 3 12 object 14004 1 Receive PDO Parameter This mapping can only be carried out in Pre operational state DS301 en fm 14 05 07 CNI Engineering 3 9 3 Object Dictionary DS 301 5 a 5 5 a 40 CNI Engineering DS301 en fm 14 05 07 mue sus ngineering 4 Object Dictionary objects defined by the manufacturer 4 Object Dictionary objects defined by the manufacturer The first section of this chapter objects in the interval 2000 2FFF is dedicated to the internal drive parameters The second section objects 3000 3FFFy contains those objects dedicated to sending special low lev
54. h and the reset switch zero notch and the encoder zero notch detected during the last automatic reset operation Descriptionof Index 3000 one Object name Special commands Object code RECORD Data type Descriptionof Subindex 00 Siemens Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 4 Preset value 4 Recordable No 52 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 4 Object Dictionary objects defined by the manufacturer Description of Subindex Olh SE Description Command Access rw read write PDO mapping No Unit S Interval of values Integer16 Preset value 1000 Recordable No Subindex 02 Description First command parameter Access rw read write PDO mapping No Unit Interval of values Integer32 Preset value On Recordable No Subindex 03h Description Second command parameter Access rw read write PDO mapping No Unit Interval of values Integer32 Preset value Oh Recordable No Subindex 04 Description Response to the command Access ro read only PDO mapping No Unit S Interval of values Integer32 Preset value On Recordable No Before sending a command by writing the corresponding value in the subindex 01 it is necessary to read that subindex and check that the value read is CMDNULL so as
55. ill start to flash periodically with the number of blinks for the chosen baudrate If the Dip switch configuration is not among the ones listed above the baudrate will remain the one set previously The motor is supplied with an initial baudrate of 500 Kbaud If there have been problems saving to the flash memory the green LED will start to flash in intervals of 4 seconds 2 seconds on and 2 seconds off At the end of the procedure turn the motor off lower Dip switch 6 and set the required node number on Dip switches 1 to 5 9 2 Restoring Default parameters When Dip switches 5 and 4 are set to On it is possible to restore all the motor s default parameters including the baudrate At the end of the procedure the LED will flash with the code indicated in the previous paragraph Baudrate This function is present starting from version 123 of the firmware Configurazione Dispswitch en fm 14 05 CNI Engineering 91 07 9 Dip switch configuration 5 a 5 5 a 9 3 Node number If the motor is turned on with Dip switch 6 set to Off the Smart Motor starts normally reading the node number from Dip switches 1 to 5 Dip switch Node number 5 4 3 2 1 Off Off Off Off Off 0 Off Off Off Off On Off Off Off On Off 2 On On On On Off 30 On On On On On 31 The node number may vary from 0 to 31 and once the motor has been turned on it can no longer be modified In other words
56. ing No Unit encoder counts Interval of values Unsigned32 1 7FFFFFFF FFFFFFFFg Preset value 4294967295 Recordable Yes Bit 10 of the object 60414 Statusword Target Reached is not raised until at the end of a positioning operation the Position Actual Value falls continuously within the symmetrical area DSP402 en fm 14 05 07 CNI Engineering 7 3 5 Objects Dictionary DSP402 5 5 5 a around the Target Position with an extent equal to the Position Window for the length of time defined in the Position Window Time The figure below illustrates its operation Figure 1 Position actual value Target position position windo Target positio Target position position window w 2 t2 t1 position window time time At time t1 the actual position of the axis falls within the interval around the Target Position and until time t2 which is equal to t1 Position Window Time it does not leave this interval At time t2 the Smart motor raises bit 10 of the Statusword Target Reached so as to declare that the motor has reached its position 5 9 Object 6068 Position Window Time When the actual position is within the Position Window for a time exceeding the Position Window Time bit 10 Target Reached of the Statusword is set to 1 Descriptionof Inde
57. iring and or check for excessive traffic on the CAN network 8110 Communication DS 301 An overrun has occurred while receiving NMT and error CAN or SDO packages overrun objects lost 8130 Communication DS 301 The time passed during node guarding between error life guard two successive packages is higher than the one error entered in object 100C multiplied by the one in 100Dp 8140 Communication DS 301 The bus off condition has ended and the Smart recovered after Motor attempts to restore the communication bus off 8210 Protocol error the DS 301 The motor has received a PDO package with an PDO has not been incorrect length processed due to an error in its length 8611 Controller DSP 402 A position following error higher than the value in positioning 6065 has been detected continuously for longer following error than foreseen in 6066 The motor has encountered an obstacle or the parameters need to be calibrated FFOO Internal error Supplier An error has occurred in the trajectory generator trajectory contact the supplier generator FF01 Speed controller Supplier A velocity following error higher than the value in following error 200F has been detected continuously for longer than foreseen in 20104 The motor has encountered an obstacle or the parameters need to be calibrated FF02 Internal error Supplier An internal error has occurred in the firmware unexpected contact the supplier interrupt 88
58. istance to the motor module P144 supplied by ONI 56 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 mms uus ngineering 5 Objects Dictionary DSP402 5 Objects Dictionary DSP402 5 1 Object 6040 Controlword The object 6040 is the Controlword that modifies the state of the drive based on the CIA profile DSP 402 The CANOpen State Machine indicates the operating and error conditions of the drive A transition in operation i e a change in state between two operating conditions is regulated by the Controlword The operating conditions are described by the Statusword see Object 6041p Descriptionof Index 6040p SE Object name Controlword Object code VAR Data type Unsigned16 Reference CiA DSP 402 V2 0 page 49 Description of Subindex 00 2 Description Controlword Access rw read write PDO mapping Yes Unit Interval of values Unsigned16 Preset value 0 Recordable No Descriptionof Bit 15 13 Not used format Bit 12 Operation Mode Specific bit can be customised by manufacturer Bit 11 Warning Acknowledge bit can be customised by manufacturer Bit 10 9 Reserved Bit 8 Halt Bit 7 Fault Reset Bit 6 4 Operation Mode Specific Bit 3 Enable Operation Bit 2 Quick Stop Bit 1 Enable Voltage Bit 0 Switch On The state is controlled by bits 0 to 3 and by bit 7 of the controlword The bits marked with a
59. l Description Notes Homing 4 0 Homing Mode not active In Operation Enabled state the Homing Operation 024 Starts Homing Mode Operation Start bit commands the drive to Start start the position reset procedure The 1 Homing Mode active Smart Motor communicates the end of 1 0 Stops Homing Mode the reset operation using the Homing Attained bit in the Statusword Halt 8 0 Performs the instruction A value of 1 in the Halt bit allows in bit 4 movement of the drive to be stopped 1 Stops the axis during reset After the bit has been reset value 1 0 the reset starts again Latch Zero 12 0 Waits before detecting Index the encoder zero index 1 Enables detection of the zero index for the reset operation The Statuswo rd bits involved are numbers 10 and 12 reached If Halt 1 it is slowing down before stopping Name Bit Val Description Notes Target 10 0 If Halt 0 the Home Reached Position has not been 1 If Halt 0 the Home Position has been reached If Halt 1 the motor is stopped DSP402 en fm 14 05 07 CNI Engineering 67 kel Kl S Se o zdl a 5 Objects Dictionary DSP402 Name Bit Val Description Notes Homing 12 0 Reset not completed The Homing Attained bit indicates that Attained 1 Reset completed the drive has stopped after l successfully completing the reset See Homing Method Homing Speeds and Homing Offset
60. ledged bit to 1 Following 13 0 No following error Not yet implemented in the Error 1 Following error firmware Example 1 Single movement A typical operating sequence is illustrated in the table below Time t0 t1 t2 t3 t4 t5 t6 Control word New Setpoint 0 0 1 1 0 0 0 Change Setpoint x x x x x x Immediately abs rel x 0 X X X Status word Setpoint 0 1 1 0 Acknowledged Target Reached 1 1 1 0 0 0 1 Target Position 10 100 100 X X X X Position Actual Value 10 10 10 11 et 100 Velocity Actual Value 0 0 0 50 50 0 The motor is stopped in position 10 at start time tO In t1 the Target Position is changed to a value of 100 and immediately after the New Setpoint bit is raised Following this when the drive has checked all the conditions and is ready to start the Setpoint Acknowledged bit is raised and the Target Reached bit is lowered Note that only when the master lowers the New Setpoint bit time t4 the motor lowers Setpoint Acknowledged When the target position is reached the Target Reached bit rises again to communicate the end of the positioning operation Example 2 Absolute double movement Time tO t1 t2 t3 t4 tb t6 t7 t8 t9 t10 t ti 1 2 Contro New Setpoint 0 0 1 1 0 0 1 1 0 0 0 0 Iword Change xixix x SE en MEET Setpoint Immediately abs rel X X 0 Ox 0 0
61. locity Demand Value EEN 75 5 11 Object 606C Velocity Actual Value AA 75 5 12 Object 607A Target Position EE 76 5 13 Object 607 Cg Homing Offset clear 76 5 14 Object 607Dy Software Position Limit nennen 77 5 15 Object 6081p Profile VeloGily io rt e Re aan 78 5 16 Object 6083 Profile Acceleration ann i 78 5 17 Object 6085 Quick Stop Deceleration ii 79 5 18 Object 6098 Homing Method nnen neen enneneee renner 79 5 19 Object 6099 Homing Speed Value EEN 80 5 20 Object 60FF Target Velocity AEN 80 CNI Engineering H5834D00091 NG 02TOC fm 14 05 07 mae AL ngineering INDEX 6 Objects that are not implemented cesses 81 6 1 Object 60074 Abort Connection Option Code 81 6 2 Object 605A Quick Stop Option Code nnn 82 6 3 Object 605C Disable Operation Option Code_ 83 6 4 Object 605B Shutdown Option Code 84 6 5 Object 605D gt Halt Option Gode e tenten Dee ege eet 85 6 6 Object 605E Fault Reaction Option Code nnn annen 86 7 Emergency Messages iaia 87 8 SDO Interrupt Codes iii 89 9 Dip switch configuration rrrcereee cirie 91 9 1 BAUdFale eege 91 9 2 Restoring Default parameters ii 91 9 3 Node nie 92 9 4 Meaning of
62. lue 0 Subindex 02 241 251 reserved 252 not allowed in receive PDOs 253 not allowed in receive PDOs 254 asynchronous same value as 255 255 asynchronous RPDO2 is immediately active straight after receiving preset DS301 en fm 14 05 07 CNI Engineering 2 3 3 Object Dictionary DS 301 gt S Se o zdl a 3 14 Object 1600 1 Receive PDO Mapping Parameter The object with index 1600 contains the mapping for the PDOs that the device is enabled to receive Descriptionof Index 1600 SES Object name 1st Receive PDO Mapping Parameter Object code RECORD Data type PDO mapping Reference CIA DS 301 V4 02 page 109 CiA DS 402 V2 0 page 25 Descriptionof Subindex 00 elements Description Number of mapped objects requested in PDO Access rw read write PDO mapping No Unit Interval of values Unsigned8 1 8 Preset value 1 Recordable Yes Subindex 01h Description First object mapped Access rw read write PDO mapping No Unit 2 Interval of values Unsigned32 Preset value 60400010 Recordable Yes Subindex 02 Description Second object mapped Access rw read write PDO mapping No Unit gt Interval of values Unsigned32 Preset value On Recordable Yes 24 CNI Engineering DS301 en fm 14 05 07 E aq 5 9 e STT Descripti
63. m i e the motor is still free to turn 86 CNI Engineering Oggetti non implementati en fm 14 05 07 7 Emergency Messages 7 Emergency Messages The emergency messages are emitted when faults occur on the drive and they are assigned the highest possible priority to ensure that they access the bus without any wait An Emergency Object is only transmitted once for each fault that occurs No further emergency object will be transmitted until another fault occurs on a device The emergency messages contain an error field with preset error codes and additional information The emergency telegram consists of 8 bytes with the data shown in the following figure Byte Content 0 Emergency Error Code 1 2 Error Register object 1001p 3 Manufacturer specific fault field 4 5 6 7 see DS 301 Version 4 02 page 60 and DSP 402 Version 2 0 page 19 The Emergency Error Codes for the Smart Motor are described in the following table Error code hex Meaning Defined by Notes 0000 No error DS 301 If the startup phase has been successful the Smart Motor sends this message when the reset takes place 2130 Shortcircuit DSP 402 Too much current is circulating in the power circuit Probable shortcircuit It is necessary to repair the motor 2220 Continuous internal overcurrent DSP 402 The current required for the motor has exceeded for a period l
64. meters can be changed The motor is not engaged Transitions from one state to another are determined either by motor errors or by commands sent by the master These commands are sent using the object Controlword defined by DSP402 These transitions are listed in table 4 Table 4 Commands to determine the changes in state Transition Command Internal state 0 The motor is turned on 1 The self diagnosis and initialisation procedures have been completed 2 Shutdown 3 Switch On 4 Enable Operation 5 Disable Operation 6 Shutdown 7 Quick Stop or Disable Voltage 8 Shutdown 9 Disable Voltage 10 Quick Stop or Disable Voltage 11 Quick Stop 12 Disable Voltage 13 An error has occurred 14 The motor has switched to safety mode 15 Fault Reset 16 Operation Enable CNI Engineering Introduzione en fm 14 05 07 1 Introduction to the CANopen communication protocol 1 6 Operating modes The servomotor has various modes of operation which are active during operation enable state and allow various activities to be carried out 1 Resetting of the motor positions homing mode 2 Setting of the motor speed profile velocity mode 3 Setting of the motor position and speed profile position mode 1 7 Serial communication protocol As regards use of Smart Motor SM137 and SM140 with the serial communication protocol please refer to the User Manual for SM1
65. mines what action is taken when the Quick Stop function is performed Descriptionof Index 605A SDE Object name Quick Stop Option Code Object code VAR Data type Integer16 Reference CIA DSP 402 V2 0 page 53 Descriptionof Subindex 00 SSES Description Quick stop code Access rw read write PDO mapping No Unit Interval of values Integer16 Preset value 2 Recordable Yes Descriptionof 0 Disables the driving function not supported data 1 Slows down on the deceleration ramp not supported 2 Slows down on the quick stop ramp not supported 3 Lowers the current limit not supported 4 Lowers the voltage limit not supported 5 Slows down on the deceleration ramp and remains in Quick Stop not supported 6 Slows down on the quick stop ramp and remains in Quick Stop 7 Lowers the current limit and remains in Quick Stop not supported 8 Lowers the voltage limit and remains in Quick Stop not supported 9 32767 Reserved not supported 1 32768 Production specifications not supported The motor reacts as it would if this object were set to a value of 6 82 CNI Engineering Oggetti non implementati en fm 14 05 07 6 Objects that are not implemented 6 3 Object 605C Disable Operation Option Code The object 605C regulates the reaction of the drive to a Disable Operation command
66. monitor reset or stop any device in the network In particular one of the services that this protocol makes available is error checking using so called Node Guarding the CAN bus manager also known as the master sends a package to each device slave at fixed times If the slave does not respond or responds in the wrong manner the master will detect this or if the slave does not receive the package within the set time it will be switched to a state of safety Another service available is that of bootup which involves sending an NMT message when the CANopen device is switched on Introduzione en fm 14 05 07 CNI Engineering 1 1 Introduction to the CANopen communication protocol kel Kl S Se o zdl aa 1 4 DS301 States A generic CANopen device has various states with regard to communication The various states differ from each other above all in the communication protocols they support Figure 1 and table 1 represent the automatic device defined in the specification DS 301 Figure 1 DS 301 States Power on or Hardware Reset Reset Application gt Reset Communication Pre Operational EES Stopped 12 Table 1 DS301 Transitions Transition Event involving the transition 1 On switching on initialisation starts automatically 2 On completion of initialisation the device automatically enters Pre Operational state A Start Remote Node is received from th
67. n Descriptionof Index 2016 SEN Object name Second Component of Speed Loop Feedforward Object code VAR Data type Integer16 Descriptionof Subindex 00 SIEMENS Description Second component of the speed regulator feedforward Access rw read write PDO mapping No Unit Interval of values Integer16 0 32767 Preset value 1400 on SM137 600 on SM140 Recordable Yes 4 20 Object 2017 Third Component of Speed Loop Feedforward The object 2017 is the third component of the speed regulator feedforward the one that is proportional to the speed Descriptionof Index 2017 EE Object name Third Component of Speed Loop Feedforward Object code VAR Data type Integer16 Descriptionof Subindex 00 qeu Description Third component of the speed regulator feedforward Access rw read write PDO mapping No Unit Interval of values Integer16 0 32767 Preset value 2600 on SM137 2200 on SM140 Recordable Yes 50 CNI Engineering Oggetti definiti dal costruttore en fm 14 05 07 mue sus ngineering 4 Object Dictionary objects defined by the manufacturer 4 21 Object 2018 Fourth Component of Speed Loop Feedforward The object 2018 is the fourth component of the speed regulator feedforward the one proportional to acceleration Description of Index 2018 object Object name Fourth Component of Speed Lo
68. n when the bit is lowered On the other hand if the Homing Start bit is lowered before the reset operation has been completed the reset will be aborted Example 1 Manual reset Homing Method 35 The following table shows the progress of certain objects in the time during a manual reset Homing Offset 35 Time t0 ti t2 t3 Controlword Homing Start 0 1 x x Halt 0 0 0 0 Latch Zero Index X X X x Statusword Target Reached 1 1 0 1 Homing Attained X X 0 1 Homing Offset 80 80 80 80 Position Actual Value 10 10 10 80 Velocity Actual Value 0 0 0 0 At time t1 the start of the reset operation is commanded Within a few moments at time t2 the Target Reached and Homing Attained bits switch to 0 the reset has started but has not yet been completed and immediately after this at time t3 both bits return to 1 68 CNI Engineering DSP402 en fm 14 05 07 z z e 5 Objects Dictionary DSP402 Example 2 automatic reset Homing Method 1 or 2 Time t0 ti t2 t3 t4 t5 t6 t7 t8 t9 t10 Control Homing Start 0 1 1 1 1 1 1 1 x x x word Halt x De DD ol o 97 38 e 0 Latch Zero Index X 0 0 0 1 X X X X X X Status Target Reached 1 1 0 0 0 0 0 0 0 0 1 word Homing Attained x x 0 010 B 159 19 1098 Oi 4 Homing Offset 80 80 80 80 80 80 80 80 80 80 80 Position
69. n x are irrelevant DSP402 en fm 14 05 07 CNI Engineering 5 7 nne uus 5 Objects Dictionary DSP402 ngineering Commands Controlword Bits Transitions Fault Enable Quick Enable Switch On Reset Operation Stop Voltage Bit 0 Bit 7 Bit 3 Bit 2 Bit 1 Shutdown stop 0 x 1 1 0 2 6 8 Switch On 0 X 1 1 1 3 Disable Voltage 0 X X 0 X 7 9 10 12 Quick Stop 0 x 0 1 x 7 10 11 Disable Operation 0 0 1 1 1 5 Enable Operation 0 1 1 1 1 4 16 Fault Reset 0 5 1 X X X X 15 For a detailed description of the states and transitions see the paragraph DSP402 states on page 3 of this manual Bit 11 Warning Acknowledge is used to reset bit 7 of the Statusword when it is raised this notifies the motor that the presence of a pending message has been detected signalled by bit 7 high in the Statusword At this point bit 7 in the Statusword is lowered In Enable Operation state bits 4 to 6 and bit 8 have different meanings which depend on the type of operating mode see paragraphs 6 2 1 6 2 2 and 6 2 3 5 2 Object 6041 Statusword The object 60414 is the Statusword which represents the state of the drive according to the CANopen state machine defined in the profile DSP 402 A change in state may be caused either by the Controlword Object 60404 or by internal events in the Smart Motor Descriptionof Index 6041 SES Object name Statusword
70. neering DS301 en fm 14 05 07 3 Object Dictionary DS 301 3 9 Object 1010 Store Parameters The object with index 1010 allows the parameters to be stored in a non volatile memory To avoid parameter storage errors storage only takes place when a specific code is entered in the appropriate subindex This code is save By writing the expression save in the subindex the current parameter values are saved to the non volatile memory and are therefore available when the device is turned on again Power On Defaults WARNING The parameters are saved to the processor s Flash memory The number of save operations that can be performed is therefore limited Description of Index 1010 SES Object name Store Parameters Object code ARRAY Data type Unsigned32 Reference CiA DS 301 V4 02 page 92 Description of Subindex 00 Cements Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 1 255 Preset value 1 Recordable No Subindex 01h Description Save all parameters Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 1 Recordable No Descriptionof Bit 31 2 reserved eee Bit 1 O device does not save the parameters independently ubindex 01 Read 1 device saves the parameters independently access Bit 0 0 device
71. ng the shaft from the flange side 4 0 Reserved Leave as 0 0 Reserved Leave as 0 Only for SM140 and SM137 rev C If set to 1 this disables CMDNOREG to exit the state of alarm In this case the only command to exit the state of alarm is CMDRESET 0 Reserved Leave as 0 8 0 Only for SM140 If set to 1 this enables the negative out of limits cam 9 0 Only for SM140 If set to 1 this enables the positive out of limits cam 10 0 Only for SM140 If set to 1 this forces the motor to switch to alarm state if it encounters one of the two out of limits cams If set to O this forces the motor to switch to AXSTOP state with a suitable deceleration ramp if it encounters one of the two out of limits cams 11 0 Version 119 of the firmware and following Reserved for EnetX if set to 1 this does not perform the hook up between bus and regulation 12 0 Only for SM140 version 119 of the firmware and following If set to 0 this forces the motor always to perform controlled braking before leaving regulation With this bit set to O after each alarm condition with the exception of ALOVERCURR and ALOVERPOWER for which there would be a risk of damaging the drive or after the command CMDGOEMERG or CMDNOREG the motor checks that its rotation speed is O If this is not the case it performs controlled braking using a deceleration value equal to the value of parameter AMAX During this phase if inertia is particularly high it is necessary to apply a braking res
72. nt state of the device SDO en fm 14 05 07 CNI Engineering 89 8 SDO Interrupt Codes 5 a 5 5 a 90 CNI Engineering SDO en fm 14 05 07 E aq 5 9 a STT aq 9 Dip switch configuration 9 Dip switch configuration Using the Dip switches present on the motor it is possible to set the baudrate and the motor node number Dip switch Meaning If bit 6 is set to On these indicate the baudrate otherwise the node number DIV DAWN If this is On it is possible to set the baudrate using bits 1 to 5 If it is Off bits 1 to 5 represent the motor address When they are both set to On they insert the line termination When both set to Off they cannot insert any termination The other possible configurations should be avoided 9 1 Baudrate To set the required baudrate turn the motor on with bit 6 on and bits 1 to 5 set according to the baudrate required Dip switch Baudrate Confirmation 5 4 3 2 1 blink Off Off Off Off On 1 Mbaud 1 Off Off Off On Off 800 Kbaud 2 Off Off Off On On 500 Kbaud 3 Off Off On Off Off 250 Kbaud 4 Off Off On Off On 125 Kbaud 5 Off Off On On Off 100 Kbaud 6 Off Off On On On 20 Kbaud 7 Immediately after starting the green motor LED will light up for approximately one second After this if the baudrate value desired has been successfully saved to the flash memory the LED w
73. nufacturer 4 17 Object 2014 Electric Angle On Zero Index The object 2014 is reserved for internal use Descriptionof Index 2014 object Object name Electric Angle On Zero Index Object code VAR Data type Integer16 Descriptionof Subindex 00 SEKR Description Electric Angle On Zero Index Access rw read write PDO mapping No Unit Interval of values Integer16 0 799 on SM137 0 1999 on SM140 Preset value 5 Recordable Yes 4 18 Object 2015 First Component of Speed Loop Feedforward The object 2015 is the first component of the speed regulator feedforward Descriptionof Index 2015 epee Object name First Component of Speed Loop Feedforward Object code VAR Data type Integer16 Description of Subindex 00 SEI Description First component in the speed regulator feedforward Access rw read write PDO mapping No Unit Interval of values Integer16 0 32767 Preset value 600 on SM137 300 on SM140 Recordable Yes Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 49 4 Object Dictionary objects defined by the manufacturer gt S Sa zdl a 4 19 Object 2016 Second Component of Speed Loop Feedforward The object 2016 is the second component of the speed regulator feedforward the one relating to frictio
74. on of elements 3 Object Dictionary DS 301 Subindex 03 Description Third object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 04 Description Fourth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes Subindex 05h Description Fifth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 06 Description Sixth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 07 Description Seventh object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 DS301 en fm 14 05 07 CNI Engineering 25 3 Object Dictionary DS 301 kel Q S Se o zdl a Descriptionof Subindex 08 Siemens Description Eighth object mapped Access rw read write PDO mapping No Unit S Interval of values Unsigned32 Preset value On Recordable Yes Descriptionof Bit 31 16 index of the object to be mapped 16 bit format Bit 16 8 subindex of the object to be mapped 8 bit Subindex 01 SERE 08 Bit 7 0 length of the object in bits 8 bit
75. onger than the time foreseen in object 2012 the torque set in object 2011 It is necessary to decrease the load and or the motor acceleration or reset the parameters 3110 Main over voltage DSP 402 The power system supply voltage is too high and there is a risk of damaging the motor If the problem is encountered during the motor deceleration phase an electric brake should be installed 3120 Main under voltage DSP 402 The power system supply voltage has dropped to below 16 Volt while the motor was under regulation The motor must be taken out of regulation before the power system supply is disconnected or a power feeder of suitable capacity must be installed Messaggi Emergenza en fm 14 05 07 CNI Engineering 8 7 7 Emergency Messages kel a S Se o zdl a Error Meaning Defined by Notes code hex 4310 Drive temperature DSP 402 The drive has overheated The application is two too high much for the motor reduce the inertia and or the accelerations and or the percentage use of the motor 6310 Software device DSP 402 The parameters saved in the motor flash memory parameters lost have been lost The motor will start up with its default parameters It will be necessary to set the motor parameters again 8100 Control DS 301 A bus off or an overrun has occurred during communication transmission of SDO messages Check the motor error w
76. op Feedforward Object code VAR Data type Integer16 Descriptionof Subindex 00 glement Description Fourth component of the speed regulator feedforward Access rw read write PDO mapping No Unit Interval of values Integer16 0 32767 Preset value 6 on SM137 16 on SM140 Recordable Yes 4 22 Object 3000 Special Commands With this object it is possible to send special commands to the motor The following commands are currently available Command Code Meaning Param 1 Param 2 Response CMDNULL Command void motor is ready to receive commands 1000 CMDGETSMSTAT A800 Reads the state of the motor internal automatic device Internal motor state CMDGETSTATAZZ Reads the state of the motor reset 6400 Motor reset state CMDSAMPLEVAR B400 Samples 2 internal motor variables First variable to sample Second variable to sample CMDREADFL D400 Reads a flash address Address to read Value read CMDWRITEFL DC00y Writes a value to a given flash address Address to write Value to write Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 51 mue Rep 4 Object Dictionary objects defined by the manufacturer ngineering CMDGETDISTMICROZE 5C00 Reads the Distance RO distance in between Only on SM140 counts between switc
77. or the variable Access rw read write PDO mapping No Unit Interval of values Unsigned16 60 7F amp 200 3FFp 800 FFF Preset value Recordable No Subindex 02n Description Second address for the variable Access rw read write PDO mapping No Unit Interval of values Unsigned16 60 7Fn 200p 3FFh 800 FFF Preset value Recordable No Subindex 03h Description First value for the variable Access ro read only PDO mapping No Unit Interval of values Integer16 Preset value 5 Recordable No Subindex 04 Description Second value for the variable Access ro read only PDO mapping No Unit Interval of values Integer16 Preset value On Recordable No 4 24 Object 5f00 Reserved This object cannot be used Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 55 mme Rep 4 Object Dictionary objects defined by the manufacturer ngineering 4 25 Table Bit A The following table shows the meanings of the bits in parameter Bit A Bit Default Meaning 0 0 If set to 1 this enables control of the software limit switch limits 1 0 Reserved Leave as 0 2 0 Reserved Leave as 0 3 0 If set to 1 this reverses the standard direction of rotation of the motor The positive standard direction of rotation is anticlockwise when viewi
78. ration is the deceleration used to stop the motor when the Quick Stop command is given Descriptionof Index 6083 9996 Object name Quick Stop Deceleration Object code VAR Data type Unsigned32 Reference CIA DSP 402 V2 0 page 83 Descriptionof Subindex 00 elements Description Quick stop deceleration Access rw read write PDO mapping No Unit 10000 counts sec Interval of values Unsigned32 1 32767 Preset value 48 Recordable Yes 5 18 Object 6098 Homing Method The object Homing Method determines the type of reset that will be used There are three reset methods implemented and they are described in paragraph 5 2 3 Controlword and Statusword in Homing Mode Until the Smart Motor is reset it is not possible to perform positioned movements in Profile Position Mode and also the software limits control is not active Description of Index 6083 SE Object name Homing Method Object code VAR Data type Integer8 Reference CiA DSP 402 V2 0 page 89 Description of Subindex 00 SES Description Homing method Access rw read write PDO mapping No Unit Interval of values Integer8 1 2 35 Preset value 0 Recordable No DSP402 en fm 14 05 07 CNI Engineering 7 9 5 Objects Dictionary DSP402 o 5 19 Object 6099 Homing Speed Value Defines the speeds used during the reset operation
79. reading and writing these parameters it is possible to send commands to the CANopen device and monitor its state Each object is defined by an index and a subindex which identify that object For example the real position of the motor is identified by the object with index 0x6064 and subindex 0x00 1 3 DS 301 Protocols The types of protocol defined in the DS 301 specifications are as follows e SDO protocol This allows reading and writing of the device objects whatever their length and type It involves the exchange of index subindex and length as well as the value of the object it accesses The protocol can be divided into write SDO download and read SDO upload PDO protocol This allows efficient reading and writing only of the so called mappable objects The two communicating devices must first define which objects are to be exchanged using this protocol When they switch to operational the devices will start to communicate the parameter values only without either index or subindex Each PDO can contain a maximum of 8 byte PDO objects can be divided into received PDO and transmitted PDO Sync protocol Used to synchronise various devices to carry out the PDO data It is essential for example if 2 or more axes are to be interpolated simultaneously in a synchronous manner Emergency protocol Dedicated to communication of device malfunctions NMT network management Network Management protocol Used to initialise
80. ro read only PDO mapping No Unit Interval of values Unsigned32 Preset value 0 Recordable Only bits from 15 to 0 12 CNI Engineering DS301 en fm 14 05 07 m ae D ngineering 3 Object Dictionary DS 301 3 4 Object 1008 Manufacturer Device Name The object with index 1008 contains the device name assigned by the manufacturer Descriptionof Index 1008 object Object name Manufacturer Device Name Object code VAR Data type Visible string Reference CiA DS 301 V4 02 page 91 Descriptionof Subindex 00 elements ER Description Device name Access const PDO mapping No Unit Interval of values Visible string lt 15 characters Preset value SM137 Recordable No 3 5 Object 1009 Manufacturer Hardware Version The object with index 1009 contains the description of the hardware version assigned by the manufacturer Description of Index 10094 SSES Object name Manufacturer Hardware Version Object code VAR Data type Visible String Reference CiA DS 301 V4 02 page 91 Description of Subindex 00 EES Description Manufacturer hardware version Access const PDO mapping No Unit Interval of values Visible string lt 15 characters Preset value P137C Recordable No DS301 en fm 14 05 07 CNI Engineering 1 3 3 Object Dictionary DS 301 kel Q S Se o zdl a 3
81. rrent version of the firmware it cannot be modified The following shows which these preset reactions are 6 1 Object 6007 Abort Connection Option Code The object 6007 regulates the reaction of the drive to a loss of connection to the NMT Master Life Guarding Event Description of Index 6007 SSES Object name Abort Connection Option Code Object code VAR Data type Integer16 Reference CiA DSP 402 V2 0 page 34 Descriptionof Subindex 00h plement Description Connection broken code Access rw read write PDO mapping No Unit Interval of values Integer16 0 3 Preset value 0 Recordable Yes Description of 0 no action not used data 1 malfunction 2 command controlling the disabled voltage device not used 3 command controlling the quick stop device not used 4 32767 reserved not used 32768 1 production specifications not used The motor reacts as it would if this object were set to a value of 1 The Life Guarding Event is considered a serious error so the state of the drive is switched to Fault Movement of the motor is stopped and the power electronics are disabled see object 605E Fault Reaction Option Code Oggetti non implementati en fm 14 05 07 CNI Engineering 8 1 6 Objects that are not implemented kel Q S Se o zdl 6 2 Object 605A Quick Stop Option Code The parameter Quick Stop Option Code deter
82. scriptionof Subindex 00 elements Description Number of objects mapped in the second transmit PDO Access rw read write PDO mapping No Unit Interval of values Unsigned8 1 8 Preset value 2 Recordable Yes Subindex 01h Description First object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 60410010 Recordable Yes DS301 en fm 14 05 07 CNI Engineering 3 7 3 Object Dictionary DS 301 kel Q S Se o zdl a Description of elements Subindex 02 Description Secondobject mapped Access rw read write PDO mapping No Unit S Interval of values Unsigned32 Preset value 6061008 Recordable Yes Subindex 03h Description Third object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 04 Description Fourth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes Subindex 05 Description Fifth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes Subindex 06 Description Sixth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 38 CNI En
83. sed in counts cnt e The speeds are expressed in rpm rpm The accelerations are expressed in revs per second squared divided by 10000 r s 10000 e The currents are expressed in Ampere multiplied by 100 Ax100 PI regulator gains are pure numbers multiplied by 100 x100 Interval of values The interval of values for an object is restricted by the type of data unless the interval of values allowed is not stated explicitly Preset value All devices are supplied with preset parameter values values on delivery or factory values The operator can adjust modifiable parameters for his application and then record them in the non volatile memory Recordable The Recordable line indicates whether or not the object can be recorded in the non volatile memory Dizionario Oggetti en fm 14 05 07 CNI Engineering 9 2 Object Dictionary angineering 10 CNI Engineering Dizionario Oggetti en fm 14 05 07 E aq 5 9 a STT aq 3 Object Dictionary DS 301 3 Object Dictionary DS 301 3 1 Object 1000 Device Type Object 1000 describes the Device Type and the device profile applied Descriptionof Index 1000 Bes Object name Device Type Object code VAR Data type Unsigned32 Reference CiA DS 301 V4 04 page 86 CIA DSP 402 V2 0 page 24 Descriptionof Subindex 00 elements Description Device type Access ro read only PDO mapping No Unit Interval of v
84. st is not valid Bit 30 Reserved always 0 Bit 29 0 11 bit identifiers CAN 2 0A 1 29 bit identifiers CAN2 0B Bit 28 11 if bit 29 1 identify bits 28 11 of the 29 bit Bit 10 0 Bits 10 0 of the COB ID Using the object Emergency the errors are communicated to the Master at the time they occur An emergency message is made up of 8 bytes and has the following structure Byte 0 1 Emergency Error Code Byte 2 Object 10014 Error Register Byte 3 7 Field containing the manufacturer specific errors The emergency error codes used are the ones described in the chapter Emergency Messages provided herein DS301 en fm 14 05 07 CNI Engineering 19 3 Object Dictionary DS 301 gt Kl S Se o zdl a 3 12 Object 1400 1 Receive PDO Parameter The object 1400 allows customisation of the communication parameters for the first receive PDO RPDO1 Descriptionof Index 1400 SES Object name 1st Receive PDO Parameter Object code RECORD Data type PDO CommonPar Reference CiA DS 301 V4 02 page 107 CIA DS 402 V2 0 page 25 Descriptionof Subindex 00 SES Description Maximum subindex supported Access ro read only PDO mapping No Unit Interval of values Unsigned8 2 5 Preset value 2 Recordable No Subindex 01h Description COB ID used by the PDO Access rw read write PDO mapping No
85. t a target position unless the motor is explicitly stopped it will continue to turn indefinitely In Profile Velocity Mode The only Controlword bit involved is number 8 axis Name Bit Val Description Notes Halt 8 0 Performs the In Operation Enabled state the Halt bit set to 1 will movement result in stoppage of the motor The drive 1 Stops the communicates the fact that it is stopped using the bit Speed 0 in the Statusword The Statusword bits involved are numbers 4 5 6 and 8 Name Bit Val Description Notes Target 10 0 If Halt 0 Target The Target Reached bit indicates that the Reached Velocity not yet guide drive has reached the given Target reached Velocity see object 60FF and object If Halt 1 the motor is 606C The bit is also set when the motor slowing down before stops after a Halt command stopping 1 If Halt 0 the Target Velocity has been reached Halt 1 the motor is stopped Speed 0 12 0 Speed 0 The bit Speed 0 is reset value 1 0 if the 1 Speed 0 drive rpm exceed a minimum amount 13 0 Maximum slippage Not yet implemented in the firmware not reached Max Slippage Error 1 Maximun slippage reached Example 1 Movement with variation of velocity and halt A typical operating sequence is illustrated in the following table Reading the table from left to right it is possible to note the changes in the values of obje
86. ta type PDO mapping Reference CiA DS 301 V4 02 page 112 CiA DS 402 V2 0 page 29 Descriptionof Subindex 00 elements OT Description Number of objects mapped in the first transmit PDO Access rw read write PDO mapping No Unit Interval of values Unsigned8 1 8 Preset value 1 Recordable Yes Subindex O1 Description First object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value 60410010 Recordable Yes Subindex 02 Description Second object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes 34 CNI Engineering 5 Q DS301 en fm 14 05 07 E aq 5 9 e STT Description of elements 3 Object Dictionary DS 301 Subindex 03 Description Third object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 04 Description Fourth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value On Recordable Yes Subindex 05h Description Fifth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes S
87. the green LED ee tnn iii 92 H5834D00091 NG 02TOC fm 14 05 07 CNI Engineering II INDEX angineering CNI Engineering H5834D00091 NG 02TOC fm 14 05 07 1 Introduction to the CANopen communication protocol 1 Introduction to the CANopen communication protocol This section summarises the basic concepts behind the CANopen communication protocol For a more thorough discussion please refer to the following documents e CANopen Application Layer and Communication Profile CiA Draft Standard 301 Version 4 02 1 1 CiA Can in Automation specifications In the attempt to standardise the various devices that can be used on a CAN bus the CiA has issued a series of specifications with which a device must comply in order to be considered CANopen These specifications define the objects that must may be present in the Object Dictionary and the various communication protocols implemented The two reference specifications used in this manual are DS 301 which refers to a generic device and DSP 402 relating to servomotors In the following we will first look at the contents of the DS 301 specifications as these are general and relate to all CANopen devices Subsequently we will also discuss the specification DSP 402 and thus take a more detailed look at how a CANopen servomotor operates 1 2 Object Dictionary Each CANopen device has an object dictionary containing all the device parameters By
88. tion loop Access rw read write PDO mapping No Unit x 0 01 Interval of values Integer16 0 32767 Preset value 10 on SM137 50 on SM140 Recordable Yes 4 6 Object 2007 Percentage Feedforward for Speed Loop The object 2007 is the percentage feedforward for the speed regulator Descriptionof Index 20074 epee Object name Percentage Feedforward for Speed Loop Object code VAR Data type Integer16 Description of Subindex 00 SEI Description Percentage feedforward for the speed regulator Access rw read write PDO mapping No Unit Interval of values Integer16 0 100 Preset value 100 Recordable Yes Oggetti definiti dal costruttore en fm 14 05 07 CNI Engineering 43 4 Object Dictionary objects defined by the manufacturer kel S Se o zdl a 4 7 Object 2009 Maximum Value of Speed Loop Output The object 2009 is the absolute maximum value of the speed regulation loop output Descriptionof Index 2009 SES Object name Maximum value of speed loop output Object code VAR Data type Integer16 Descriptionof Subindex 00 elements T Description Absolute maximum value of the speed regulation loop output Access rw read write PDO mapping No Unit Ampere x 0 01 Interval of values Integer16 1 900 on SM137 1 3500 on SM140 Preset value 500 on SM137 1800 on SM140 Recordable Yes
89. ubindex 06 Description Sixth object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 Preset value Oh Recordable Yes Subindex 07 Description Seventh object mapped Access rw read write PDO mapping No Unit Interval of values Unsigned32 DS301 en fm 14 05 07 CNI Engineering 35 3 Object Dictionary DS 301 kel Q S Se o zdl a Descriptionof Subindex 08 Siemens Description Eighth object mapped Access rw read write PDO mapping No Unit S Interval of values Unsigned32 Preset value On Recordable Yes Descriptionof Bit 31 16 index 16 bit format Bit 16 8 subindex 8 bit Subindex 01 08 Bit 7 0 length 8 bit PDO mapping is dynamic it is possible to define which objects are mapped within the PDO see also paragraph 3 12 object 14004 1 Receive PDO Parameter This mapping can only be carried out in Pre operational state 36 CNI Engineering DS301 en fm 14 05 07 mue AL ngineering 3 Object Dictionary DS 301 3 19 Object 1A01 2nd Transmit PDO Mapping Parameter The object 1A01 contains the mapping for the second transmit PDO Descriptionof Index 1A01h object Object name 2nd Transmit PDO Mapping Parameter Object code RECORD Data type PDO mapping Reference CiA DS 301 V4 02 page 112 CiA DS 402 V2 0 page 29 De
90. us Setpoint 0 0 0 1 1 0 0 1 1 word Acknowledged Target 1 1 1 0 0 0 0 0 0 0 0 1 Reached Target Position 10 10 10 x X X 12 12 x x x x 0 0 0 0 DSP402 en fm 14 05 07 CNI Engineering 63 mue Rep 5 Objects Dictionary DSP402 angineering Time t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 Position Actual Value 10 10 10 11 110 23 0 Velocity Actual Value 0 0 0 50 50 0 50 0 In this case the movement is incremental and the final position of the second movement is equal to last Target Position Target Position 100 120 230 Example 7 Relative double movement with Change Setpoint Immediately active Time t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 til Control New Setpoint 0 0 1 1 0 0 1 1 0 0 0 0 word Change xix Seow HL d de eat i Setpoint Immediately abs rel x 1 1 X 1 1 x x x x Status Setpoint 0 0 1 1 0 1 1 0 0 1 word Acknowledged Target 1 1 1 0 0 0 0 0 0 0 0 1 Reached Target Position 10 10 10 x X X 12 12 x x x X 0 0 0 0 Position Actual Value 10 10 10 11 70 72 19 2 Velocity Actual Value 0 0 0 50 10 10 10 50 0 0 0 0 The second movement is incremental and with immediate change of the Setpoint case the final position is equal to Position Actual Value Target Position 72 120 192 Example
91. val of values Integer32 Preset value No Recordable No DSP402 en fm 14 05 07 CNI Engineering 7 5 5 Objects Dictionary DSP402 5 a 5 5 a 5 12 Object 607A Target Position The Target Position is the position that the motor has to reach in Profile Position Mode The Target Position will be interpreted as an absolute or relative value according to the value of the abs rel bit in the Controlword Descriptionof Index 607A object Object name Target Position Object code VAR Data type Integer32 Reference CiA DSP 402 V2 0 page 78 Descriptionof Subindex 00 Siemens Description Target position Access rw read write PDO mapping Yes Unit encoder counts Interval of values Integer32 Preset value 0 Recordable Yes 5 13 Object 607C Homing Offset This object contains the position assigned to the current position during a manual reset Homing Method 35 or the value assigned to the encoder zero index during an automatic reset operation Homing Method 1 or 2 See paragraph 5 2 3 Controlword and Statusword in Homing Mode Descriptionof Index 607Ch goe Object name Homing Offset Object code VAR Data type Integer32 Reference CIA DSP 402 V2 0 page 88 Descriptionof Subindex 00 SSES Description Homing offset Access rw read write PDO mapping No Unit encoder counts Interval of v
92. ws movement of the 1 Stops the motor using drive to be interrupted during the a deceleration ramp current operation The Statusword bits involved are 4 5 6 and 8 reached If Halt 1 the motor is performing the deceleration ramp to slow down and stop Name Bit Val Description Notes Target 10 O If Halt 0 the Target Indicates that the drive has Reached Position has not been performed a positioning instruction successfully and has reached the Target Position Data see Object 607Ap Target Position Object 6068 Position Window Time and Object 6064 Position Actual Value If Halt 0 the Target Position has been reached If Halt 1 the motor has stopped It will be set even when the drive stops after a stop command 60 CNI Engineering DSP402 en fm 14 05 07 ngineeri 5 Objects Dictionary DSP402 Name Bit Val Description Notes Setpoint 12 O The trajectory generator Notifies the master that the new Acknowledged has still not detected the setpoint has been acquired A values for positioning positioning command is started by 1 The trajectory generator the New Set Point bit in the has received the values controlword On receiving the for positioning command the drive firmware checks the target position the operating and regulation parameters and the current state If the various controls are successful the firmware sets the Setpoint acknow
93. x 6068 SE Object name Position Window Time Object code VAR Data type Unsigned16 Reference CIA DSP 402 V2 0 page 101 Descriptionof Subindex 00 siemens Description Position window time Access rw read write PDO mapping No Unit milliseconds Interval of values Unsigned16 0 10000 Preset value 0 Recordable Yes 74 CNI Engineering DSP402 en fm 14 05 07 E aq 5 9 a STT aq 5 Objects Dictionary DSP402 5 10 Object 606B Velocity Demand Value The object 606By shows the velocity required of the speed regulator by the position regulator This information may be used for optimisation of the regulation parameters Descriptionof Index 606B object Object name Velocity Demand Value Object code VAR Data type Integer32 Reference CiA DSP 402 V2 0 page 126 Description of Subindex 00 elements Description Requested velocity value Access ro read only PDO mapping Yes Unit rpm Interval of values Integer32 Preset value No Recordable No 5 11 Object 606C Velocity Actual Value The object 606C shows the current velocity of the motor Descriptionof Index 606Ch Sie Object name Velocity Actual Value Object code VAR Data type Integer32 Reference CiA DSP 402 V2 0 page 126 Descriptionof Subindex 00 SEI Description Velocity Actual Value Access ro read only PDO mapping Yes Unit rpm Inter

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