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LVD CANopen Manual

1. cece cece eee eee eee eee eee eee nena 65 0x2535 Velocity Loop Command Derivative Gain cese 66 0x2540 Velocity Loop Feedback Derivative Gain eese 66 0x2545 Velocity Loop LPP iss iier exa a e RET eR ev Va tu ua 66 0x2550 Position Loop Proportional Gain ococccccccncnccnnncnnnnnnnnnnnnnnrnnaninnnnnnnnns 67 0x2555 Position Loop Integral Gain ssssssrssssrrssrrnusrrnserrnunrrnnrrrnnerrnnerrnnne 67 0x2560 Position Loop Derivative GaiN cocccccoccnncnncnncnnnnnnnnnn mnn 67 0x2565 Position Loop Feed Forward Velocity Term Gain eeeeeeeee 68 0x2570 Position Loop Feed Forward Acceleration Term Gain 68 0x2575 Position Loop Integrator Input Saturati0N occocccccnnnnnnonancnnnananananana os 68 0x2600 Halls i re e petere eR end dane ce inre deinen ek AER RERt ER Kex IR Exi 69 0x2610 Analog Position Command GaiN ooccoccncncnncncnnnncnnnnnnnannnnnnrnnannnnannnnnn 69 0x2611 Analog Velocity Command Gain ssssssssrssrrrssrrnssrrnusrrnnerrnnsrrnrsrennns 70 0x2612 Analog Current Command Gain sesssssssesseseeneenenenne 70 OX2620 CONTO iee EM 71 DS402 Profile OBJECTS irrino eterne n o c ed e c n te Rl e a E A 72 0x6007 Abort Connection Option Code sssessssesseemenennee 72 Ox603F Error Code cede ede od verd E FERRE ENTE EE EKVENFE E ERTOEEN nes 73 0x6040 Controlword eer e ee oe hv iti n ee er ee exa xe Rea a 73
2. 96 CANopen Reference Manual LVD Object List Ox60B9 Touch Probe Status Ox60BA Touch Probe Object Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Provides the status of the touch probe This object is bit structured The following value definition is valid Bit Value Description O 0 touch probe 1 is switched off touch probe 1 is enabled touch probe 1 no positive edge value stored 1 1 0 1 touch probe 1 negative edge position stored 0 1 2 touch probe 1 no negative edge value stored touch probe 1 positive edge position stored 3 5 Reserved 6 7 User defined e g for testing 3 1 0 Variable Unsigned16 Read only No 0x00 0x0000 OxFFFF Not Applicable 1 Position Positive Value Description Firmware Object code Data type Access PDO mapping Default value Range Units Provides the position value of the feedback as latched by touch probe 1 at positive edge 3 1 0 Variable Integer32 Read only No 0x00 0x80000000 Ox7FFFFFFF User defined position CANopen Reference Manual 97 Object List LVD Ox60BB Touch Probe 1 Position Negative Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Provides the position value of the feedback as latched by the touch probe 1 at negative edge 3 1 0 Variable Integer3
3. Description Firmware Object code Data type Access PDO mapping Default value Range Units Recorder sample cycle is multiplied by 62 5 pis to produce the recording sample period For every recorder sample cycle x 62 5 ys the recorder will add a new sample to its recording buffer 3 1 0 Variable Integer16 Read Write No 0x1 0x0000 Ox7FFF CANopen Reference Manual 33 Object List LVD 0x2302 Recorder Trigger Object Description Sets the trigger for the recording process Sub index 1 determines whether the recording will start immediately or after a condition is fulfilled 1 for conditional recording The remaining sub indexes should be used just in case of a conditional recording Sub index 2 gets sets the CANopen index for the channel Sub index 3 gets sets the value of the condition Sub index 4 gets sets the comparator direction 1 for rising edge 0 for falling edge Sub index 5 gets sets the location of the condition in the recording buffer Firmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 002 Description Number of Recorder trigger Recorder condition entries condition channel index Entry category Optional Optional Optional Data type Integer32 Integer32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x5 0x0 0x0 Range 0x80000000 0x0 Ox1 0x0 OxFFFFFFF Ox7FFFFFFF Units Not Applicable Not App
4. Cyclic Synchronous Velocity mode not supported 10 Cyclic Synchronous Torque mode not supported 1 Jog In Position mode 2 Burn in manufacturer specific 3 Reserved 4 Analog Velocity 5 Analog Torque 3 1 0 Variable Integer8 Read only Yes 0x00 0x07 0xFB Not Applicable 76 CANopen Reference Manual LVD Object List 0x6062 Position Demand Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the position command generated by the position profile generator for the position loop This parameter is used in Profile Position mode and Interpolated Position mode operation modes 1 and 7 respectively 3 1 0 Variable Integer32 Read only Yes 0x0 0x80000000 Ox7FFFFFFF Feedback counts 0x6063 Position Actual Internal Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the motor position from the feedback device Currently return the same value as object 0x6064 3 1 0 Variable Integer32 Read only Yes 0x0 0x80000000 Ox7FFFFFFF Feedback counts CANopen Reference Manual 77 Object List LVD 0x6064 Position Actual Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the motor position from the feedback device 3 1 0 Variable I
5. No Ox1E8480 0x0 Ox7FFFFFFF rpm 100 CANopen Reference Manual 47 Object List LVD 0x2430 DiPeak Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the value of the maximum peak current for the drive If the motor current exceeds 120 of the value of this object the drive will issue a fault 3 1 0 Variable Unsigned16 Read Write No 0x1770 0x0 0x4666 mA 0x2440 Motor Type Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Selects the motor type O Brushless DC motor 1 DC motor 2 Linear motor 3 1 0 Variable Unsigned16 Read Write No 0x0 0x0 Ox1 Not Applicable CANopen Reference Manual LVD Object List 0x2441 Motor Phase Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the motor phase offset The value can be obtained from motor data sheet In the case of Halls only commutation the electrical rotor position is divided into 6 sectors thus changing the 0x2441 within a sector will not have any effect Not used in DC motor 0x2440 1 3 1 0 Variable Unsigned16 Read Write No 0x0 0x0 0x168 Electrical degrees 0x2442 Motor Poles Object Description Firmware Object code Data type Access PDO mapping Default value Range Un
6. Not Applicable CANopen Reference Manual 37 Object List LVD 0x2312 Recorder Results Object Description Gets the results of the recording Sets sub index 1 to zero to start enumeration Reads sub index 2 to retrieve the recorded point On each read the next point will be retrieved Repeats reading this object according to the value of 0x2303 If more than a single channel was recorded the recorded points are arranged as follows 1st channel 1st point 2nd channel 1st point 3rd channel 1st point 1st channel 2nd point 2nd channel 2nd point 3rd channel 2nd point 1st channel last point 2nd channel last point 3rd channel last point Firmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 002 Description Number of entries Reset results Recorder Channel Index Result Entry category Optional Optional Optional Data type Integer32 Integer32 Access Read only Read Write Read only PDO mapping No No No Default value 0x2 0x0 0x0 Range 0x0 0x7FFFFFFF 0x0 0x80000000 Ox7FFFFFFF Units Not Applicable Not Applicable Not Applicable 38 CANopen Reference Manual LVD Object List 0x2400 Drive Temperature Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Reads the value of the drive power board temperature in Celsius degrees The drive generates a temperature fault when the p
7. Read only Yes 0x0000 0x8000 Ox7FFF mA CANopen Reference Manual 83 Object List LVD 0x6079 DC Link Circuit Voltage Object Description Provides the instantaneous DC link current voltage at the drive device measured by the drive Firmware 3 1 0 Object code Variable Data type Unsigned32 Access Read only PDO mapping No Default value 0x0 Range 0x0 OxFFFFFFFF Units mV 0x607A Target Position Object Description Indicates the commanded position that the drive must move to in Position Profile mode The value of this object can be interpreted as absolute or relative depending on bit 6 of the controlword Firmware 3 1 0 Object code Variable Data type Integer32 Access Read Write PDO mapping Yes Default value 0x0 Range 0x80000000 Ox7FFFFFFF Units Counts 84 CANopen Reference Manual LVD Object List 0x607B Position Range Limit Object Description Indicates the maximum and minimum position range limits It limits the numerical range of the input value On reaching or exceeding these limits the input value wraps automatically to the other end of the range Wrap around of the input value may be prevented by setting software position limits as defined in Software Position Limit Sub index 1 holds the minimum limit sub index 2 holds the maximum limit The values are constant they cannot be modified or set to MaxS32bit maximum and MaxS32bit minimum F
8. 0X6041 Status Words a lia Pet Plans 74 0x6060 Modes of Operation ssssssesssssesseseeme emnes memes 75 0x6061 Modes of Operation Display ooococccccncncnncncnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnns 76 0x6062 Position Demand Value essssssssssseseeme memes mene 77 0x6063 Position Actual Internal Value sssssesssemmmenee 77 0x6064 Position Actual Value oooccccccnccnconconcnncnnconcnn can nan nar narrar narrar nar nnn nnn 78 0x6065 Following Error WiNndOW ooocccoccccnnnnconnncnnnnnnnnncnnnnrnnanrnnnnrananinnaninnnn 78 0x6067 Position WiNdOW oocccccccnccnnnconnncnnnnnnnancnnnnrnnnnrnnrnrnnnnrnnnrrnranrnranrnnan 79 Ox606B Velocity Demand Value 0occccccccnconconcnncnnconcnn can nnn narrar narrar nnn nnn 79 Ox606C Velocity Actual Value rerni enina E A 80 Ox606D Velocity Window cssssssssee m mmn 80 OX606F Velocity Threshold rrr tnr Rex dae eR en na 80 0x6070 Velocity Threshold Time c 0ooccccconconconcnncnncnncnncnn nmm nnn 81 0x60 7L Target TA UA e tee eee en eoe E Ro RO RON CR MER en o 81 0x6073 Max C rtent 2 oo er ere re a re e ey 82 0x6074 Torque Demand Value ssssssssssssssesesene menm meme enne 82 Servotronix V 0x6075 0x6078 0x6079 0x607A 0x607B 0x607C 0x607D 0x6081 0x6082 0x6083 0x6084 0x6085 0x6086 0x6089 0x608A 0x608B 0x608C 0x608D 0x608E 0x608F 0x6098 0x6099 0x609A 0x60A3 0x60A4 0x60B8 0x60B9 0x60BA Ox60BB 0x60C1 0x60C2 0x60C5
9. 0x80000000 0x7FFFFFFF Counts Ox60FA Control Effort Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Provides the control effort as the output of the position control loop Returns the value of the position loop output control effort 3 1 0 Variable Integer32 Read only Yes 0x00000000 0x80000000 0x7FFFFFFF User defined velocity CANopen Reference Manual Object List LVD Ox60FD Digital Inputs Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the state of all digital inputs Bit O Negative limit switch Bit 1 Positive limit switch Bit 2 Home switch Bit 16 Remote Enable Each input that was defined as General is mapped to bit 17 input number 3 1 0 Variable Unsigned32 Read only Yes 0x0 0x0 OxFFFFFFFF Ox60FE Digital Outputs Object Description Firmware Object code Data type Gets sets the current value of the appropriate digital output The outputs are mapped to bits 16 through 19 Bit value 1 Input is on Bit value O Input is off Sub index 2 is digital output mask bits Bit value 1 Disable output Bit value O Enable output 3 1 0 Array Unsigned32 102 CANopen Reference Manual LVD Object List Entry Sub index 000 001 002 Description Highest sub index Physical outputs Output mask
10. Read Write No Not Applicable Not Applicable User defined velocity Ox606F Velocity Threshold Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Will be supported in a future version Not Applicable Variable Unsigned16 Read Write No Not Applicable Not Applicable User defined velocity 80 CANopen Reference Manual LVD Object List 0x6070 Velocity Threshold Time Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Will be supported in a future version Not Applicable Variable Unsigned16 Read Write No Not Applicable Not Applicable ms 0x6071 Target Torque Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the value of the torque command Used to set commanded current in Torque mode operation mode 4 This command is subject to current limits and digital filtering Target Torque is set to O whenever the Drive Enable state changes 3 1 0 Variable Integer16 Read Write Yes 0x0000 Ox8ADO 0x7530 mA CANopen Reference Manual 81 Object List LVD 0x6073 Max Current Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets current saturation value If the current command is higher than Max Current the res
11. Setting Maximum Acceleration to O disables this functionality Firmware 3 1 0 Object code Variable Data type Unsigned32 Access Read Write PDO mapping No Default value 0x0 Range 0x0 Ox1FBDO Units RPM sec CANopen Reference Manual 99 Object List LVD Ox60C6 Maximum Deceleration Object Description Firmware Object code Data type Access PDO mapping Default value Range Units The value of object Ox60C5 is used to set the maximum allowed deceleration value 3 1 0 Variable Unsigned32 Read Write No 0x0 Not Applicable User defined acceleration Ox60F2 Positioning Option Code Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Will be supported in a future version Not Applicable Not Applicable Not Applicable Not Applicable Not Applicable Not Applicable Not Applicable Not Applicable 100 CANopen Reference Manual LVD Object List Ox60F4 Actual Following Error Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the Following error of the position loop This parameter is used in profile position and interpolated position modes operation mode 1 and 7 respectively If the value of Following Error is greater than Following Error Window the drive is disabled and a fault is generated 3 1 0 Variable Integer32 Read only Yes 0x0
12. Variable Unsigned16 Read Write No OxEA60 Ox2CEC OxEA60 mV 0x2489 Under Voltage Fault Level Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the under voltage fault limit for the bus voltage Must be less than 0x2488 over voltage fault level 3 1 0 Variable Unsigned16 Read Write No Ox2CEC Ox2CEC OxEA60 mV 0x2500 Current Loop Proportional Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the proportional gain for the current controller 3 1 0 Variable Integer32 Read Write Yes Ox3E8 0x0 Ox7FFFFFFF PWM duty cycle mA CANopen Reference Manual 63 Object List LVD 0x2505 Current Loop Integral Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the integral gain for the current controller 3 1 0 Variable Integer32 Read Write Yes Ox3E8 0x0 Ox7FFFFFFF 0x2510 Current Loop Derivative Gain Object code Data type Access PDO mapping Default value Range Units Object Description Gets sets the derivative gain for the current controller Firmware 3 1 0 Variable Integer32 Read Write Yes 0x0 0x0 Ox7FFFFFFF PWM duty cycle mA 62 5us 2 0x2515 Current Loop Pole Placement Object Description Firmware Object cod
13. Yes Yes Yes Yes power applied No No No No YES u JE No Drive function enabled No No No No Yes Yes Yes No Configuration Yes Yes Yes allowed No Yes Yes Yes No No No Yes The drive device supports transitions and actions as shown in Table 2 2 The events initiate the transition The transition is terminated after the action has been performed 6 CANopen Reference Manual LVD System Overview Table 2 2 Transition Events and Actions Transition Events Actions 0 10 11 12 13 14 Automatic transition after power on or reset application Automatic transition Shutdown command from control device or local signal Switch on command received from control device or local signal Enable operation command received from control device or local signal Disable operation command received from control device or local signal Shutdown command received from control device or local signal Quick stop or disable voltage command from control device or local signal Shutdown command from control device or local signal Disable voltage command from control device or local signal Disable voltage or quick stop command from control device or local signal Quick stop command from control device or local signal Automatic transition when the quick stop function is completed or disable voltage command received from control device depends on the quick stop option code Fault s
14. acceleration object 0x60c5 Check control loops parameters Check the demanded velocity acceleration and deceleration Or increase the value of the maximum acceleration or set it to O to disable this functionality Error Code OxFFOO Maximum Position Derivative Fault The difference between two sequential position commands is greater than the value of the maximum position derivative object 0x2470 Check motion controller configuration Check the demanded velocity acceleration and deceleration Or increase the value of the maximum position derivative or set it to O to disable this functionality Note Interpolated mode only Error Code OxFFO2 Illegal Halls Fault Illegal state for reading the Hall sensors Check Hall cable wiring Also check that Hall sensors are functioning CANopen Reference Manual 13 Error Handling LVD 14 CANopen Reference Manual LVD Object List 4 ObjectList Format Overview The objects are presented in this chapter in hexadecimal order in the following format Oxnnnn Object Name Object Description Firmware Object code Description of the object The earliest version or specific versions in which the described functionality is available Variable Array Constant Data type Unsigned8 Unsigned16 Unsigned32 Integer8 Integer16 Integer32 IDENTITY SDO PARAMETER PDO COMM PAR PDO COMM PAR PDO MAPPING VISIBLE STRING Entry Sub index
15. A te ee e 93 Homing Acceleration uetus ecce nire a ro e eren pl aa rea ve na en alo 94 Profile Jerlc SG ics die trek rd e wa aor eR end ie rr RR AAA 95 Profil Tarkan Ln A ede Le bd ated AA e cedere des 95 Touch Probe Function sesseseeeseeeeeene nennen nennen nana nan nnn 96 TOUCH Probe Status seen A Re v E E P EP HE 97 Touch Probe 1 Position Positive Value oococcocconconconnannannannan nnne 97 Touch Probe 1 Position Negative Value essseeseeeeeenee 98 Interpolation Data Record ooccccccoconcnnnncnnoncnnnncnnnncnnnnnnnnnennnnrnnnnrnanes 98 Interpolation Time Period cecceeeee eect eee eee eee nett mmm 99 Maximum Acceleration 0 ococccccoccocncnnconcnncnnconcon cancer narrar nar nnn 99 Maximum Deceleration 00occcccccccccnconcnncnncnncancon non nan nar nn rra nnns 100 Positioning Option Code sssssssssssrsssrrrsrrrrsrrnnsrrnnsrrnnsrrnnsrrnnerrnnne 100 Actual Following Error certet e rene er rt een haee 101 Control Eo ais Rein a er cui erre tur Dee ee Por te d Re End pease 101 Digital Inputs tances eh et ERR ri Days 102 Digital Outputs eerte xn ee x a ei ec ue a e ca 102 Target sio ur 103 Motor TV perc chri e ED x REI Rr ux EN XX RR MEE IX I ER E RT fees 104 Supported Drive Modes csesseeseeeenn nennen nemen nean nnn nnn 105 Single DEVICE TY DE iva ir tinina nee ber Dua ka e RR Pe UR De EP Eu D RA aa 106 vi Servotronix LVD Introduction 1 Introduction
16. Firmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 002 Description Highest sub Minimum Software Maximum Software index supported Position Limit Position Limit Entry category Optional Optional Optional Data type Integer32 Integer32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x80000000 Ox 7 FFFFFFF Range 0x2 0x2 0x80000000 0x80000000 Ox7FFFFFFF Ox7FFFFFFF Units Not Applicable Counts Counts 86 CANopen Reference Manual LVD Object List Ox6081 Profile Velocity in Point to Point Mode Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the cruise velocity in Profile Position mode operation mode 1 3 1 0 Variable Unsigned32 Read Write Yes Ox3E8 0x0 Ox7FFFFFFF rpm 100 0x6082 End Velocity Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Not supported yet Not Applicable Variable Unsigned32 Read Write No Not Applicable Not Applicable User defined velocity CANopen Reference Manual 87 Object List LVD 0x6083 Profile Acceleration Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the acceleration value for the point to point generator The minimum acceleration value is 814 encoder resolution rpm
17. Identification of the sub index Description Entry category Data type Access PDO mapping Default value Range Units Description of the sub index Optional Mandatory Unsigned8 Unsigned16 Unsigned32 Integer8 Integer16 Integer32 Read Write Read only Constant Yes No The object s default value Discrete values and ranges of values When the object value implies units of measure these units are specified CANopen Reference Manual 15 Object List LVD Communication Profile Objects 0Ox1000 Device Type Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Specifies the kind of device The lower 16 bits contain the device profile number the upper 16 bits contain additional information 3 1 0 Variable Unsigned32 Constant No 0x00020192 0x0 OxFFFFFFFF Not Applicable 0Ox1001 Error Register Object Description Firmware Object code Data type Access PDO mapping Default value Range Units A field of 8 bits each of which indicates a particular type of error If an error occurs the bit must be set Bit Description O Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error overrun error state 5 Device profile specific 6 Reserved 7 Manufacturer specific 3 1 0 Variable Unsigned8 Read only No 0x0 0x0 OxFF Not Applicable 16 CANopen Re
18. LVD Object List 0x2620 Config Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Configures the values of units scaling according to MENCRES and HALLS sensors Write the value 0x666E6F63 ASCII value of conf to sub index O to initiate the configuration process 3 1 0 Variable Integer32 Read Write No Not Applicable 0x80000000 Ox7FFFFFFF Not Applicable CANopen Reference Manual 71 Object List LVD DS402 Profile Objects 0x6007 Abort Connection Option Code Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the action to be performed when one of the following events occurs W CAN bus off W Heartbeat lost m Node Guarding lost E NMT stopped i e stop remote node indication activated W Reset communication i e reset communication indication activated W Reset application i e reset node indication activated The following values are valid O No action 1 Fault signal 2 Disable voltage command 3 Quick stop command x Manufacturer specific 3 1 0 Variable Integer16 Read Write No 0x0001 0x8000 0x0003 Not Applicable 72 CANopen Reference Manual LVD Object List Ox603F Error Code Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Provides the
19. OxFFFFFFFF Units Not Applicable Not Applicable Not Applicable CANopen Reference Manual 35 Object List LVD 0x2305 Recorder Number Of Points Per Channel Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Number of points per channel to be recorded Set the number of points to be recorded per channel This value multiplied by the number of recorded channels cannot exceed the total number of points object 0x2303 3 1 0 Variable Unsigned16 Read Write No 0x0 0x0000 OxFFFF Not Applicable 0x2309 Recorder Start Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Writes 1 to start recording and O to cancel recording if in progress 3 1 0 Variable Unsigned8 Read Write No 0x0 0x0 Ox1 Not Applicable CANopen Reference Manual LVD Object List 0x2310 Recorder Done Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Checks if recording is finished 1 for finished 3 1 0 Variable Unsigned16 Read only No 0x1 0x0 Ox1 Not Applicable 0x2311 Number of Recorded Points Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets the number of recorded points for a channel 3 1 0 Variable Unsigned32 Read only No 0x0 0x0 OxFFFFFFFF
20. Use the command object 0x1011 to reload the parameters from the EEPROM Or the EEPROM might be damaged and the drive requires service Error Code 0x7122 Commutation Fault A mismatch between the position of the Hall sensors and the encoder Check encoder resolution value object 0x2412 encoder direction value object 0x2413 and the Halls cable Call the CONFIG function object 0x2620 Error Code 0x7305 Encoder Line Break Fault A disconnection of one of the encoder inputs was detected Check the encoder cable wiring If single ended encoder is used set the value of object 0x2414 to 0 Error Code 0x7310 Over Speed Fault Actual speed exceeds the velocity over speed value object 0x2423 Error Code 0x8400 Maximum Velocity Error Fault The difference between the velocity command and the actual velocity is greater than the value that is set in maximum velocity error object 0x2421 12 CANopen Reference Manual LVD Error Handling Error Code 0x8611 Following Error Window Fault The difference between the position command and the actual position is greater than the value that is set in the following error window object 0x6065 Check control loops parameters Check the demanded velocity acceleration and deceleration Alternately increase the value of the following error window Error Code OxFO001 Acceleration Deceleration Violation Fault The motor acceleration or deceleration is greater than the value of the maximum
21. Va et P t t ce t a t We Y 8 Object Access TPS cito a dn ek cu o EXER ERR YR og Exe ERR eta de 8 CANopen Node Address sssssssssssesee enne nnne nennen seen snas nnn nnn 9 CAN Bitrate s Imre tt ete ca ete de aet v de cs dee et etae Pam t LT a 9 3 Error Handling 11 Emergency Message Frame inssin saana de A IPIE UE 11 Error Codes orire oux A a E AR a ER a EA e 11 Error Code 0x2130 Over Current ccccccccceeccceeccceeeecueeescueucuuueusuueeesgunreganes 12 Error Code 0x2310 I2T Fault cccccccccesecceecccceeecueeeccueeescuueucuueeesuuueesgunersaues 12 Error Code 0x3110 Over Voltage ovina 12 Error Code 0x3120 Under Voltage oococooccocncconoccnnnccnnnccnnnennnnnrnnnnrnnnnrnnnnnnnnes 12 Error Code 0x4310 Over Temperature ecceceeeee eee ee ee ee eee teens eens eaeeeeataes 12 Error Code 0x5430 EEPROM Fault ccccccscccsecseeccuueescueeescueucuaueesceueesgunresanes 12 Error Code 0x5530 EEPROM Checksum Faullt c cccccceseeeseeeeeeeeeeeeeeeeeesaeeas 12 Error Code 0x7122 Commutation Fault ccccccccecceeecceeesceeeucueeucuueeecuuneesaues 12 Error Code 0x7305 Encoder Line Break Fault cccccceseeeseeeeeeeeeesaeeeneeeueeas 12 Error Code 0x7310 Over Speed Fault ccecceeeeeee eee e ee eases eats eaeeeeaeeeeanaes 12 Error Code 0x8400 Maximum Velocity Error Fault cccccceseeseeeeeeeeeeeeneeneens 12 Error Code 0x8611 Following Error Window Fault esee 13 Error Code O
22. break fault 0x7310 Over speed fault 0x8400 Maximum velocity error fault 0x8611 Following error window fault OxF001 Acceleration deceleration violation fault OxFFOO Maximum position derivative fault OxFFO2 Illegal Halls fault CANopen Reference Manual 11 Error Handling LVD Error Code 0x2130 Over Current Hardware or software over current was detected The maximum current value is set at DiPeak object 0x2430 Error Code 0x2310 I2T Fault Energy usage is higher than the I2T limit value object 0x2481 The value of I2T value object 0x2480 is greater than the value of I2T limit value object 0x2481 Error Code 0x3110 Over Voltage Bus voltage exceeds the value that is set at the over voltage fault level object 0x2488 Error Code 0x3120 Under Voltage Bus voltage is lower than the value that is set at the under voltage fault level object 0x2489 Error Code 0x4310 Over Temperature The temperature of the drive is higher than 90 C 194 F or lower than 30 C 22 F or the temperature sensor has a malfunction Check the drive operation conditions using drive temperature object 0x2400 to read the measured temperature Or reduce the load on the drive Error Code 0x5430 EEPROM Fault The drive s firmware could not access the EEPROM Reset the drive and try again Or the EEPROM might be damaged and the drive requires service Error Code 0x5530 EEPROM Checksum Fault Checksum error while loading parameters
23. index 2 for digital output 2 etc Firmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 002 Description Number of entries Low Window of Low Window of Output 1 Output 2 Entry category Optional Optional Optional Data type Integer32 Integer32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x0 0x0 Range 0x0 0x2 0x80000000 0x80000000 Ox7FFFFFFF Ox7FFFFFFF Units Not Applicable Not Applicable Not Applicable Ox245B Digital Outputs Polarity Object Description Firmware Object code Data type Inverts the polarity of digital output 1 2 sub index 1 for digital input 1 state sub index 2 for digital input 2 state etc O Polarity inverted 1 Polarity not inverted 3 1 0 Array Unsigned16 CANopen Reference Manual 55 Object List LVD Entry Sub index Description Entry category Data type Access PDO mapping Default value Range Units 000 Number of entries Optional Read only No 0x2 0x0 0x2 Not Applicable 001 Polarity of Output 1 Optional Unsigned16 Read Write No 0x1 0x0 Ox1 Not Applicable 002 Polarity of Output 2 Optional Unsignedi6 Read Write No 0x1 0x0 Ox1 Not Applicable 0x245C Remote Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the summary of all external enable
24. sec due to quantization and sample time limitations If a value less than 814 encoder resolution is set the effective acceleration will be 814 encoder resolution 3 1 0 Variable Unsigned32 Read Write Yes Ox3E8 Ox1 Ox1FBDO RPM sec 0x6084 Profile Deceleration Object Desription Gets sets the deceleration value for the point to point generator The minimum deceleration value is 814 encoder resolution rpm sec due to quantization and sample time limitations If a value less than 814 encoder resolution is set the effective deceleration will be 814 encoder resolution Firmware 3 1 0 Object code Variable Data type Unsigned32 Access Read Write PDO mapping Yes Default value 0x3E8 Range 0x1 Ox1FBDcO Units RPM sec CANopen Reference Manual LVD Object List 0x6085 Quick Stop Deceleration Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Indicates the deceleration used to stop the motor when the quick stop function is activated The minimum deceleration value is 814 encoder resolution rpm s due to quantization and sample time limitations Note In Torque mode the torque command is set to 0 this parameter is not used 3 1 0 Variable Unsigned32 Read Write No 0x2710 0x0 0x13D620 RPM sec 0x6086 Motion Profile Type Object Description Firmware Object code Data type Access PDO mapping Defa
25. the value set in the digital output object Ox60fe Firmware 3 1 0 Object code Array Data type Unsigned16 CANopen Reference Manual 53 Object List LVD Entry Sub index 000 001 002 Description Nunbenerantias Sup of ee of Entry category Optional Optional Optional Data type Unsigned16 Unsignedi6 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x0 0x0 Range 0x0 0x2 0x0 OxD 0x0 OxD Units Not Applicable Not Applicable Not Applicable Object 0x2459 Digital Outputs High Window Description Gets sets the value for the upper limit of digital outputs This value is used by the Digital Outputs Functionality object sub index 1 for digital output 1 sub index 2 for digital output 2 etc Firmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 002 Description Number of entries High Window of High Window of Output 1 Output 2 Entry category Optional Optional Optional Data type Integer32 Integer32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x0 0x0 Range 0x0 0x2 0x80000000 0x80000000 Ox7FFFFFFF Ox7FFFFFFF Units CANopen Reference Manual LVD Object List 0x245A Digital Outputs Low Window Object Description Gets sets the value for the lower limit of the digital outputs This value is used by the Digital Outputs Functionality object sub index 1 for digital output 1 sub
26. two types of usage for PDO data transmission and data reception termed Transmit PDO TPDO and Receive PDO RPDO respectively CANopen devices supporting TPDO are PDO producers and CANopen devices supporting RPDO are called PDO consumers PDO are described by the PDO communication parameter and the PDO mapping parameter The PDO communication parameter describes the communication capabilities of the PDO The PDO mapping parameter contains information about the contents of the PDO For each PDO the pair of communication and mapping parameter is mandatory The objects introduced above are described in Chapter 4 Service Data Object SDO A SDO provides direct access to object entries of a CANopen device object dictionary As these object entries contain data of arbitrary size and data type the SDOs are used to transfer multiple data sets each containing an arbitrary large block of data from a client to a server and vice versa The client controls via a multiplexer index and sub index of the object dictionary which data set is transferred The content of the data set is defined within the object dictionary Basically an SDO is transferred as a sequence of segments Prior to transferring the segments there is an initialization phase where client and server prepare themselves for transferring the segments For SDOs it is also possible to transfer a data set of up to four bytes during the initialization phase This mechanism is called S
27. 0 0x0 0x0 OxFFFFFFFF OxFFFFFFFF OxFFFFFFFF Units Not Not Not Not Applicable Applicable Applicable Applicable Ox1800 Transmit PDO Communication Parameter 1 Object Description Firmware Object code Contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled Sub index 2 defines the transmission type 3 1 0 Record Data type PDO COMM PAR Entry Sub index 000 001 002 Description Number of entries COB ID Transmission type Entry category Mandatory Optional Optional Data type Unsigned32 Unsigned8 Access Read only Read Write Read Write PDO mapping No No No Default value 0x02 0x180 Ox1 Range Ox2 0x6 Ox1 OxFFFFFFFF 0x0 OxFF Units Not Applicable Not Applicable Not Applicable 26 CANopen Reference Manual LVD Object List Ox1801 Transmit PDO Communication Parameter 2 Object Description Firmware Object code Contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled Sub index 2 defines the transmission type 3 1 0 Record Data type PDO COMM PAR Entry Sub index 000 001 002 Description Number of entries COB ID Transmission
28. 0 Modes of Operation Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the requested operation mode of the drive as in CANopen DS 402 standard O No mode change no mode assigned 1 Profile Position mode 2 Velocity mode 3 Profile Velocity mode 4 Torque Profile mode 5 Reserved 6 Homing mode 7 Interpolated Position mode 8 Cyclic Synchronous Position mode not supported 9 Cyclic Synchronous Velocity mode not supported 10 Cyclic Synchronous Torque mode not supported 1 Jog In Position mode 2 Burn in manufacturer specific 3 Reserved 4 Analog Velocity 5 Analog Torque This object shows only the value of the requested operation mode the actual operation mode of the drive is reflected in object 0x6061 Modes of Operation Display 3 1 0 Variable Integer8 Read Write Yes 0x04 0x07 0xFB Not Applicable CANopen Reference Manual 75 Object List LVD 0x6061 Modes of Operation Display Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Displays the operation mode of the drive O No mode change no mode assigned 1 Profile Position mode 2 Velocity mode 3 Profile Velocity mode 4 Torque Profile mode 5 Reserved 6 Homing mode 7 Interpolated Position mode 8 Cyclic Synchronous Position mode not supported 9
29. 0x0 0x0 OxFFFFFFFF OxFFFFFFFF OxFFFFFFFF Units Not Not Not Not Applicable Applicable Applicable Applicable CANopen Reference Manual 29 Object List LVD Manufacturer Specific Objects 0x2100 Parameter Help Stringi Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the help string for a requested command a CANopen object The help string is divided into 2 strings which are located in objects 0x2100 first string and 0x2101 second string Writes the requested command s CANopen index in object 0x2105 and reads the help string in objects 0x2100 and 0x2101 3 1 0 Variable VISIBLE STRING Read only No 0x0 Not Applicable Not Applicable 0x2101 Parameter Help String2 Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the help string for a requested command a CANopen object The help string is divided into 2 strings which are located in objects 0x2100 first string and 0x2101 second string Writes the requested command s CANopen index in object 0x2105 and reads the help string in objects 0x2100 and 0x2101 3 1 0 Variable VISIBLE STRING Read only No Not Applicable Not Applicable Not Applicable 30 CANopen Reference Manual LVD Object List 0x2105 Parameter Help Index Object Description Firmware Object code D
30. 0x60C6 0x60F2 Ox60F4 Ox60FA Ox60FD Ox60FE Ox60FF 0x6402 0x6502 0x67FF Motor Rated Current cccccccceceeseeeeeee esse R nean sea sea nea nn nn nn 83 Current Actual Value eesessseeseeseeseenen nennen nean nea nean nnn nnn 83 DC Eink Circuit Voltage oreet ix Pec sale eere Rz n tuc PD X a 84 Target POSION HET 84 Position Range LME A A rave 85 Home A a CE dE 86 Software Position Limit ococcccccccccnccnconcnnconconcnn nemen nnn 86 Profile Velocity in Point to Point Mode ooooccccccnccnnnconnncnnnncnnancnnnnnanns 87 End Velocity ous ere ERR DA i 87 Profile Acceleration eesseeeeeeeeeeen nnnm meme nene nnn 88 Profile Deceleration eseeeeeeeseeeeen ennemi nnne 88 Quick Stop Deceleration sssssssessssesemem mene 89 Motion Profile Type iicet eerte ter RE rn Rx re e x ER HE A CREER EK 89 Position Notation Index cssssseeseeseeeeeneeneene emen 90 Position Dimension Index c occccccccconcocnoonconcnncnnconcan can nan nar narrar narran 90 Velocity Notation INdeX occcccccoccocnconconconcnnconcnn non emen nnn 90 Velocity Dimension Index eesseseeeeeeeeenen nemen 91 Acceleration Notation Index ssseeesseseeeene nennen nnn 91 Acceleration Dimension Index eese nnns 91 Position Encoder Resolution esses nnnm nn 92 Homing MethOd reet ted web uk te ea bn ER RENE RR ER Ure RYA ca ie eee 93 Homihg Speeds o
31. 1010 Store Parameter Field Object Description Saves parameters in non volatile memory Write the value 0x65766173 ASCII value of save to sub index 1 to save the drive parameters Firmware 3 1 0 Object code Array Data type Unsigned32 Entry Sub index 000 001 Description Number of entries Save all parameters Entry category Optional Optional Data type Unsigned32 Access Read only Read Write PDO mapping No No Default value 0x1 0x0 0x0 Ox7F Not Applicable 0x0 OxFFFFFFFF Not Applicable Range Units 18 CANopen Reference Manual Object List Object 0Ox1011 Restore Default Parameters Description Loads all saved parameters from non volatile memory Sub index 1 loads all parameters and manufacturer defined parameters Write the value 0x64616F6C ASCII value of load to sub index 1 to restore the drive parameters Firmware 3 1 0 Object code Array Data type Unsigned32 Entry Sub index 000 001 Description Number of entries Restore all default parameters Entry category Optional Optional Data type Unsigned32 Access Read only Read Write PDO mapping No No Default value 0x1 0x0 Range 0x0 Ox7F 0x0 OxFFFFFFFF Units Not Applicable Not Applicable Object 0x1014 COB ID EMCY Description Firmware Object code Data type Access PDO mapping Default value Range Units COB ID used for emergency message Emergency Server 3 1 0 Variable Unsigned32 Read only No 0
32. 16 Entry Sub index 000 001 002 Description Number of entries Analog Input Analog Input Offset 1 Offset 2 Entry category Optional Optional Optional Data type Integer16 Integer16 Access Read only Read Write Read Write PDO mapping No No No Default value 0x0002 0x0000 0x0000 Range 0x8000 Ox7FFF 0x8000 Ox7FFF Ox8000 Ox7FFF Units Not Applicable Not Applicable Not Applicable CANopen Reference Manual 57 Object List LVD 0x2462 Analog Inputs Zero Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Sets the value of the analog input offset object 0x2461 so that the current analog input value reading will return zero The offset value is calculated by an average of 64 samples of the drive analog input command To perform the zero action the object must be written with the value of the analog input number for example writing 1 to the object will zero analog offset 1 3 1 0 Variable Integer16 Read Write No Not Applicable Not Applicable Not Applicable 0x2470 Maximum Position Derivative Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the value of the maximum position derivative for the position command that is received from the CANopen master in Interpolated Position mode operation mode 7 Setting a value of O disables this functionality 3 1 0 Variable U
33. 2 Read only No 0x00 0x80000000 Ox7FFFFFFF User defined position Ox60C1 Interpolation Data Record Object Description In Interpolated mode operation mode 7 this object holds in sub index 1 the delta position to be moved by the drive in this cycle Firmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 Description Highest sub index supported Interpolation data record Entry category Optional Optional Data type Integer32 Access Constant Read Write PDO mapping Yes Yes Default value 0x1 0x0 Range 0x0 OxFE 0x80000000 Ox7FFFFFFF Units Not Applicable Not Applicable 98 CANopen Reference Manual LVD Object List Ox60C2 Interpolation Time Period Object Description In Interpolated mode operation mode 7 this object holds in sub index 1 the time of one cycle Firmware 3 1 0 Object code Record Data type P402 IP PERIOD T Entry Sub index 000 001 002 Description Number of entries Time units Time index Entry category Optional Optional Optional Data type Unsigned8 Integer8 Access Read Write Read Write Read Write PDO mapping No No No Default value 0x2 0x4 OxFD Range 0x0 OxFF 0x1 0x10 OxFD OxFD Units Not Applicable Not Applicable Not Applicable 0x60C5 Maximum Acceleration Object Description Gets sets the maximum allowed acceleration value Upon detecting acceleration or deceleration higher than the set value the drive will generate a fault
34. Bit Description Profile Position mode Velocity mode Profile Velocity mode Profile Torque mode Reserved Homing mode Interpolated Position mode Cyclic Synchronous Position mode Cyclic Synchronous Velocity mode Cyclic Synchronous Torque mode 10 15 Reserved 16 31 Manufacturer specific O AN A UN AUNRr O The bit values indicate the following O Mode is not supported 1 Mode is supported 3 1 0 Variable Unsigned32 Read only No Ox6F 0x0 OxFFFFFFFF Not Applicable CANopen Reference Manual 105 Object List LVD Ox67FF Single Device Type Object Description Firmware Object code Data type Access PDO mapping Default value Range Units This object defines the type of the specific drive within a multi device module This object has the same structure as Device Type object 0x1000 This object is organized bit wise 3 1 0 Variable Unsigned32 Read only No 0x00000192 0x0 OxFFFFFFF Not Applicable 106 CANopen Reference Manual
35. DO expedited transfer Always the client initiates an SDO transfer for any type of transfer The owner of the accessed object dictionary is the server of the SDO Either the client or the server can take the initiative to abort the transfer of an SDO By means of an SDO a peer to peer communication channel between two CANopen devices is established A CANopen device supports more than one SDO One supported Server SDO is the default case Default SDO 4 CANopen Reference Manual LVD System Overview Device Control and State Machine Introduction The power drive system finite state automaton PDS FSA is an abstraction to define the behavior of a black box as a control device experiences the PDS It defines the application behavior of the PDS Because a PDS is required to provide local control even when the communication network is not functioning properly the communication FSA and the PDS FSA are only loosely coupled Figure 2 2 shows how the PDS operates locally or via the network remotely The PDS is operated by the controlword sent by the control device via the network The state of the PDS is reported by the statusword produced by the drive device The FSA is also controlled by error detection signals The PDS FSA defines the PDS status and the possible control sequence of the PDS A single state represents a special internal or external behavior The state of the PDS also determines which commands are accepted For example i
36. Default value 0x3 0x60610008 0x24840010 0x606C0020 Range 0x0 OxFF 0x0 0x0 0x0 OxFFFFFFFF OxFFFFFFFF OxFFFFFFFF Units Not Not Not Not Applicable Applicable Applicable Applicable CANopen Reference Manual LVD Object List Ox1A01 Transmit PDO Mapping Parameter 2 Object Description Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter is at index 21h The sub index 0 contains the number of valid entries within the mapping record This number of entries is also the number of the application variables which is transmitted with the corresponding PDO Firmware Object code The sub indices from 1 to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index sub index and length All three values are hexadecimal coded The length entry contains the length of the object in bits 1 0x40 This parameter can be used to verify the overall mapping length It is mandatory 3 1 0 Record Data type PDO MAPPING Entry Sub index 000 001 002 003 Description Number of Mapping Mapping Mapping entries entry 1 entry 2 entry 3 Entry category Mandatory Optional Optional Optional Data type Unsigned32 Unsigned32 Unsigned32 Access Read Write Read Write Read Write Read Write PDO mapping No No No No Default value 0x3 Ox60FA0020 0x60710010 0x60730010 Range 0x0 OxFF 0x0
37. Documentation About This Manual This manual describes the implementation of CiA 402 and 301 CANopen protocols in the LVD digital servo drive This manual is not meant to replace the CANopen specifications or to reproduce them This manual is intended for skilled personnel who have been trained to work with the equipment described Documentation Set for the LVD This manual is part of a documentation set The set consists of the following B LVD User Manual Hardware installation configuration and operation LVD VarCom Reference Manual Parameters and commands used to program the LVD B LVD CANopen Reference Manual LVD implementation of CiA 402 and 301 protocols CANopen Reference Manual Introduction LVD 2 CANopen Reference Manual LVD System Overview 2 System Overview Device Communication Architecture The communication interface of the LVD follows the CiA CANopen specifications can cia org as follows B DS 301 V4 2 Communication Profile for Industrial Systems W DSP 402 V3 0 Device Profile for Drives and Motion Control m DS 306 V1 3 Electronic Data Sheet Specification CAN Network CAN node Application layer and communication profile DS 301 Drive profile 402 Device control state machine Modes of Operation Profile Profile Profile Interpolated Position Vies Velocity Torque rimus Position Figure 2 1 Communication Archit
38. ID If bit 31 is set the PDO is disabled Sub index 2 defines the transmission type 3 1 0 Record PDO COMM PAR CANopen Reference Manual 23 LVD Entry Sub index 000 001 002 Description Number of entries COB ID Transmission type Entry category Optional Optional Optional Data type Unsigned32 Unsigned8 Access Read only Read Write Read Write PDO mapping No No No Default value 0x02 0x400 Ox1 Range 0x2 0x5 Ox1 OxFFFFFFFF 0x0 OxFF Units Not Applicable Not Applicable Not Applicable 0Ox1600 Receive PDO Mapping Parameter 1 Object Description The sub indices contain the indices the sub indices and the lengths of the mapped sub indices Their structure is as follows index 16 bit sub index 8 bit 3 1 0 Record length 8 bit Firmware Object code Data type PDO MAPPING Entry Sub index 000 001 002 003 Description Number of Mapping Mapping Mapping entries entry 1 entry 2 entry 3 Entry category Mandatory Optional Optional Optional Data type Unsigned32 Unsigned32 Unsigned32 Access Read Write Read Write Read Write Read Write PDO mapping No No No No Default value 0x3 0x60710010 0x25000020 0x60730010 Range 0x0 0x0 0x0 0x0 0x40 OxFFFFFFFF OxFFFFFFFF OxFFFFFFFF Units Not Not Not Not Applicable Applicable Applicable Applicable CANopen Reference Manual LVD Object List 0x1601 Receive PDO Mapping Parameter 2 Object Description Firmware Object cod
39. Over Speed A D e AR E NT 8 47 0x2430 DIBPeak iridis ei eicere exe Lr pev UY PER XR FUDCKA Y REY FAO REDU RU PE Y cues 48 0x2440 Motor Type oou erret rtt nte n c n RC AC DUST ER A IC E NA 48 0x2441 Motor Phase ee ete xr vete me nie x e ex e eie lt 49 0x2442 gt Motor Poles ox oe Su Eure eiue Sealed pce Rin A as eileen QUU P Pall 49 0x2443 Mechanical Position of Rotor ooocccccccncncnncnnnnnncnnnnnnnnncnnnnrnnnnrnnnnnnnnn 50 0x2450 HOME Status e ee t t e x ee Ya tee vex ee YR vex 50 0x2456 Digital Inputs Functionality cece eee eects ee eee eee eee ees 51 0x2457 Digital Inputs Polarity cceceeee cece eee eee eee eee eee meme 52 0x2458 Digital Outputs Functionality cece cece eee eee eee ee eee ee teeta nene 53 0x2459 Digital Outputs High Window cceeeee eee eee eee eee eee mene 54 0x245A Digital Outputs Low Window cceee eect eee mmm 55 0x245B Digital Outputs Polarity cece eee eee eee eee eee eee meme 55 Ox245C Remote ee bier eer ree a dake ok ce Pues 56 Servotronix LVD 0x2460 Analog Inputs c tiet A Tob ee Rai os 56 0x2461 Analog Inputs OffSet ooocccccccccncnccncnconnncnnnncnnnnrnnnnrnnnnrnnnnrnranrnnannnnnn 57 0x2462 Analog Inputs Zero eco exstet ea kA PEE FRE FED REY PRA FRE BUDE E ala 58 0x2470 Maximum Position Derivative oocccccoccnncnccnncnnancnnnnnnnn nan nnn narran 58 0x2471 Position Stop MOdO oooccccnccncnconcncnnnnnonnn
40. QQ servorronix always in motion LVD Digital Servo Drive CANopen Reference Manual Revision 2 0 LVD Revision History Document Date Remarks Revision 2 0 Mar 2012 1 0 Oct 2011 Initial release Hardware Firmware Software Remarks Revision Revision Revision 5 3 1 0 1 0 0 5 Important Notice 2012 Servotronix Motion Control Ltd All rights reserved No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix Motion Control Ltd Disclaimer The information in this manual was accurate and reliable at the time of its release Servotronix Motion Control Ltd reserves the right to change the specifications of the product described in this manual without notice at any time Trademarks CANopen and CiA are registered community trademarks of CAN in Automation e V All other marks in this manual are the property of their respective owners Contact Information Servotronix Motion Control Ltd 21C Yagia Kapayim Street Petach Tikva 49130 Israel Tel 972 3 927 3800 Fax 972 3 922 8075 Website www servotronix com Servotronix LVD Customer Service Servotronix is committed to delivering quality customer service and support for all our products Our goal is to provide our customers with the information and resources so that they are available without delay if and when they are needed In order to serve in
41. able VISIBLE STRING Read only No Not Applicable Not Applicable Not Applicable 0x2406 Phase A PWM Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the value of Phase A PWM 3 1 0 Variable Integer16 Read only No Not Applicable O to MaxS16bit Not Applicable 0x2407 Phase B PWM Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the value of Phase B PWM 3 1 0 Variable Integer16 Read only No Not Applicable O to MaxS16bit Not Applicable CANopen Reference Manual 41 Object List LVD 0x2408 Phase C PWM Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the value of Phase C PWM 3 1 0 Variable Integer16 Read only No Not Applicable O to MaxS16bit Not Applicable 0x2409 Hardware Version Object Description Firmware Object code Data type Returns hardware related data Sub index 1 Number of IOs in the format Analog inputs Digital outputs Digital inputs Sub index 2 Burning related data Sub index 3 Bits field of supported feedback types where the bits are as follows Bit 0 1 if AB Encoder Feedback is supported Bit 1 1 if Halls feedback are supported Bit 2 1 if AB and Index Encoder Feedback is supported Bit 3 1 if AB and Index and Halls E
42. able Parameters sanare ia a a aaa 35 0x2305 Recorder Number Of Points Per Channel cceeeeeeeeeeeeeeeeeeeeeeees 36 0x2309 Recorder Start eai aa aa aaa aaae sea sea sea sua sea sea sea se nen nnn 36 0x2310 Recorder DOonQe z iei ro recu e nec det ea a cn e PL Vx I aia 37 0x2311 Number of Recorded Points sssessssssseeen enne 37 0x2312 Recorder Results tdt bcc A dea aen a 38 0x2400 Drive Tempera tUle eiecerunt aa 39 0X240 Drive TMG sidai TT 39 0x2402 PWM Erequency es a a a 40 0x2403 Real Time Cycle reete rn eene OS 40 0x2405 Drive Enabled Time 00occcccccccnconcnnconcnncnncnncon can nnr narrar narrar narrar nnn nnn 41 0x2406 Phase APM ac 41 0x2407 Phase B PW Mini o 41 0x2408 Phase CPW Mii id 42 0x2409 Hardware VerSiON coccoccoccocnoonconconcnnconcnconcon can nan nar narrar nnn nnn nnn 42 0x2411 Feedback TP n ee ree re et D bat e rte ex e e 43 0x2412 Encoder Resolution ococcocccccccnconconconcnncnnconcnn nennen nnn nnn 44 0x2413 Encoder Direction vse naai ana arii aa a aa aaia adaa aiaa 44 0x2414 Differential or Single Ended Encoder ssssssssssrrssrrrssrnnrsrrnesrrresrrnnns 45 0x2415 Linear Encoder Resolution oooccccccccconcncnnnncnnnncnnnnrnnanrnnnnrnnaninnnnnnnnn 45 0x24 16 Pitch Eength irie ena e ana E di 46 02420 Velocity Limits uere Te A a A 46 0x2421 Maximum Velocity Error cccceeeeee eect e eee eee mmn menn 46 0x2422 Velocity Loop QUE cnet ire iaa 47 0x2423 Velocity
43. ata type Access PDO mapping Default value Range Units Gets sets the CANopen index of the command to which a help string is requested Writes the requested command s CANopen index in object 0x2105 and reads the help string in objects 0x2100 and 0x2101 3 1 0 Variable Unsigned32 Read Write No 0x0 0x0 OxFFFFFFF Not Applicable Ox2110 Parameter in List Object Description Lists the indexes of all the parameters that are saved in the non volatile memory EEPROM Sets sub index 1 to O to start enumeration Reads sub index 2 to retrieve the CANopen index of the EEPROM parameter On each read the enumerator will automatically advance Enumeration ends when reading Description Entry category Data type Access PDO mapping Default value Range Units Number of entries Optional Read only No 0x2 0x0 OxFFFFFFF Not Applicable Parameter in list index Optional Unsigned32 Read Write No 0x0 0x0 OxFFFFFFF Not Applicable OxFFFFFFFF Firmware 3 1 0 Object code Array Data type Unsigned32 Entry Sub index 000 001 002 Parameter in list Optional Unsigned32 Read Only No 0x0 0x0 OxFFFFFFF Not Applicable CANopen Reference Manual 31 Object List LVD 0x2120 Load Factory Defaults Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Loads the factory default values for all non volatile param
44. ation Notation Index Firmware 3 1 0 Object code Variable Data type Integer8 Access Read Write PDO mapping No Default value OxFE Range OxFE OxFE Units Not Applicable Ox608E Acceleration Dimension Index Object Description Acceleration Dimension Index Firmware 3 1 0 Object code Variable Data type Unsigned8 Access Read Write PDO mapping No Default value 0xA4 Range OxA4 OxA4 Units Not Applicable CANopen Reference Manual 91 Object List LVD Ox608F Position Encoder Resolution Object Description Indicates the configured encoder increments and number of motor revolutions Position Encoder Resolution is calculated as follows encoder increments motor revolutions When the value of encoder resolution is changed Config object 0x2620 is required Firmware 3 1 0 Object code Array Data type Unsigned32 Entry Sub index 000 001 002 Description Highest sub index Encoder Motor revolutions supported increments Entry category Optional Optional Optional Data type Unsigned32 Unsigned32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x1 0x1 Range 0x2 0x2 Ox1 OxFFFFFFFF Ox1 OxFFFFFFFF Units Not Applicable Not Applicable Not Applicable 92 CANopen Reference Manual LVD Object List 0x6098 Homing Method Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Sets the homing method The following value
45. ative gain of the velocity loop 3 1 0 Variable Integer32 Read Write No Ox3E8 0x0 0x1000000 mA rpm 100 125us 2 0x2540 Velocity Loop Feedback Derivative Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the feedback derivative gain of the velocity loop 3 1 0 Variable Integer32 Read Write No 0x3E8 0x0 0x1000000 Not Applicable 0x2545 Velocity Loop LPF Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the low pass filter cutoff frequency for the velocity loop 3 1 0 Variable Unsigned16 Read Write No 0x1C2 Ox1 0x7530 Hz 66 CANopen Reference Manual LVD Object List 0x2550 Position Loop Proportional Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the proportional gain for the position control loop 3 1 0 Variable Integer32 Read Write No Ox3E8 0x0 Ox7FFFFFFF rpm 100 counts 2 0x2555 Position Loop Integral Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the integral gain for the position control loop 3 1 0 Variable Integer32 Read Write No OxA 0x0 Ox7FFFFFFF Not Applicable 0x2560 Position Loop Derivative Gain Object Descriptio
46. cceleration will be 814 encoder resolution 3 1 0 Variable Unsigned32 Read Write Yes Ox3E8 0x0 Ox1FBDO RPM sec CANopen Reference Manual LVD Object List Ox60A3 Profile Jerk Use Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Not supported yet Not Applicable Variable Unsigned8 Read Write No Not Applicable Not Applicable Not Applicable 0x60A4 Profile Jerk Object Description Firmware Object code Data type Not supported yet Not Applicable Array Unsigned32 CANopen Reference Manual 95 Object List LVD Ox60BS8 Touch Probe Function Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Indicates the configured function of the touch probe This object is bit structured Bit Value Description O 0 switch off touch probe 1 1 enable touch probe 1 0 trigger first event 1 continuous 0 trigger touch probe 1 input 1 trigger with zero pulse signal or position encoder 3 Reserved 4 0 switch off sampling at positive edge of touch probe 1 1 enable sampling at positive edge of touch probe 5 0 switch off sampling at negative edge of touch probe 1 1 enable sampling at negative edge of touch probe 1 6 7 User defined e g for testing 3 1 0 Variable Unsigned16 Read Write No 0x00 0x0000 OxFFFF Not Applicable
47. cess PDO mapping Default value Range Units Returns the current state of the Hall sensors 3 1 0 Variable Unsigned16 Read only No Not Applicable 0x0000 OxOOFF Not Applicable 0x2610 Analog Position Command Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units An analog position scale factor that scales the analog input to Position Demand Value object 0x6062 Limited to Analog Position mode operation mode 3 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF Counts mV CANopen Reference Manual 69 Object List LVD 0x2611 Analog Velocity Command Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units An analog velocity scale factor that scales the analog input to velocity demand value object 0x606B Limited to Analog Velocity mode operation mode 4 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF Not Applicable 0x2612 Analog Current Command Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units An analog current scale factor that scales the analog input to torque demand value object 0x6074 Limited to Analog Torque mode operation mode 5 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF mA V CANopen Reference Manual
48. cnnnnrnnnnrnnnnrnnnnrnnnnrnrrnrnnaninnnn 59 0x2472 State of PTP Generator a a rd od 59 0x2480 I2 T Value Lar da A AA AA AAA AA A en eds 60 0X24 81 I2T LIM baits aer a texte etna cer rc ea tata AER eL iaa ai 60 0x2482 Phase A Current o an 61 0x2483 Phase B CUrTreNt cccecccecece cece sees eee eee nennen nean nea seas sea sea sea nn nen nnn 61 0x2484 Phase C Current ccccccececeeee cece scene eee e eee nennen nean sea sea sea sea ne nnn nnn 61 0x2485 Phase A Current Offset ssssssrsesserrsrrssnsrrrennasnorrennnennorrnnnnenserran 62 0x2486 Phase B Current Offset coccccccconccnconcnncnncnncan nennen nennen nnns nnn nnn 62 0x2487 Phase C Current OffSet ssssssrsesserrsrrsensrrnennasnorrnnnnesnorrnnnnenserran 62 0x2488 Over Voltage Fault Level oooooccccccccccncnconcncnnnncnnnnrnnnnrn narra nannnna nan 63 0x2489 Under Voltage Fault Level oooococcccncnccncncnnnnnonnncnnnnnnnnnrnnnnranannnnannnnnn 63 0x2500 Current Loop Proportional Gain cceceee eee ee ee eee nets eens ee eeeeaees 63 0x2505 Current Loop Integral Gain cc ccece cece eee eee eee eee eee nets nee eena ees 64 0x2510 Current Loop Derivative Gain sese 64 0x2515 Current Loop Pole Placement ssssssssssseeem enne 64 0x2520 Velocity Loop Command Proportional Gain eene 65 0x2525 Velocity Loop Feedback Proportional Gain eeeeeeeeeeeeees 65 0x2530 Velocity Loop Integral Gain
49. d16 Read only Read Write No No 0x6 0x1 0x0 0x6 0x0 Ox1 Not Applicable Not Applicable 52 CANopen Reference Manual LVD Object List 0x2458 Digital Outputs Functionality Object Description Gets sets the functionality of digital outputs sub index 1 for digital output 1 sub index 2 for digital output 2 etc Output functionality O The digital output is always low 1 If the velocity value is greater than Digital Outputs Low Window the output is set to high 2 If the current value is greater than Digital Outputs Low Window the output is set to high 3 Reserved 4 If the velocity value is less than Digital Outputs High Window object 0x2459 and greater than Digital Outputs Low Window object 0x245a the output is set to high 5 Reserved 6 Motion Completed Set according to bit 10 target reached of the status word object 0x6041 7 In Position Set when the position error value is smaller than the value of position window object 0x6067 8 Zero Speed If the velocity absolute value is less than or equal to Digital Outputs Low Window object 0x245a the output is set to high 9 Soft Position Limit If the position value is less than the value of Digital Outputs High Window object 0x2459 and greater than Digital Outputs Low Window object 0x245a the output is set to high 10 Active Set when the drive is enabled 11 Reserved 12 Reserved 13 Set according to
50. definition is valid O No homing method assigned 1 Homing method 1 is used 36 Homing method 36 is used x Manufacturer specific Refer to the CiA 402 standard for the detailed description of each homing method 3 1 0 Variable Integer8 Read Write No 0x01 0x01 0x23 Not Applicable 0x6099 Homing Speeds Object Description Firmware Object code Data type Indicates the commanded speeds used during homing procedure Sets the homing velocity for searching the home switch sub index 1 and the homing velocity for searching the index signal sub index 2 3 1 0 Array Unsigned32 CANopen Reference Manual 93 Object List LVD Entry Sub index 000 001 002 Description Highest sub index Fast homing Slow homing supported speed speed Entry category Optional Optional Optional Data type Unsigned32 Unsigned32 Access Read only Read Write Read Write PDO mapping No Yes Yes Default value 0x2 0x3E8 0x3E8 Range 0x2 0x2 0x0 Ox7FFFFFFF 0x0 Ox7FFFFFFF Units Not Applicable RPM 100 RPM 100 Object 0x609A Homing Acceleration Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the value of acceleration and deceleration for the homing process The minimum acceleration value is 814 encoder resolution rpm s due to quantization and sample time limitations If a value less than 814 encoder resolution is set the effective a
51. disables signals O 2 Remote enable input is off 1 Remote enable input is on 3 1 0 Variable Integer16 Read only No Not Applicable 0x0000 0x0001 Not Applicable 0x2460 Analog Inputs Object Description Firmware Object code Data type Returns the analog inputs values Sub index 1 will return the value of analog input 1 and sub index 2 will return the value of analog input 2 This input can be used as analog command for torque or velocity 3 1 0 Array Integer16 56 CANopen Reference Manual LVD Object List Entry Sub index 000 001 002 Description Number of entries Analog Input 1 Analog Input 2 Entry category Optional Optional Optional Data type Integer16 Integer16 Access Read only Read only Read only PDO mapping No Yes Yes Default value 0x0002 Not Applicable Not Applicable Range 0x8000 Ox7FFF OxB1EO 0x4E20 OxB1EO Ox4E20 Units Not Applicable Not Applicable Not Applicable 0x2461 Analog Inputs Offset Object Description Gets sets a value that is added to the analog inputs to the drive to compensate for offset in the analog input signal Sub index 1 will return the value of analog input offset 1 sub index 2 will return the value of analog input offset 2 The analog input offset can be automatically set to the current analog input value by calling the analog zero function object 0x2462 Firmware 3 1 0 Object code Array Data type Integer
52. e The sub indices contain the indices the sub indices and the lengths of the mapped sub indices Their structure is as follows index 16 bit sub index 8 bit 3 1 0 Record length 8 bit Data type PDO MAPPING Entry Sub index 000 001 002 003 Description Number of Mapping Mapping Mapping entries entry 1 entry 2 entry 3 Entry category Mandatory Optional Optional Optional Data type Unsigned32 Unsigned32 Unsigned32 Access Read Write Read Write Read Write Read Write PDO mapping No No No No Default value 0x3 Ox60FF0020 0x60710010 0x60730010 Range 0x0 0x40 0x0 0x0 0x0 OxFFFFFFFF OxFFFFFFFF OxFFFFFFFF Units Not Not Not Not Applicable Applicable Applicable Applicable 0x1602 Receive PDO Mapping Parameter 3 Object Description Firmware Object code Data type The sub indices contain the indices the sub indices and the lengths of the mapped sub indices Their structure is as follows index 16 bit sub index 8 bit 3 1 0 Record PDO MAPPING length 8 bit CANopen Reference Manual 25 Object List LVD Entry Sub index 000 001 002 003 Description Number of Mapping Mapping Mapping entries entry 1 entry 2 entry 3 Entry category Mandatory Optional Optional Optional Data type Unsigned32 Unsigned32 Unsigned32 Access Read Write Read Write Read Write Read Write PDO mapping No No No No Default value 0x3 0x60730010 Ox60FE0120 0x60710010 Range 0x0 0x40 0x
53. e Data type Access PDO mapping Default value Range Units Gets sets the separation term for the gain paths of the current controller 3 1 0 Variable Integer32 Read Write No OxFFFF 0x0 OxFFFF Not Applicable 64 CANopen Reference Manual LVD Object List 0x2520 Velocity Loop Command Proportional Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the command proportional gain for the velocity loop 3 1 0 Variable Integer32 Read Write No Ox3E8 0x0 0x1000000 mA rpm 100 219 0x2525 Velocity Loop Feedback Proportional Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the feedback proportional gain of the velocity loop 3 1 0 Variable Integer32 Read Write No Ox3E8 0x0 0x1000000 mA rpm 100 219 0x2530 Velocity Loop Integral Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the integral gain for the velocity loop 3 1 0 Variable Integer32 Read Write No 0x64 0x0 0x1000000 Not Applicable CANopen Reference Manual 65 Object List LVD 0x2535 Velocity Loop Command Derivative Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the command deriv
54. ecture Device Control Starting and stopping of the drive and several mode specific commands are executed by the state machine Modes of Operation The operating mode defines the behavior of the drive CANopen Reference Manual 3 System Overview LVD Communications Objects PDO and SDO The communication objects are described by the services and protocols All services are described in a tabular form that contains the parameters of each service primitive that is defined for that service The primitives that are defined for a particular service determine the service type for example confirmed unconfirmed All services assume that no failures occur in the data link layer and physical layer of CAN These failures are resolved by the application Process Data Object PDO Real time data transfer is performed by means of process data objects PDO The transfer of PDO is performed without any protocol overhead The PDO correspond to objects in the object dictionary and provide the interface to the application objects Data type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping structure within the object dictionary If variable PDO mapping is supported the number of PDO and the mapping of application objects into a PDO may be transmitted to a CANopen device during the configuration process by applying the SDO services to the corresponding objects of the object dictionary There are
55. error code of the last error that occurred in the drive device 3 1 0 Variable Unsigned16 Read only No 0x0 0x0 OxFFFF 0x6040 Controlword Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Used to control the CiA 402 FSA CiA 402 modes and manufacturer specific entities This object is organized bit wise Bit Description O Switch on 1 Enable voltage 2 Quick stop 3 Enable operation 4 6 Mode specific 7 Fault reset 8 Halt 9 Mode specific 10 Reserved 11 15 Manufacturer specific 3 1 0 Variable Unsigned16 Read Write Yes 0x0000 0x0000 OxFFFF CANopen Reference Manual 73 Object List LVD 0x6041 Statusword Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Used to indicate the current state of the FSA the operation mode and manufacturer specific entities This object is organized bit wise Bit Description O Ready to switch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Manufacturer specific 9 Remote 10 Target reached 11 Internal limit active 12 13 Mode specific 14 15 Manufacturer specific 3 1 0 Variable Unsigned16 Read only Yes 0x0000 0x0000 OxFFFF 74 CANopen Reference Manual LVD Object List 0x606
56. eters 3 1 0 Variable Integer32 Read Write No 0x0 0x80000000 Ox7FFFFFF Not Applicable 0x2200 Firmware Version Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets the firmware version of the drive 3 1 0 Variable VISIBLE_STRING Read only No Not Applicable Not Applicable Not Applicable 0x2300 Recorder Channels Object Description Firmware Object code Data type Recording channels select the recorded data the CANopen index of the first channel in sub index 1 the CANopen index of the second channel in sub index 2 etc Up to 4 channels are available for recording simultaneously The total length of the recording depends on the number of channels selected Recording length 62 5us x sample period x recording memory size number of channels 3 1 0 Array Unsigned32 32 CANopen Reference Manual LVD Object List Entry Sub index 000 001 002 003 004 005 Description Number of entries Number of 002 Channel 1 index records 003 Channel 2 index Entry category Data type Access PDO mapping Default value Range Units 004 Channel 3 index 005 Channel 4 index Optional Optional Optional Unsigned32 Unsigned32 Read only Read Write Read Write No No No 0x5 0x0 0x0 0x0 OxFFFFFFFF 0x0 0x4 0x0 OxFFFFFFFF Not Applicable Not Applicable Not Applicable 0x2301 Recorder Sample Cycle Object
57. ex 000 001 002 Description Number of entries COB ID Transmission type Entry category Optional Optional Optional Data type Unsigned32 Unsigned8 Access Read only Read Write Read Write PDO mapping No No No Default value 0x02 0x200 Ox1 Range 0x02 0x05 Oxi OxFFFFFFFF 0x0 OxFF Units Not Applicable Not Applicable Not Applicable 22 CANopen Reference Manual LVD Object List 0x1401 Receive PDO Communication Parameter 2 Object Description Firmware Object code Contains the communication parameters of the current PDO the device is able to receive Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled Sub index 2 defines the transmission type 3 1 0 Record Data type PDO COMM PAR Entry Sub index 000 001 002 Description Number of entries COB ID Transmission type Entry category Optional Optional Optional Data type Unsigned32 Unsigned8 Access Read only Read Write Read Write PDO mapping No No No Default value 0x02 0x300 Ox1 Range 0x2 0x5 Ox1 OxFFFFFFFF 0x0 OxFF Units Not Applicable Not Applicable Not Applicable 0x1402 Receive PDO Communication Parameter 3 Object Description Firmware Object code Data type Contains the communication parameters of the current PDO the device is able to receive Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB
58. ference Manual Object List Object 0x1003 Predefined Error Field Description Holds errors that occurred on the device and were signaled via the Emergency object It is an error history Writing to sub index O deletes the entire error history Firmware 3 1 0 Object code Array Data type Unsigned32 Entry Sub index 000 001 002 003 004 005 Description Entry category Data type Access PDO mapping Default value Range Units 006 007 008 009 010 Number of errors Standard error field Mandatory Mandatory Unsigned32 Read Write Read only No No OxA 0x0 0x0 OxFE 0x0 OxFFFFFFFF Not Applicable Not Applicable 0x1005 COB ID SYNC Object Description Firmware Object code Data type Access PDO mapping Default value Range Units COB ID of the Synchronization object The device generates a Sync message if bit 30 is set The meaning of other bits is the same as for other communication objects 3 1 0 Variable Unsigned32 Read Write No 0x80000080 Ox1 OxFFFFFFFF Not Applicable CANopen Reference Manual 17 Object List LVD 0x1007 Synchronous Window Length Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Contains the length of the time window for synchronous messages It is O if not used 3 1 0 Variable Unsigned32 Read Write No 0x000003E8 0x0 OxFFFFFFFF us 0x
59. ial number Entry category Mandatory Mandatory Optional Data type Unsigned32 Unsigned32 Access Read only Read only Read only PDO mapping No No No Default value 0x4 0x02E1 0x0 Range Ox1 0x4 0x0 OxFFFFFFFF OxO OxFFFFFFFF Units Not Applicable Not Applicable Not Applicable 0x1200 Server SDO Parameter 1 Object Description Firmware Object code Data type Contains the parameters for the SDOs for which the device is the server 3 1 0 Record SDO PARAMETER CANopen Reference Manual 21 Object List LVD Entry Sub index Description Entry category Data type Access PDO mapping Default value Range Units 000 Number of entries Optional Read only No 0x02 0x02 Not Applicable 001 COB ID Client gt Server Mandatory Unsigned32 Read only No 0x00000600 0x00000600 OxBFFFFFFF Not Applicable 002 COB ID Client gt Server Mandatory Unsigned32 Read only No 0x00000580 0x00000580 OXBFFFFFFF Not Applicable 0x1400 Receive PDO Communication Parameter 1 Object Description Firmware Object code Contains the communication parameters of the current PDO the device is able to receive Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled Sub index 2 defines the transmission type 3 1 0 Record Data type PDO COMM PAR Entry Sub ind
60. ignal Automatic transition Drive device self test and or self initialization is performed Communication is activated None Power section is switched on if not already switched on Drive function is enabled Drive function is disabled High power is switched off immediately and the motor is free to rotate if not braked Additional action depends on the shutdown option code None High power is switched off immediately if possible Motor is free to rotate if not braked High power is switched off immediately if possible Motor is free to rotate if not braked High power is switched off immediately if possible Motor is free to rotate if not braked Quick stop function is started Power section is switched off Configured fault reaction function is executed Drive function is disabled High power is switched off CANopen Reference Manual System Overview LVD Transition Events Actions 15 Fault reset command from If the fault condition on the drive control device or local signal device no longer exists the fault reset bit in the controlword is cleared by the control device When a state transition is requested the related action is processed completely before transitioning to the new state For example when a drive device is in Operation Enabled state and receives a disable operation command the drive device continues in the Operation Enabled state until the disable ope
61. irmware 3 1 0 Object code Array Data type Integer32 Entry Sub index 000 001 002 Description Highest sub index Minimum Position Maximum Position supported Range Limit Range Limit Entry category Optional Optional Optional Data type Integer32 Integer32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x80000000 Ox7FFFFFFF Range 0x2 0x2 0x80000000 Ox7FFFFFFF 0x80000000 Ox7FFFFFFF Units Not Applicable User defined User defined position position CANopen Reference Manual 85 Object List LVD 0x607C Home Offset Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Sets the value that will be applied to Position Actual Value 0x6064 at the end of the homing process All subsequent absolute moves are performed relative to this new zero position 3 1 0 Variable Integer32 Read Write No 0x0 0x80000000 Ox7FFFFFFF Counts 0x607D Software Position Limit Object Description Sub index 1 gets sets the minimum allowed positive position limit for motion The drive will not accept move commands beyond this position upon reaching the position limit the drive will execute a stop command Sub index 2 gets sets the maximum allowed positive position limit for motion The drive will not accept move commands beyond this position upon reaching the position limit the drive will execute a stop command
62. its Gets sets the number of motor poles individual poles not pole pairs for brushless DC motor 0x2440 0 and encoder feedback types Not used in DC motor 0x2440 1 3 1 0 Variable Integer16 Read Write No 0x0002 0x0002 0x0190 must be an even number Not Applicable CANopen Reference Manual 49 Object List LVD 0x2443 Mechanical Position of Rotor Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets the position angle of the motor shaft within one mechanical motor revolution This object increments from O to 65535 in the course of one mechanical motor shaft revolution 360 degrees The range of this object does not change Its resolution is dependent upon the feedback device resolution Mechanical position of rotor 65535 x 360 Angle 3 1 0 Variable Unsigned16 Read only Yes Not Applicable 0x0 OxFFFF 1 1829 0x2450 Home Status Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the state of homing for the drive 3 1 0 Variable Integer16 Read only No 0x0000 OxO Not homed Ox1 Homed 0x2 Homing failed Not Applicable CANopen Reference Manual LVD Object List 0x2456 Digital Inputs Functionality Object Description Selects the functionality of digital inputs 1 to 6 sub index 1 for digital input 1 state sub i
63. licable Not Applicable Sub index 003 004 005 Description Recorder Recorder condition Recorder buffer condition value comparator location Entry category Optional Optional Optional Data type Integer32 Integer32 Integer32 Access Read Write Read Write Read Write PDO mapping No No No Default value 0x0 0x0 0x0 Range 0x80000000 0x0 Ox1 0x7A120 Ox7FFFFFFF Units Not Applicable Not Applicable Not Applicable 34 CANopen Reference Manual LVD Object List 0x2303 Recorder Total Number of Points Object Description Gets the total number of points available for recording Firmware 3 1 0 Object code Variable Data type Unsigned16 Access Read only PDO mapping No Default value 0x0 Range 0x0 OxFFF Units Not Applicable 0x2304 Recordable Parameters Object Description Reads the list of parameters available for recording Sets sub index 1 to zero to start enumeration Reads sub index 2 to retrieve the CANopen index of the recordable parameter On each read the enumerator will automatically advance Enumeration ends when reading OxFFFFFFFF Firmware 3 1 0 Object code Array Data type Unsigned32 Entry Sub index 000 001 002 Description Number of entries Recordable list Recordable index parameter Entry category Optional Optional Optional Data type Unsigned32 Unsigned32 Access Read only Read Write Read Write PDO mapping No No No Default value 0x2 0x0 0x0 Range 0x0 OxFFFFFFFF 0x0 OxFFFFFFFF 0x0
64. n Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the derivative gain for the position control loop 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF rpm 100 counts 250us 2 CANopen Reference Manual 67 Object List LVD 0x2565 Position Loop Feed Forward Velocity Term Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets feed forward velocity term gain of the position control loop 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF Counts 250us 2 0x2570 Position Loop Feed Forward Acceleration Term Gain Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the feed forward acceleration term gain of the position control loop 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF Counts 250us 2 0x2575 Position Loop Integrator Input Saturation Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the input saturation level for the position loop integrator increment 3 1 0 Variable Integer32 Read Write No 0x186A0 0x0 Ox7FFFFFFF Counts 68 CANopen Reference Manual LVD Object List 0x2600 Halls Object Description Firmware Object code Data type Ac
65. ncoder Feedback is supported 3 1 0 Array Unsigned32 42 CANopen Reference Manual LVD Object List Entry Sub index 000 001 002 003 Description Number of Number of Part ID Supported entries IOs Rev ID feedback types Entry category Optional Optional Optional Optional Data type Unsigned32 Unsigned32 Unsigned32 Access Read only Read only Read only Read only PDO mapping No No No No Default value 0x03 0x6 0x4 0x4 Range 0x0 0x4 0x0 0x0 0x0 OxFFFFFFFF OxFFFFFFFF OxFFFFFFFF Units Not Not Not Not Applicable Applicable Applicable Applicable 0x2411 Feedback Type Object Description Selects motor encoder type 0x0 AB Encoder Halls 0x1 ABI Encoder Halls Firmware 3 1 0 Object code Variable Data type Unsigned8 Access Read Write PDO mapping No Default value 0x0 Range 0x0 Ox1 Units Not Applicable CANopen Reference Manual 43 Object List LVD 0x2412 Encoder Resolution Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the resolution of the motor encoder in number of lines per revolution of the motor The number of encoder counts per revolution is obtained by multiplying the value by 4 When the value of this object is changed calling the CONFIG function object 0x2620 is required When linear motor is used refer to object 0x2440 the value of this object is read only and its value is the number of encoder lines
66. ndex 2 for digital input 2 state etc Available functionalities O Disabled 1 General 2 Homing 3 Positive Limit Switch 4 Negative Limit Switch 5 Remote Enable controls Enable Operation Disable Operation states Firmware 3 1 0 Object code Array Data type Unsigned16 Entry Sub index 000 001 002 003 004 005 006 Description Number of entries 001 Functionality of Input 1 002 Functionality of Input 2 003 Functionality of Input 3 004 Functionality of Input 4 005 Functionality of Input 5 006 Functionality of Input 6 Entry category Optional Optional Data type Unsigned16 Access Read only Read Write PDO mapping No No Default value 0x6 0x0 Range 0x0 0x6 0x0 0x6 Units Not Applicable Not Applicable CANopen Reference Manual 51 Object List LVD 0x2457 Digital Inputs Polarity Object Description Inverts the polarity of digital inputs 1 to 6 sub index 1 for digital input 1 state sub index 2 for digital input 2 state etc O Polarity inverted 1 Polarity not inverted Description Entry category Data type Access PDO mapping Default value Range Units Firmware 3 1 0 Object code Array Data type Unsigned16 Entry Sub index 000 001 002 003 004 005 006 Number of entries 001 Polarity of Input 1 002 Polarity of Input 2 003 Polarity of Input 3 004 Polarity of Input 4 005 Polarity of Input 5 006 Polarity of Input 6 Optional Optional Unsigne
67. nication Parameter 2 occoccccconncncnnnnnnnnnnnnnnancnns 23 Servotronix iii 0x1402 Receive PDO Communication Parameter 3 00 ococccccnncnnnnnannnnnannnnna nana 23 0x1600 Receive PDO Mapping Parameter 1 esseee n 24 0x1601 Receive PDO Mapping Parameter 2 sseseesee nnn 25 0x1602 Receive PDO Mapping Parameter B oocccccccnncnncnnnnnnnnnnnannnn nn 25 0x1800 Transmit PDO Communication Parameter 1 sese 26 0x1801 Transmit PDO Communication Parameter 2 0oocccccnnnnnnnnnnnannnnna nana 27 Ox1A00 Transmit PDO Mapping Parameter 1 oocccccoccnncnnnnnnnnnnnnnnnn nn 28 Ox1A01 Transmit PDO Mapping Parameter 2 0cccccccoccnncnnnnnnnnnanannnanannn nano 29 Manufacturer Specific Objects eene dos 30 0x2100 Parameter Help String1 ssssssssssseeememnmenenennee 30 0x2101 Parameter Help StrinQGZ cooccccccnccncccnncncnnnnnnnnncnnnnrnnnnrnnnnrnnannnnannnnnn 30 0x2105 Parameter Help Ind Xreirnii miena a a a E aa a eene 31 090x2110 Parameter ii ea 31 0x2120 Load Factory Defaults 0 ooccccccconconconconcnnconcnn can nennen nnn nnn nnn 32 0x2200 Firmware Version rrna riir anA E anA AE A NAAA A A 32 0x2300 Recorder Channels retenta a 32 0x2301 Recorder Sample Cycle sirier eren er nan nia enhn na a ue In aa cu ga 33 0x2302 Recorder Trigger eee certe Rex euh edi sat etae palus i e RAE ala Pi n a 34 0x2303 Recorder Total Number of Points esssssssssssseeenenenne 35 0x2304 Record
68. nits Sets gets the linear motor pitch length in mm 100 3 1 0 Variable Unsigned32 Read Write No 0x800 0x4 0x2625A0 mm 100 0x2420 Velocity Limit Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the soft velocity limit 3 1 0 Variable Integer32 Read Write No 0x186A0 0x0 Ox7FFFFFFF rpm 100 0x2421 Maximum Velocity Error Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the maximum allowed value for the velocity error Setting a value of 0x0 disables velocity error monitoring 3 1 0 Variable Integer32 Read Write No 0x0 0x80000000 0x7FFFFFFF rpm 100 46 CANopen Reference Manual LVD Object List 0x2422 Velocity Loop Out Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the value of the velocity loop output control effort This value is the input of the current loop in all operation modes except Torque mode operation mode 4 3 1 0 Variable Integer16 Read only No 0x0000 0x8000 Ox7FFF mA 0x2423 Velocity Over Speed Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the velocity value that triggers the over speed protection fault 3 1 0 Variable Integer32 Read Write
69. nsigned32 Read Write No 0x0 0x0 Ox7FFFFFFF Encoder counts per communication cycle time CANopen Reference Manual LVD Object List 0x2471 Position Stop Mode Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Defines how the drive reacts to the software position limits O Position limited to MaxS32bit 1 Position limited to software position limits 2 Not supported 3 1 0 Variable Integer16 Read Write No 0x0000 0x0000 0x0002 Not Applicable 0x2472 State of PTP Generator Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the state of the profiled position also known as point to point generator 3 1 0 Variable Integer16 Read only Yes Not Applicable 0x0 Idle 0x1 Acceleration 0x2 Cruise 0x3 Deceleration Not Applicable CANopen Reference Manual 59 Object List LVD 0x2480 I2T Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the value of the I T integrator The drive will generate a fault when this value exceeds the value set in I2T limit object 0x2481 The I T integrator is calculated as shown in the equation below It functions continuously from the time the drive is powered up It limits the energy delivered to the motor to the continuous cur
70. nteger32 Read Write Yes 0x0 0x80000000 0x7FFFFFFF Feedback counts 0x6065 Following Error Window Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Indicates the symmetrical range of tolerated positions relative to Position Demand If the actual value of the position encoder is outside the following error window a following error occurs A following error may occur when a drive is blocked or an unreachable profile velocity occurs or at wrong closed loop coefficients If the value of the following error window is FFFF FFFFh the following control is switched off Gets sets the maximum allowed value for the position error This parameter is used in Profile Position Interpolated Position and Jog In Position operation modes operation modes 1 7 and 1 respectively 3 1 0 Variable Unsigned32 Read Write No 0x64 0x0 Ox7FFFFFFF User defined position CANopen Reference Manual LVD Object List 0x6067 Position Window Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Indicates the symmetrical range of accepted positions relative to Target Position If the actual value of the position encoder is within Position Window this target position is regarded as reached If the value of the Position Window is FFFF FFFFh Position Window control is switched off Gets sets the value for
71. ower board temperature is below 30 C or above 90 C 3 1 0 Variable Integer16 Read only No 0x0000 0x8000 Ox7FFF Not Applicable 0x2401 Drive Time Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Displays the accumulative time of the drive operation 3 1 0 Variable VISIBLE_STRING Read only No Not Applicable Not Applicable Not Applicable CANopen Reference Manual 39 Object List LVD 0x2402 PWM Frequency Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Changes the PWM frequency of the drive 16 kHz standard 100 kHz for low inductance motors Can be changed only when drive is disabled Note The drive must be restarted for the change to take effect 3 1 0 Variable Unsigned8 Read Write No 0x0 0x0 16 kHz 0x1 100 kHz Not Applicable 0x2403 Real Time Cycle Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets the real time cycle length 3 1 0 Variable Unsigned32 Read only No 0x0 0x0 OxFFFFFFFF Nanoseconds ns CANopen Reference Manual LVD Object List 0x2405 Drive Enabled Time Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Displays the accumulative time of the drive in Enable state 3 1 0 Vari
72. per pitch 3 1 0 Variable Unsigned32 Read Write No 0x800 0x4 0x2625A0 Not Applicable 0x2413 Encoder Direction Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets motor encoder direction of count This is the same as swapping A and B signals 3 1 0 Variable Integer8 Read Write No 0x0 0x0 Swapped Ox1 Not swapped Not Applicable CANopen Reference Manual LVD Object List 0x2414 Differential or Single Ended Encoder Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the encoder type 0x0 Single Ended Encoder Ox1 Differential Encoder 3 1 0 Variable Integer16 Read Write No 0x0 0x0 Ox1 Not Applicable 0x2415 Linear Encoder Resolution Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Sets the resolution of the linear encoder The number of encoder counts per millimeter is obtained by multiplying this object by 4 The number of encoder lines per pitch can be read in object 0x2412 Encoder Resolution 3 1 0 Variable Unsigned32 Read Write No 0x800 0x4 0x2625A0 lines mm CANopen Reference Manual 45 Object List LVD 0x2416 Pitch Length Object Description Firmware Object code Data type Access PDO mapping Default value Range U
73. r16 Read only Yes Not Applicable 0x8000 Ox7FFF mA CANopen Reference Manual 61 Object List LVD 0x2485 Phase A Current Offset Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the offset value of phase A This offset is automatically calculated during the startup of the drive 3 1 0 Variable Integer16 Read only Yes Not Applicable 0x8000 Ox7FFF mA 0x2486 Phase B Current Offset Object code Data type Access PDO mapping Default value Range Units Object Description Returns the offset value of phase B This offset is automatically calculated during the startup of the drive Firmware 3 1 0 Variable Integer16 Read only Yes 0x0000 0x8000 Ox7FFF mA 0x2487 Phase C Current Offset Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the offset value of phase C This offset is automatically calculated during the startup of the drive 3 1 0 Variable Integer16 Read only Yes 0x0000 0x8000 Ox7FFF mA 62 CANopen Reference Manual LVD Object List 0x2488 Over Voltage Fault Level Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the over voltage fault limit for the bus voltage Must be higher than 0x2489 under voltage fault level 3 1 0
74. ration function has completed When the drive function is disabled it implies that no energy is supplied to the motor Target and set point values for example torque velocity position are not processed When the drive function is enabled it implies that energy is supplied to the motor Target and set point values are processed When a fault is detected in the drive device the state changes to the Fault Reaction Active state In this state the PDS executes a special fault reaction After the execution of this fault reaction the drive device switches automatically to the Fault state This state can only be changed using the fault reset command and only when the fault is no longer active When a fatal error occurs the drive device is no longer able to control the motor and an immediate switch off of the drive device occurs Object Units The physical dimensions for position velocity and acceleration parameters are constant Table 2 3 Default Unit Dimensions Unit Dimension Definition Position units counts 4 x encoder lines revolution Velocity units 0 01 x rpm 0 01 x revolutions per minute Acceleration units rpm s velocity unit second Current units milliampere mA Object Access Types Table 2 4 Object Access Types Unit Dimension Definition Read Write Read and write access Read only Read only Constant Read only access value is constant 8 CANopen Reference Manual LVD System Ove
75. rent rating of the drive I2T I Lon dt 3 1 0 Variable Integer32 Read only Yes Not Applicable 0x0 Ox7FFFFFFF A ms 0x2481 I2T Limit Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets I T integrator limit value The drive generates a fault if this value is exceeded by the I T integrator Setting the I2T limit to O disables this feature 3 1 0 Variable Integer32 Read Write No 0x0 0x0 Ox7FFFFFFF A ms CANopen Reference Manual LVD Object List 0x2482 Phase A Current Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the total current flowing through phase A of the motor Sampled at a rate of 16 kHz 3 1 0 Variable Integer16 Read only Yes Not Applicable 0x8000 Ox7FFF mA 0x2483 Phase B Current Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the total current flowing through phase B of the motor Sampled at a rate of 16 kHz 3 1 0 Variable Integer16 Read only Yes 0x0000 0x8000 Ox7FFF mA 0x2484 Phase C Current Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the total current flowing through phase C of the motor Sampled at a rate of 16 kHz 3 1 0 Variable Intege
76. rview CANopen Node Address Within the CANopen network a unique node address identification number is allocated to each individual CANopen device The LVD node address is set using hardware switches CAN Bitrate Fixed at 1 Mbps CANopen Reference Manual 9 System Overview LVD 10 CANopen Reference Manual LVD Error Handling 3 Error Handling Emergency Message Frame Upon detection of device internal errors the LVD will transmit emergency message frames over the CANopen network using COB ID EMCY An emergency message frame will be transmitted only once per error event and consists of the error code and the actual state of the Error Register object Table 3 1 Emergency Message Frame Byte 0 1 2 3 4 5 6 7 Description Error code Error Not used always 0 register Error Codes Emergency messages are triggered by internal errors and severe warnings detected within the drive device The messages contain a 16 bit error code Error codes from xx00h to xx7Fh are defined in Table 3 2 Error codes between xx80h and xxFFh are manufacturer specific Table 3 2 Error Codes Error Code Description 0x2130 Over current fault 0x2310 I2T fault 0x3110 Over voltage fault 0x3120 Under voltage fault 0x4310 Over temperature fault 0x5430 EEPROM fault 0x5530 EEPROM checksum fault 0x7122 Commutation fault 0x7305 Encoder line
77. supported Entry category Optional Optional Optional Data type Unsigned32 Unsigned32 Access Read only Read Write Read Write PDO mapping Yes Yes No Default value 0x2 0x0 0x0 Range 0x1 0x2 0x0 OxFFFFFFFF 0x0 OxFFFFFFFF Units Not Applicable Not Applicable Not Applicable Ox60FF Target Velocity Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Indicates the configured target velocity and is used as input for the trajectory generator Sets the requested speed for the Velocity Profile operation mode Limited to the Velocity Profile operation mode 3 1 0 Variable Integer32 Read Write Yes 0x0 0x80000000 Ox7FFFFFFF User defined velocity CANopen Reference Manual 103 Object List LVD 0x6402 Motor Type Object Description Will be supported in a future version Use object 0x2440 to configure the motor type Firmware Not Applicable Object code Not Applicable Data type Not Applicable Access Not Applicable PDO mapping Not Applicable Default value Not Applicable Range Not Applicable Units Not Applicable 104 CANopen Reference Manual LVD Object List 0x6502 Supported Drive Modes Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Provides information on the supported drive modes This object is organized bit wise The bits have the following meaning
78. t is only possible to start a point to point move when the drive is in the operation enabled state controlword local signals Logical operation local remote switch error detection signals PDS FSA drive status statusword Figure 2 2 Remote and Local Control CANopen Reference Manual 5 System Overview LVD Finite State Automaton Figure 2 3 illustrates the PDS FSA behavior It takes into consideration the control of the power electronics with accordance to user commands and internal drive faults Start 0 Not ready to switch on ji 15 Switch on s Fault _ disabled l2 17 114 13 40 Ready to Fault reaction switch on active 12 i 3 T 6 Switched on 8l 9 i 4 T 5 Power off or reset Quick stop Operation pe active ITE enabled Figure 2 3 Power Drive System Finite State Automaton The FSA states support the functions as shown in Table 2 1 The start state is a pseudo state indicating the start when the FSA is activated during the start up sequence of the device drive s application software Table 2 1 FSA States and Supported Functions Function FSA States Not Switch On Ready to Switched Operation Quick Fault Fault Ready to Disabled Switch On On Enabled Stop Reaction Switch On Active Active Brake applied Yes Yes Yes if present Yes Yes Yes Yes No No No Yes Low level power applied Yes Yes Yes Yes Yes Yes Yes Yes High level Yes
79. the error that will set the target reached bit This parameter is used in Profile Position Interpolated Position and Jog In Position operation modes operation modes 1 7 and 1 respectively 3 1 0 Variable Unsigned32 Read Write No 0x64 0x0 Ox7FFFFFFF User defined position Ox606B Velocity Demand Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Sets the velocity command for the motor in Velocity mode operation mode 2 Gets the velocity command applied to the velocity controller This value is equivalent to the analog input object 0x2460 in operation mode 4 to the jog profiler output in operation mode 3 and the output of the position controller in operation modes 1 6 and 7 3 1 0 Variable Integer32 Read only Yes 0x0 0x80000000 Ox7FFFFFFF rpm 100 CANopen Reference Manual 79 Object List LVD Ox606C Velocity Actual Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the velocity of the motor as calculated from the motor feedback 3 1 0 Variable Integer32 Read only Yes 0x0 0x80000000 0x7FFFFFFF rpm 100 0x606D Velocity Window Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Will be supported in a future version Not Applicable Variable Unsigned16
80. the most effective way we recommend that you contact your local sales representative for order status and delivery information product information and literature and application and field technical assistance If you are unable to contact your local sales representative for any reason please use the most relevant of the contact details below For technical support contact tech support servotronix com To order products contact orders servotronix com For all other inquiries regarding LVD drives or other Servotronix products contact customer service servotronix com Servotronix LVD Contents 1 Introduction 1 DOCUMENTATION seas see detach deuv dl 1 About This Manual 2 5 ren reed ia 1 Documentation Set for the LVD rere inr aa nana na eene nin n nn 1 2 System Overview 3 Device Communication Architecture cccccccccccscceeesceeeecceeeucueeeecuueercueeeecuueeesuuneragnes 3 Communications Objects PDO and SDO ssssssssssseseeem emm 4 Process Data Object PDO si scccveciivadn bas eie eva ia ERR nan aD ns 4 Service Data Object SDO sesssrrsssssrrerrssnrsrrrennesnorrennnesnorrennnensorrennnenserran 4 Device Control and State MachiN8 cccccoccccconcncnananananancnnnnnna nan annranan aran enin n n 5 Introduction oocccconncncnnnnncnonancnnnnncnnnna rana narran aenean anna aaa aaa aaa a n na 5 Finite State Automaton ssssssseeeeee nennen eese essen ann 6 Object UNITS ni et ix to ee tr a etel
81. type Entry category Optional Optional Optional Data type Unsigned32 Unsigned8 Access Read only Read Write Read Write PDO mapping No No No Default value 0x02 0x280 Ox1 Range Ox2 0x6 Ox1 OxFFFFFFF 0x0 OxFF Units Not Applicable Not Applicable Not Applicable CANopen Reference Manual 27 Object List LVD Ox1A00 Transmit PDO Mapping Parameter 1 Object Description Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter is at index 21h The sub index 0 contains the number of valid entries within the mapping record This number of entries is also the number of the application variables which is transmitted with the corresponding PDO Firmware Object code The sub indices from 1 to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index sub index and length All three values are hexadecimal coded The length entry contains the length of the object in bits 1 0x40 This parameter can be used to verify the overall mapping length It is mandatory 3 1 0 Record Data type PDO MAPPING Entry Sub index 000 001 002 003 Description Number of Mapping Mapping Mapping entries entry 1 entry 2 entry 3 Entry category Mandatory Optional Optional Optional Data type Unsigned32 Unsigned32 Unsigned32 Access Read Write Read Write Read Write Read Write PDO mapping No No No No
82. ult value Range Units Indicates the type of motion profile used to perform a profiled motion Only value O is supported O linear ramp i e trapezoidal profile 3 1 0 Variable Integer16 Read Write No 0x0000 0x8000 0x0003 Not Applicable CANopen Reference Manual 89 Object List LVD Ox6089 Position Notation Index Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Position Notation Index 3 1 0 Variable Integer8 Read Write No 0x0 0x0 0x0 Not Applicable Ox608A Position Dimension Index Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Position Dimension Index 3 1 0 Variable Unsigned8 Read Write No OxAC OxAC OxAC Not Applicable Ox608B Velocity Notation Index Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Velocity Notation Index 3 1 0 Variable Integer8 Read Write No OxFE OxFE OxFE Not Applicable 90 CANopen Reference Manual LVD Object List Ox608C Velocity Dimension Index Object Description Velocity Dimension Index Firmware 3 1 0 Object code Variable Data type Unsigned8 Access Read Write PDO mapping No Default value 0xA4 Range OxA4 OxA4 Units Not Applicable 0x608D Acceleration Notation Index Object Description Acceler
83. ulting current command will not exceed the Max Current value In this case a fault will not be issued 3 1 0 Variable Unsigned16 Read Write Yes OxFAO 0x0 0x4666 mA 0x6074 Torque Demand Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the current torque command to the current controller Torque Demand Value is equivalent to m The analog input command object 0x2460 in operation mode 3 m The torque command in operation mode 2 W The output of the velocity controller in operation mode 0 or 1 3 1 0 Variable Integer16 Read only Yes 0x0000 0x8000 Ox7FFF mA 82 CANopen Reference Manual LVD Object List 0x6075 Motor Rated Current Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Gets sets the value of the maximum continuous current for the motor The maximum continuous energy limit is calculated according to Motor Rated Current 3 1 0 Variable Unsigned16 Read Write No 0x1388 0x0 0x4666 mA 0x6078 Current Actual Value Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Returns the total current flowing through the motor The phase currents IA IB IC are sampled at a rate of 16 kHz and the total current is calculated at a rate of 4 kHz 3 1 0 Variable Integer16
84. x80 Ox1 OxFFFFFFF Not Applicable CANopen Reference Manual 19 Object List LVD 0x1015 Inhibit Time Emergency Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Inhibit time used for emergency message Emergency Server The time must be a multiple of 100 ms 3 1 0 Variable Unsigned16 Read Write No 0x0 0x0 FFFF Not Applicable 0x1017 Producer Heartbeat Time Object Description Firmware Object code Data type Access PDO mapping Default value Range Units Defines the cycle time of the heartbeat If O it is not used The time must be a multiple of 1 ms 3 1 0 Variable Unsigned16 Read Write No 0x000000FA 0x0 FFFF Not Applicable 20 CANopen Reference Manual LVD Object List 0x1018 Identity Object Object Description Contains general information about the device Sub index 1 contains a unique value allocated to each manufacturer Sub index 2 identifies the manufacturer specific product code device version Sub index 3 contains the revision number Bit 31 16 is the major revision number and Bit 15 0 the minor revision number Sub index 4 identifies a manufacturer specific serial number Firmware 3 1 0 Object code Record Data type IDENTITY Entry Sub index 000 001 002 003 004 Description Number of Vendor ID 002 Product code entries 003 Revision number 004 Ser
85. xF001 Acceleration Deceleration Violation Fault se 13 Error Code OxFF00 Maximum Position Derivative Fault ceeeseeeese 13 Error Code OxFFO2 Illegal Halls Fault seesseeemmee 13 4 ObjectList 15 Format Overview vicies isvui cost vaa cies A iia 15 Oxrinnn Object Name d iesu I pee d eR eda n e cn pee da En ER ER RES a da a eee daa ns 15 Communication Profile Objects cceceee cece eee mmm mme mener 16 Ox1000 Device Ty Pe iiie eiie a iei e 16 OXLOOL Error ReglsSter 4er EREREER ERE ERR de 16 0x1003 Predefined Error Field c essem menm nnn 17 OxtT005 COB ID SYNG 5 recie teet esee eoe voter rer deo ceo EL a EL cV TEE Tg Teri 17 0x1007 Synchronous Window Length ceceee eect eee eee ee eee eens eee e nena nana 18 Ox1010 Store Parameter Field csse menm menn nnn 18 Ox1011 Restore Default Parameters csse nen n nn 19 Ox1014 COB ID EMCY sessssseememenmsesehemeses emen aaa a na a a 19 0x1015 Inhibit Time Emergency isrener e eee eee memes 20 0x1017 Producer Heartbeat Time cccccccccceeeccceesceeeesceeeecueueusueeeecuueeesunneeaas 20 Ox1018 Identity ODject erudi es oh dd ake Pe wa ale bd re x da bee oh di bn ese ds iw ein x de reg 21 0x1200 Server SDO Parameter 1 ccccccecscecseeeeeesseeeeeeeeesageeeeeeeeeuguenneeenegs 21 0x1400 Receive PDO Communication Parameter 1 cseeeeennnn 22 0x1401 Receive PDO Commu

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