User Manual
Contents
1. Event Receiving a Disable Voltage command from the master control Function The high voltage power supply is cut off at once and the motor stops automatically if there is no brake State Transition 10 Switched On gt Switch On Disalbe Event Receiving a Disable Voltage command from the master control Function The power supply is cut off at once and the motor stops automatically if there is no brake State Transition 11 Operation Enable gt Quick Stop Active Event Receiving a Quick Stop command from the master control Function To execuate an emergency stop command State Transition 12 Quick Stop Active Switch On Disabled Event Quick Stop is completed or a Quick Stop command is received from the master control Function To switch off the power supply State Transition 13 All States Fault Reaction Active Event Critical fault in the driver Function Execute the corresponding fault response State Transition 14 Fault Reaction Active Fault Event Fault response over Function Driver function disabled power supply shut off possibly State Transition 15 Fault Switch On Disabled Event Receiving a Fault Reset command from the master control Function If there is a fault the current fault of the driver is reset later the master control will clear off the Fault Reset bit in the control work and the driver is not in Fault state State Transition 16 Quick Stop Active Operation Enable Event Recei2. 0 0 Regional Client 0 0 1 1 Transmission Server N Not used number of bytes E Common 0 Send 1 S Symbol of data size Chapter 5 Overview of CANopen EPC CM3 User Manual 5 2 3 Process Data Object The PDO Process Data Objects are used on producers consumers and each network node can listen to messages from the transmission nodes and also judge whether to deal with them or not after receipt The PDO data transfer can be finished in one to one or one to many manner The size of the data to be transmitted shall be within the range of 1 8 bytes for example a PDO can transfer up to 64 digital I O values or 4 AD values of 16 bits The PDO communication shall not be subject to any agreement The PDO data contents are only defined by its CAN ID assuming that the data contents of this PDO are known by producers and consumers The contents of the PDO messages are predefined or configured in the process of network startup and the mapping of the application objects to the PDO is described in the device object dictionary If the devices producers and consumers support the variable PDO mapping then the PDO mapping parameters can be configured with the SDO messages Every PDO message contains the transmission PDO TPDO and receiving PDO RPDO messages and its transmission modes are defined in the PDO communication parameter index The first group of PDO message
3. ID values should be set in the corresponding PDO communication parameters Table 5 21 PDO Mapping Parameters Mapping Index No COB ID HEX Mapping Name Description 1 200H Node ID 6040 Control Word Control word 6040 Control Word 2 6060 Mode of Operation Operation mode 6040 Control Word 9 POE Node ID 6042 Target Velocity Target speed VL 6040 Control Word RPDO JOH Node 6071 Target Torque Target torque 6040 Control Word 5 80000000H Target Principal Spindle positioning 2050 Axis location 6040 Control Word d 80000000 2060 Target Position Target position 1 180H Node ID 6060 Status Word Status word 6040 Status Word 2 280H Node ID 6061 Mode of Operation Current operation mode Display 6040 Status Word 380 IB 6044 Actual Velocity Current speed VL TPDO 6040 Status Word A 6077 Actual Torque Current torque 6040 Status Word 5 80000000H Actual Principal Actual positioning 2054 location of spindle 6040 Status Word d iod 2063 Actual Position Current location Both RPDO7 8 and TPDO7 8 are not specified 25 Chapter 6 CANopen Communication and Inverter Control EPC CM3 User Manual 6 4 LED Indicator Lights The LED indicator lights of CANopen include RUN ST CN and ERR indicator lights which separately mean CPU running slave station status communication indication
4. reverse direction NOTE The direction signal control command is invalid in rising edge 6 2 4 Motor Spindle Orientation Mode The following parameters should be set in this mode Table 20 Related Parameters in motor spindle orientation mode Object Index Sub Index Length Name Value Meanings 6060 00 1 Modes of Operation 7 F9H Mode selection 2050 00 2 Target Principal Axis User defined Positioning location of spindle 2051 00 2 Direction User defined Positioning direction of spindle 2052 00 2 Max Speed User defined Positioning speed of spindle 2053 00 2 Decelerate Time User defined Positioning deceleration time of spindle When the control word Index 6040 H is set to 000 FH the motor starts to run in the Velocity Mode Modes of Operation 72 when it is set to 080FH the motor starts to enable the spindle positioning function according to the parameters mentioned in Table 20 above NOTE 1 The spindle positioning command is invalid in high level 2 The positioning direction speed and deleration time of the spindle should be modified before the motor starts to run 24 EPC CM3 User Manual Chapter 6 CANopen Communication and Inverter Control 6 3 PDO Mapping The first four PDOs are the COB ID by default and have been already enabled by default while two rear PDOs are not specified 80000000 H and inactive and if they need to be activated the correct COB
5. 09 direction 2052 00 RWS 016 1000 Y 0 01Hz Spindle positioning F4 10 speed 2053 00 RWS U16 20 0 15 Positioning deceleration F4 11 time of spindle 33 Appendix 1 Object Dictionary Factory Default EPC CM3 User Manual 2054 00 RO U16 0 Y Positioning pulse count 00 47 of spindle 2060 00 RW U32 0 Y Carry quantity setting F4 17 F4 18 2063 00 RO U32 0 Y Current carry quantity ve 2100 00 RO U8 6 Carrying quantity 2100 01 RO U16 0 Reserved 2100 02 RO U16 0 Reserved 2100 03 RO U16 0 Fault code 2100 04 RO U16 0 Y 10 01Hz Operating frequency U0 00 2100 05 RO U16 0 Reserved 2100 06 RO an y 0002 Pee DEG 2101 00 RO U8 4 Output quantity 2101 01 RO U16 0 Y 0 1A Output current U0 04 2101 02 RO U16 0 Y V Output voltage U0 03 2101 03 RO U16 0 Y 0 1 Output power U0 06 2101 04 RO U16 0 Y 0 196 Output torque 00 05 2102 00 RO U8 5 Analog input output 2102 01 RO U16 0 Y 0 01V AlfInput voltage U0 12 2102 02 RO U16 0 Y 0 01V Al2Input voltage U0 13 2102 03 RO S16 0 Y 0 01V Al3Input voltage 00 14 2102 04 RO U16 0 Y 0 1 AO1 Output U0 15 2102 05 RO U16 0 Y 0 1 AO2 Output U0 16 Digital quantity 2103 00 RO U8 2 input output State of on off input U0 18 2103 01 RO U16 0 Y terminal State of on off output U0 19 2103 02 RO U16 0 Y termind 2104 00 RO U16 0 Y V Busb
6. 1 Slow down with slow down ramp disable of the drive function Disable Operation Option Code 0 Disable drive function 605C og RW S16 1 1 Slow down with slow down ramp and then disabling of the 35 Appendix 1 Object Dictionary Factory Default EPC CM3 User Manual drive function Halt Option Code 0 Disable drive Motor is free to 605D 00 RW 516 1 rotate 1 Slow down on slow down ramp 2 Slow down on quick stop ramp Fault reaction option code 605E 00 RW 16 0 0 Disable drive Motor is free to rotate 1 4 Reserved Modes Of Operation 2 Velocity Mode 6060 00 WO S8 2 Y 4 Profile Torque Mode 1 Simple Feed 7 Motor Spindle Orientation 6061 00 RO S8 2 Y Modes Of Operation Display 6071 00 RW 516 0 Y 0 1 Target Torque 6072 00 RW U16 1800 Y 0 1 Max Torque 6077 00 RO U16 0 Y 0 1 Torque Actual Value 6078 00 RO U16 0 Y 0 1 Current Actual Value 6079 00 RO U16 0 Y mV DC Link Circuit Voltage 6087 00 RW U32 0 Y 0 1 s Torque Slope Torque Profile Type 6088 00 RW 516 0 O Linear ramp 1 sin ramp Reserved 6410 00 RO U8 6 Number of Motor Parameters 6410 01 RO U16 0 1KW Rated power of motor 6410 02 RO U16 V Rated voltage of motor 6410 03 RO U16 0 1A Rated current of motor 6410 04 RO U16 0 01Hz Rated frequency of motor 6410 05 RO U16 Poles of motor 6410 06 RO U16 RPM Rated speed of motor
7. 10 Bit Definition of Control Words Bi Name Compulsive or it Not 0 Switch On 1 Disable Voltage 2 Quick Stop Y 3 Enable Operation Y 4 Operation Mode Specific 5 Operation Mode Specific 6 Operation Mode Specific 7 Reset Fault 8 Halt 9 Reserved 10 Reserved 11 Manufacturer Specific 12 Manufacturer Specific 13 Manufacturer Specific 14 Manufacturer Specific 15 Manufacturer Specific The commands triggering the device control in the definition of the control word bit are listed in Table 5 11 Table 5 11 Device Control Command Control Bit7 Bit3 Bit2 Bit1 BitO Word Transition of Fault Enable Quick Disable Switch Statemachine usb Reset Operation Stop Voltage On Shutdown 0 x 1 1 0 2 6 8 Switch On 0 x 1 1 1 3 Disable Voltage 0 x x 0 x 7 9 10 12 Quick Stop 0 x 0 1 x 7 10 11 Disable Operation 3 0 1 Enable Operation 0 1 1 1 1 4 16 Fault Reset EN x x x x 15 The bit definitions in modes Bit 4 Bit 6 are shown in Table 5 12 18 EPC CM3 User Manual Chapter 5 Overview of CANopen Table 5 12 Mode specific Bits in Control Word Mode Bit Velocity Standard Standard Stanard Homing Interpolated Mode Position Mode Velocity Mode Torque Mode Mode Position Mode 4 RFG New position Reserved Reserved Homing Enabled position Disabled point operation interpolation St
8. Bit5 Bit3 Bit2 Bit1 Bito State Switch On Quick Fault Operation Switched Ready to Disable Stop Enable On Switch On Not Ready to Switch On 9 i d 4 0 0 Switch Disabled 1 0 0 0 Ready to Switch On 0 0 0 Switched On 0 1 0 1 1 Operation Enabled 9 1 0 1 Fault 0 x 1 1 1 1 Fault Reaction 0 1 1 1 1 Active Quick Stop 0 0 0 1 1 1 Active Bit 4 Voltage Disable When the Voltage Disable bit is in zero clearing state it means that the Disable Voltage request has come into effect Bit 5 Quick Stop Upon resetting this bit means that the driver responds to the Quick Stop request and Bit 0 1 and 2 in status word must be set to be 1 in order to restore the driver Bit7 Warning This bit refers to a warning of the driver which means no error but it should stand for a state such as the temperature limitation operation refusal At this moment the status of the driver does not change The reason for the warning can be found out through reading fault codes and this bit can be set and reset by the equipment Bit8 Bit14 and Bit15 Manufacturer Specific This bit can be used for the user defined function of the driver manufacturer Bit9 Remote If Bit 9 is set then the parameter can be modified via CAN network and the driver can receive the control command if this bit is reset then the driver executes the local command and cannot execute the remote command The message sent by the driver includes the lo
9. Data Objects e TPDO1 TPDO8 RPDO1 RPDO8 SDO Service Data Objects Initiate SDO Download Initiate SDO Upload gt SYNC Message gt Emergency Message gt Network Management Data NMT Mode Control NMT Error Control v Node Guarding Protocol v Heartbeat Protocol Heartbeat Consumer Support Modes DS402 Part Velocity Mode 2 Profile Torque Mode 4 Self defined Part Simple Feed Mode 1 Motor Spindle Orientated Mode 7 Chapter 1 Instruction of Dedicated Functions EPC CM3 User Manual Unsupported Services Time Stamp Downloading SDO Segment Uploading SDO Segment Heartbeat Producer The dedicated Manual should be used together with the User Manual for GK800 Series High Performance AC Motor Drives EPC CM3 User Manual Chapter 2 Modification of Hardware Chapter 2 Modification of Hardware Communication expanded card EPC CM3 dedicated for CANopen should be provided with GK800 series AC motor drives The definitions of CAN terminals of EPC CM3 are as shown in Fig 2 1 and Table1 amp Fig 2 1 Definitions of CAN Terminals Table 2 1 Definition and Instruction of Pins Terminal Definition Decription 1 VCC Power supply terminal 5V 2 DGND Ground terminal OV 3 CAN CAN H bus line dominant high 4 CAN CAN L bus line dominant low Chapter 3 Simple List of Dedicated
10. Functions EPC CM3 User Manual Chapter 3 Simple List of Dedicated Functions Param Name Scope Factory Default Attr H1 00 Node address of CANopen 1 127 1 x 0 10 kbps 1 20 kbps TRES 2 50 kbps H1 01 3 125 kbps 5 4 250 kbps 5 500 kbps 6 1000 kbps H1 02 Initial state options of CANopen 0 1 0 x H1 03 Parameter transmission 0 1 0 x H1 04 Protective action of internal 0 4 0 x communication EPC CM3 User Manual Chapter 4 Specification of Dedicated Functions Chapter 4 Specification of Dedicated Functions H1 00 Node Address of CANopen Range 1 127 Factory Default 1 Node Address of CANopen 1 127 Local Node ID Communication Speed of H1 01 Range 0 6 Factory Default 5 CANopen Communication Speed of CANopen 10 Kbps 20 Kbps 50 Kbps 125 Kbps 250 Kbps 500 Kbps 1000 Kbps o Initial State Options of H1 02 Range 0 1 Factory Default 0 CANopen Initial State Options of CANopen 0 Be subject to CANopen standard After the boot up message is sent the node enters to the PRE OPERATIONAL state 1 Automatically enter OPERATIONAL state After the boot up message is sent the node enters to the OPERATIONAL state H1 03 Parameter Transmission Range 0 1 Factory Default 0 Parameter Transmission 0 No action 1 Parameter Retransmission Th
11. Location Block Diagram of CAN and CANopen Standard in OSI Network Model 5 1 Core of CANopen Protocol The core of CANopen protocol is shown as follows 1 The COB ID Communication Object Identifiers are defined with CAN identifier segments ID10 1D0 2 TheOD OBJECT DICTIONARY of equipment is used Each node in the CANopen network has an object dictionary which contains all parameters describing the behaviors of this device and its network namely all the parameters defined by the CANopen specifications which are saved in OD DS301 communication norm DS4XX equipment specification and provides sufficient space The object dictionary of a node ranges from 1000 H to 9 FFFH to the product parameters of the users The parameters in OD are addressed via 16 bit index and 8 bit sub index and can be be the data of 1 4 bytes so the 6 EPC CM3 User Manual Chapter 5 Overview of CANopen largest space occupied by OD is 64K 256 4 64MBYTES in theory COB ID includes the FUNCTION segment and address segment the NODE ID and 127 stations can be defined in all These stations are integrated in all kind of communication messages with the COB ID values as the contents and the IDs of the CANopen communication messages can be expressed in the following formula COB ID FUNCTION NODE ID The Node ID shall be defined by the system integrators for example it can be set via the toggle switch The scope of Node ID is 1 127 0 is not
12. RW U8 00 Reserved 05 RW U16 0000 0 1 Timing time 1803 00 RO U8 05 TPDO4 Communication parameter 01 RW U32 00000481 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 0 1 Timing time 1804 00 RO U8 05 TPDO5 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 Timing time 1805 00 RO U8 05 TPDO6 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 Timing time 1806 00 RO U8 05 TPDO7 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 0 1 Timing time 1807 00 RO U8 05 TPDO8 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 0 1 Timing time 1A00 00 RW U8 01 TPDO1Mapping parameter 01 RW 032 60410010 First mapping object 02 RW U32 0 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 30 EPC CM3 User Manual Appendix 1 Object Dictionary Factory Default 05 RW U32 0 Fifth mapping object 06 RW U32 0 Si
13. and fault Except the ERR indicator is red light the rest are green lights with the indication definitions shown as follows LED LED E Triggering Code Status Description Condition Off CPU failing to run On RUN 500 500 Flash Mon uem CPU running Off Off CANopen in initialization state On 500 500 CANopen in Flash 4 gt pre operational ms ms Off state ST O 1000 U 19 Flash CANopen in ms ms stopping state Off Normally CANopen in On operational state Off No message received On CN 50 50 One or more A flash messages sent or ms ms gt Off received Off No fault On 100 100 A flash 4 gt messages ng n received are lost ERR Off On 500 500 Internal Flash 4 communication ms ms Off interrupted 26 EPC CM3 User Manual Appendix 1 Object Dictionary Factory Default Appendix 1 Object Dictionary Factory Default 05301 Parameter Table Index Sub Index Access Default a ENE Pamesa W e9 os 1000 00 RO 032 00010192 Equipment Type 1001 00 RO U8 00 Faulty register 1002 00 RO U32 00000000 Manufacturer state register 1005 00 RW U32 00000080 Sync message COBID 10
14. he designated location and this mode supports the limit function and the track production Standard Torque Mode 4 Profile Torque Mode This torque control defines all the parameters related to the torque Homing Mode 6 Homing Mode This mode defines several methods for finding original locations also defines the reference points data and zero Interpolated Position Mode 7 Interpolated Position Mode The mode describes the single axis interpolation and the travel of spatial linkage axis time interpolation Synchronous machines and interpolation data cache are included There are many different adjusters in the drivers and different parameters should be used for different algorithms for each adjuster Coupled with the diverse technical solutions all the adjusters can not be defined in a standardized way If the parameters of the adjuster should be set through the network then the objects defined by the manufacturers must be used 17 Chapter 5 Overview of CANopen EPC CM3 User Manual 5 3 5 Device Control The Device Control Index 6040H can start or stop the driver and commands specified in several modes These commands are execuated by the statemachine The meanings of the control words are shown in Table 10 MSB LSB Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit 15 14 13 12 14 10 9 8 7 6 5 4 3 2 1 0 Table 5
15. 0010 First mapping object 02 RW U32 0 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1601 00 RW U8 02 Number of mapping objects 01 RW 032 60400010 First mapping object 02 RW U32 60600008 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1602 00 RW U8 02 RPDO2Mapping parameter 01 RW 032 60400010 First mapping object 02 RW 032 60420010 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1603 00 RW U8 02 RPDO3Mapping parameter 01 RW 032 60400010 First mapping object 02 RW 032 60710010 Second mapping object 1604 00 RW U8 02 RPDOAMapping parameter 01 RW 032 60400010 First mapping object 28 EPC CM3 User Manual Appendix 1 Object Dictionary Factory Default 02 RW U32 20500010 Second mapping object 1605 00 RW U8 02 RPDO5Mapping parameter 01 RW
16. 032 60400010 First mapping object 02 RW U32 20600020 RPDO6Mapping parameter 1606 00 RW U8 00 RPDO7Mapping parameter 01 RW U32 0 First mapping object 02 RW U32 0 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1607 00 RW U8 00 RPDO8Mapping parameter 01 RW U32 0 First mapping object 02 RW U32 0 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1800 00 RO U8 05 TPDO1 Communication parameter 01 RW U32 00000181 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 Timing time 1801 00 RO U8 05 TPDO2 Communication parameter 01 RW U32 00000281 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 04 RW U8 00 Reserved 05 RW U16 0000 0 1 Timing time 1802 00 RO U8 05 TPDO3 Communication parameter 01 RW U32 00000381 COBID 02 RW U8 FF Transfer Type 03 RW U16 0000 0 1ms Disabled time 29 Appendix 1 Object Dictionary Factory Default EPC CM3 User Manual 04
17. 08 00 RO U32 4B415447 Equipment name GTAK 1009 00 RO U32 30304230 Hardware version B00 100A 00 RO U32 36303038 Software version 8006 100C 00 RW U16 0000 ms Node protection 100D 00 RW U8 00 Life protection 1014 00 RW U32 00000081 Emergency message COBID 1015 00 RW U16 0000 0 1ms Disabled time 1017 00 RW U16 0000 ms Generation cycle of heartbeat message 1400 00 RO U8 02 RPDO1 Communication parameter 01 RW U32 00000201 COBID 02 RW U8 FF Transfer type 1401 00 RO U8 02 RPDO2 Communication parameter 01 RW U32 00000301 COBID 02 RW U8 FF Transfer type 1402 00 RO U8 02 RPDO3 Communication parameter 01 RW U32 00000401 COBID 02 RW U8 FF Transfer type 1403 00 RO U8 02 RPDO4 Communication parameter 01 RW U32 00000501 COBID 02 RW U8 FF Transfer type 1404 00 RO U8 02 RPDO5 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer type 1405 00 RO U8 02 RPDO6 Communication parameter 01 RW U32 80000000 COBID 27 Appendix 1 Object Dictionary Factory Default EPC CM3 User Manual 02 RW U8 FF Transfer type 1406 00 RO U8 02 RPDO7 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer type 1407 00 RO U8 02 RPDO8 Communication parameter 01 RW U32 80000000 COBID 02 RW U8 FF Transfer type 1600 00 RW U8 01 RPDO1Mapping parameter 01 RW 032 6040
18. 6502 00 RO U32 81000AH Supported Drive Modes 6510 00 RO U8 3 Number of Driver Parameters 6510 01 RO U16 0 1KVA Rated capacity of driver 6510 02 RO U16 V Rated voltage of driver 6510 03 RO U16 0 1A Rated current of driver 36 EPC CM3 User Manual Appendix 2 Fault Code Appendix 2 Fault Code Fault Eds per CANopen Fault Code Fault Buffer Bit of ipti Code 1001 1 OC1 Accel overcurrent 2310 1 2 oC2 Constant speed overcurrent 2310 1 3 oC3 Decel overcurrent 2310 1 4 ov1 Accel overvoltage 3210 2 5 ov2 Constant speed overvoltage 3210 2 6 ov3 Decel overvoltage 3210 2 7 FAL Module protection 5410 5 8 HUN Parameter identification 7120 7 failured 9 oL1 Drive overloaded 3230 7 10 oL2 Motor overloaded 3230 T 11 CtC Current detection abnormal 2300 1 tput hort cuirt 12 Gap Outpu ground short cui 2240 1 protection 13 ISF Input power supply abnormal 3100 2 14 oPL Output phase loss 3130 2 Invert dule overload ia dd 4310 protection 16 oH1 Heat sink thermal protection 4310 3 Motor thermal protection 17 oH2 7120 1 PTC 18 oH3 Module temperature detection 7300 7 undisconnected 19 CLL Encoder disconnected 7300 7 20 EC1 Abnormal connection of 7300 7 Expansion Card 1 Abnormal connection of 21 EC2 7300 7 Expansion Card 2 22 dLC Abnormal connection of driver 5441 7
19. 7 NOTE The states marked with only provided by the nodes supporting the extendable boot up function Please note that State 0 shall not appear in the node protective response because a node shall not respond to the node protective message in this state As well a node can be configured to the periodic Heartbeat message Heartbeat Producer gt Consumer s COB ID Byteo 700H Node ID State The states can be shown as in the table below Table 5 8 Definition of NMT Slave Node States Value State 0 Boot up 4 Stopping 5 Operational 127 Pre operational After a Heartbeat node is started its boot up message is the first Heartbeat message The heartbeat consumers are usually NMT Master nodes which shall set a timeout value for each heartbeat node so that the corresponding action will be taken when the timeout occurrs A Node can not be able to support both the Node Guarding and Heartbeat protocols at the same time 12 EPC CM3 User Manual Chapter 5 Overview of CANopen 5 3 Introduction to DSP 402 Motion Control 5 3 1 Overall Architecture CAN network CAN Node EN Communication Profile DS 301 Drive Profile DSP 402 Device Control Statemachine Modes of Operation Interpo Profile Profile Profile punt Position Pues Velocity Torque Ms Mode Mode
20. GIAKE Ei User Manual EPC CM3 CANOPEN GK800 series High Performance AC Motor Drives Dedicated Table of Contents Chapter 1 Instruction of Dedicated 1 Chapter 2 Modification of Hardware ene 3 Chapter 3 Simple List of Dedicated Functions 4 4 Chapter 4 Specification of Dedicated Functions 5 Chapter 5 Overview of CANopen 6 5 1 Core of CANopen Protocol iioi in oni pr e Ir eee ies 6 5 2 CANopen Communication Protocol s ssssessieieseesiestnesteensnnstrstnninttnsnnntnsennnnnnnnnnnnennn 8 5 2 1 Network Management Object pp 8 5 2 2 SDO Service Data Objects nene 9 5 2 3 PDO Process Data Object encore eee epe ss 10 5 2 4 EMGY Emergency Object tete ERE 11 5 2 5 Node Life Guard or Heartbeat pe 11 5 3 Introduction to DSP 402 Motion Control esses 13 5 3 1 Overall Architecture iei creen err nerit rette en e prn on 13 5 3 2 Driver Statemachihe trem te fe estem d ta Age ret 14 5 3 3 State Transition of Driver 15 5 3 4 Modes of Operations skuta ein i es Ae a 17 5 3 5 Device Control nocere ainda epe emere Signer dines 18 5 3 6 Status Word cien pneter n eene nm enit XX EH Ee PEEL DIRE ERVE E 19 Chapter 6 CANopen Communication and Inverter Control 22 6 1 Operation Steps a ete ee LO Le ee dl
21. GSU GTAKE ELECTRIC CO LTD All Rights Reserved Code 34 01 0044 We reserve the right to change the information in this manual without prior notice Version A00
22. Mode Mode Fig 3 Diagram of Overall Architecture 13 Chapter 5 Overview of CANopen EPC CM3 User Manual 5 3 2 Driver Statemachine Unlike most other equipment sub protocols the driver sub protocol gives an accurate description to its characteristics This sub protocol not only defines the operational mode and the corresponding parameter of the driver but also defines a statemachine used to control the driver The statemachine controls the driver via command word Index 6040 H as shown in Figure 5 All the states in the statemachine are indicataed by status words Index 6041H The state of the driver is changed only through some instructions on Object 6040 H or internal events For example only when the driver is in allowable running state can the point to point movement be allowed to trigger 13 y Fault Reaction Active XOXX1111 14 v Fault Fig 5 State Transition Diagram As shown in Fig 5 the driver has the following states Not Ready to Switch On Low voltage power supply of the controller is switched on such as 15V 5V The driver is being initialized and has carried out the internal self check If there is a braking device then it is also activated Driver functions disabled Switch On Disabled The driver has been initialized Driver parameters need to be set Driver parameters changeable 14 EPC CM3 User Manu
23. Transition 1 Not Ready to Switch On gt Switch On Disabled Event Successful self check and or initialization of driver Function To activate communication and process data monitoring State Transition 2 Switch On Disabled gt Ready to Switch On Event Receiving a Shutdown command from the master control Function no State Transition 3 Ready to Switch On gt Switched On Event Receiving a Switch On command from the master control Function To swtich on the power supply State Transition 4 Switched On gt Operation Enable 15 Chapter 5 Overview of CANopen EPC CM3 User Manual Event Receiving a Enable Operation command from the master control Function To enable the driver function State Transition 5 Operation Enable gt Switched On Event Receiving a Disable Operation command from the master control Function To disable the operation of driver State Transition 6 Switched On gt Ready to Switch On Event Receiving a Shutdown command from the master control Function To switch off the power supply of driver State Transition 7 Ready to Switch On gt Switch On Disable Event Receiving a Quick Stop command from the master control Function No State Transition 8 Operation Enable Ready to Switch On Event Receiving a Shutdown command from the master control Function The power supply is cut off at once and the motor stops automatically if there is no brake State Transition 9 Operation Enable Switch On Disalbe
24. U16 0 1 No PG vector control 1 A0 09 2 No PG vector control 2 3 PG vector control 2003 00 RO U16 0 Indicating control mode A0 09 of motor 2005 00 RO U8 3 Frequency limitation parameter 2005 01 RW 016 5000 0 01Hz Max frequency setting B0 08 2005 02 RW U16 5000 0 01Hz Upper limit of frequency B0 09 2005 03 RW U16 5000 0 01Hz Lower limit of frequency B0 10 2007 00 RO U8 4 Number of coder parameters Coder Selection 2007 01 RW U16 0 0 Local coder d6 00 1 Extended coder 2007 02 RW 016 1024 Line number of coder d6 01 d6 07 2007 03 RW U16 1000 Numerator in ratio of d6 03 46 09 revolutions 2007 04 RW 016 1000 Denominator in ratio of d6 04 46 10 revolutions 2008 00 RW U16 0 0 01Hz Frequency of starting b1 06 2009 00 RW U16 0 0 15 Retention time for b1 07 frequency of starting 2013 00 RO U8 2 Torque limits in speed mode 2013 01 RW 016 1800 0 1 Electric torque limits 2013 02 RW U16 1800 0 1 Braking torque limits 2021 00 RW U16 10 0 01s Torque d2 25 acceleration deceleration time 2022 00 RO U8 2 Speed limits in torque mode 2022 01 RW 016 5000 0 01Hz Forward frequency 2022 02 RW U16 5000 0 01Hz Reverse frequency 2032 00 RWS 016 10 Positioning completion F4 01 width 2033 00 RWS U16 200 0 001s Positioning completion F4 02 time 2034 00 RW U16 1000 0 001 Position loop gain F4 03 2050 00 RW U16 0 Y Spindle positioning F4 05 location 2051 00 RWS 016 0 Y Spindle positioning F4
25. al Chapter 5 Overview of CANopen 5 3 3 No high voltage supplied to the driver such as for the security considerations or other reasons Driver functions disabled Ready to Switch On The high voltage is supplied to the driver The power amplifier gets ready to work Driver parameters changeable Driver functions disabled Operation Enable No error The drive function is enabled aiming at a special operational mode and the motor is started The dynamic parameter settings for the driver can be done in the way of on the fly Quick Stop Active Driver parameters changeable Emergency stop function is active The driver function is active and simultaneously the motor is started NOTE If Quick Stop Option Code is 5 Stay in Quick Stop then the Quick Stop State is kept and it can be switched to Operation Enable via the Enable Operation command Fault Reaction Active Driver parameters changeable There is nonfatal fault in the driver Emergency stop function is conducted The driver function is active and simultaneously the motor is started Fault Driver parameters changeable The driver goes wrong Driver functions disabled State Transition of Driver The state transition reason includes the internal events of the driver or the control word command from the master control State Transition 0 Startup Not Ready to Switch On Event Reset Function Self check and or initialization of driver State
26. ar voltage U0 02 34 EPC CM3 User Manual Appendix 1 Object Dictionary Factory Default DS402 Parameter Table Index Sub Index Access m Default BE HEX Ps pec Dosen pon Abort connection option code 0 No action 6007 00 RW 516 0 Y 1 Malfunction 2 Disable Voltage 3 Quick Stop 603F 00 RO U16 0 Y Error Code 6040 00 RW U16 0 Y Control Word 6041 00 RO U16 0 Y Status Word 6042 00 RW S16 0 Y RPM Target Velocity 6043 00 RO 516 0 Y RPM Velocity Demand 6044 00 RO 516 0 Y RPM IVI Control Effort 6046 00 RO U8 0 Number of Parameters 6046 01 RW U32 0 Y VI Velocity Min Amount 6046 02 RW U32 0 Y VI Velocity Max Amount VI Ramp Function Time 604F 00 RW U32 60 Y 04s when d2 00 is set to 1 the unit is 0 1s and other values are as shown in Function Code b2 00 VI Slow Down Time 6050 00 RW U32 60 Y ots when d2 00 is set to 1 the unit is 0 1s and other values are as shown in Function Code b2 00 VI Quick Stop Time 6051 00 RW U32 60 Y 015 when d2 00 is set to 1 the unit is 0 1s and other values are as shown in Function Code b2 00 Quick Stop Option Code 0 Disable drive function 1 Slow down on slow down ramp 605A 00 RW 16 2 down on quick stop ramp 5 Slow down on slow down ramp and stay in QUICK STOP 6 Slow down on quick stop ramp and stay in QUICK STOP Shut down Option Code 0 Disable drive function 605B 00 Rw S16 0
27. ardware and is used as a false alarm interrupt message The emergency object is 8 bytes of data and is expressed as follows Table 5 6 Definition of EMCYObject Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field Object 1001H The definition of the emergency object message is shown in Appedix 2 CANopen Fault Codes 5 2 5 NodelLife Guard or Heartbeat The MNT master node can check the current state of each node through the node protection service which is significant especially when these nodes send no data The process that the NMT Master mode sends the remote frame no data is shown as follows NMT Master gt NMT Slave COB ID 700H Node ID The NMT Slave nodes send the following message response NMT Master NMT Slave COB ID Byte0 700H Node ID Bit 7 toggle Bit6 0 state The data part contains a toggle bit bit 7 which should be alternatively set to 0 or 1 while the node makes a protective response The toggle bit is set to 0 at the first node protective request Bits 0 6 mean the node states and can be expressed with the values intable 5 7 11 Chapter 5 Overview of CANopen EPC CM3 User Manual Table 5 7 Definition of NMT Slave Node States Value State Initialising Disconnected Connecting Preparing Stopped Operational aa 2
28. ata Objects PDO Process Data Object EMCY Emergency Object Node Life Guard or Heartbeat 5 2 1 Network Management Object The network management message NMT provides the NMT service by following the master station slave station architecture There is only one master station which can be equipped with many slave stations in this architecture All CANopen nodes have their own NMT states while the master station can control the states of the slave stations via the NMT messages with the state flow chart shown as follows Initialization f Operational state a b c d e Fig 5 3 State Transition Diagram of Minimized Boot Up Nodes for CANopen Table 5 2 Opreands in States Initialization Pre Operational State Operational State Stop State NMT Node Guard SDO PDO Boot up EPC CM3 User Manual Chapter 5 Overview of CANopen Table 5 3 State Transition NMT Command Words Name of Command Command Words HEX 1 Start Remote Node 01 2 Stop Remote Node 02 3 Enter Pre Operational State 80 4 Reset Node 81 5 Reset Communication 82 After the device initialization is over the system enters to the pre operational state 6 automatically and then sends the boot up message The NMTprotocol is shown as follows NMT Mast
29. cal actual value of the driver such as Position Actual Value In the local mode the driver can also receive the SDO command Bit10 Target Reached If Bit 10 is set for the driver then it means that a setting point is reached torque velocity position etc and this bit can be changed through the change of a software target value When the emergency stop operation is over and the driver pauses if Quickstop Option Code is 5 6 7or 8 then this bit should be set If the pause takes effect and the driver pauses this bit is also set Bit 11 internal limit active This bit enabled means that the internal limitation of the driver is activated such as the limitation of position range 20 EPC CM3 User Manual Chapter 5 Overview of CANopen Bit12 and Bit13 are assigned operating modes as shown in the table below Table 5 15 Indicating Bit of Operating Mode Profile Profile Profile Interpol Bit M Position Velocity Torque ME Position Mode Mode Mode Mode 12 Reserved Setting point Velocity 0 Reserved Receiving at Ip Mode confirmed original point active Reserved Following Max sliding Reserved Finding Reserved 13 error error original point error NOTE All bits show the actual current status of the driver and no bit is locked 21 Chapter 6 CANopen Communication and Inverter Control EPC CM3 User Manual Chapter 6 CANopen Communication and Inverter Control 6 1 Op
30. e d e d e cete e fue 22 6 2 d o ELE LOL Fab Fa RR 22 6 2 1 Velocity Mode kiss 23 6 2 2 Torque Mode Profile Torque Mode 23 6 2 3 Simple Feed 24 6 2 4 Motor Spindle Orientation Mode sse 24 63 PDO Mapping e e eate raa ted e ta o dot eoa eaae epu tee edenda Deo Con dE 6 4 LED Indicator Lights Appendix 1 Object Dictionary Factory Default sse 27 Appendix 2 Fault Code oun edere nee eines 37 EPC CM3 User Manual Chapter 1 Instruction of Dedicated Functions Chapter 1 Instruction of Dedicated Functions The dedicated inbuilt CANOPEN functions of GK800 CANOPEN are to provide more rapid control mode for the external control CAN communication is adopted by CANopen in the physical layer which has the following advantages and characteristics ultra high utilization rate of bus high speed data transmission reliable error handling and automatic data retransmission after the destruction and so on CANopen is an upper layer protocol based on CAN and mainly designed for the following communication objects PDO Process Data Objects Service Data Objects Time Stamp SYNC Message Emergency Message and Network Management Data which includes NMT Messages and Error Control Messages Protocol Specifications CAN2 0A CANopen DS301 V4 02 CANopen DS402 V2 0 Support Services 8 pairs of PDO Process
31. e parameters can be uploaded to the expansion card through the internal communication Generally after the modification of some functional parameters via the keypad and the setting of H1 03 1 the latest parameters can be uploaded without power off Protective Action of H1 04 Eo Range 0 1 Factory Default 0 Internal Communication Protective Action of Internal Communication 0 Fault action and free stop 1 Shielding the fault Chapter 5 Overview of CANopen EPC CM3 User Manual Chapter 5 Overview of CANopen CANopen is an upper layer protocol based on the CAN and is a control network function to make the equipment achieve the purpose of the motion control just acting as the general management system CANopen 301 standard Version 4 02 is EN50325 4 The specifications of CANopen contain the overview of the application layer and communication CiA DS301 architecture of the programmable units CiA DS302 cables and connectors CiADS303 1 as well as SI units and text representations CiA DS303 2 Device Profile CiA Device Profile CiA Device Profile CiA DSP 401 DSP 404 DSP XXX OSI Layer 7 Application Layer Overview of CiA DS 301 OSI Layer 2 CAN Controller CAN 2 0A DLL Date Link Layer JL OSI Layer 1 Physical Layer an ISO 11898 SF Fig 5 1
32. er 31 Appendix 1 Object Dictionary Factory Default EPC CM3 User Manual 01 RW 032 60410010 First mapping object 02 RW U32 20630020 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A06 00 RW U8 00 TPDO7 Mapping 01 RW U32 0 First mapping object 02 RW U32 0 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A07 00 RW U8 00 TPDO8 Mapping 01 RW U32 0 First mapping object 02 RW U32 0 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 32 EPC CM3 User Manual Appendix 1 Object Dictionary Factory Default Custom Parameter Table Index Sub Index Access Default Correspondin HEX HEX Permission Type pec Map Unit pet Fen Control Mode of Motor 0 V F control 2002 00 WOS
33. er NMT Slave Comman Definiti Station Start Remote Node Station d Words on MNA DEG Request byte O byte 1 Indication s 1 Start Remote Node CS Node Indication 2 Stop Remote Node GORE mid 128 Enter Pre Operational State 129 Reset Node 130 Reset Communication 5 2 2 500 Service Data Objects The SDO Service Data Objects are used on both ends namely clients servers and each have permission for the object dictionary A SDO message contains a set of COB ID Required SDO and repsonsive SDO can be accessible between two nodes SDO can transfer the data of any size but once the data size is more than 4 bytes then the segment transmission means should be used and the last segment should consist of a finish instruction The object dictionary is the group object of CANopen node and each node has its own object dictionary The object dictionary contains many parameters which describe its supporting parameter properties and values The SDO is accessed by means of indexes and sub indexes Each object has a single index value but may have multiple sub indexes if necessary The SDO requirement and response message architecture request is shown as follows Table 5 4 Definitions of SDO Commands ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Name 7 6 5 4 3 2 1 0 Index Index Index Data Data Data Data Command IL H Sub LL LH HL HH Regional Client Downloading Server Uploading Server Stop Client
34. eration Steps When the CANopen control inverter is required to be used it should be configured according to the following steps 1 Hardware wiring Refer to the Hardware Wiring in Chapter Two Connect CAN and CAN If the group networkcontrol is required then the terminal resistants should be connected at two termnals if necessary In fact there is a toggle switch S2 for the terminal resistant selection on the CANopen control card and the selective terminal resistant can be confirmed via ON or OFF button 2 Parameter Settings of Driver a To set the control mode A0 09 motor parameter Group dO and coder parameter Group d6 if the external coder is not used then d6 00 should be still set to 1 NOTE The settings above are the parameters under the condition of Motor 1 namely A0 08 0 Default b Parameter identification Refer to Manual of GK800 Inverter in detail It just refers to the identification of the first use of new motor C Driver reset or parameter setting H1 02 1 it is recommended to operate it after the driver is restarted d Setup of frequency main setting mode b0 01 9 select the communication input e Setup of operation command setting mode b1 00 2 select the communication control f Setup of electric braking torque limit mode d2 12 5 d2 13 5 select the communication setup 9 Setup of FWD REV speed limit mode for torque control d2 19 5 d2 20 5 selectthe communication setup h Setup o
35. f CANopen Station Number The desired station number for H1 00 should be set within the range of 1 127 The driver should be restarted i Setup of CANopen baud rate The baud rate for H1 01 should be set within the range of 0 6 with the specific value as shown in Chapter Four The driver should be restarted 3 CANopen Communication a Theregister value of the corresponding index via the SDO protocol b NMT control enters the Operational state from the node c The inverter is controlled through using PDo to write in the control words and other parameters 6 2 Operation Mode The driver mainly supports the following operation modes W Velocity Mode 2 W Profile Torque Mode 4 W Simple Feed Mode 1 W Motor Spindle Orientation Mode 7 Simple feed mode and motor spindle orientation mode belong to the position control which is valid only when the Closed loop vector control Index 2002 H Function Code A0 09 3 Therefore the appropriate PG card should be chosen The parameter settings and mode instruction in the position control mode are as shown in the Introduction part of Group F4 Position Control in User Manual for GK800 Series High Performance AC Motor Drives The common parameters are shown in Table 15 below are set in the simple feed mode and motor spindle orientation mode as required It is important to note that some parameters cannot be modified when the motor is running For more detailed description of object plea
36. fined Braking torque limit When the control word Index 6040 H is set to 007 FH the motor starts to run according to the parameters mentioned in Table 17 above set to 005 FH the current speed will be locked In the table the maximum frequency setting Index 2005 Sub index 01 is in 0 01 Hz namely 5000 for 50 00 Hz the torque limit Index 2013 sub index01 setting is in 0 1 namely 1000 for 100 The conversion between velocity and frequency can be realized through the following formula n f In the formula above n Revolving speed in RPM f Frequency in Hz p Motor poles For examples For the four pole motor rotating in the forward direction at 30Hz its revolving speed is 30x120 4 900 RPM For the six pole motor rotating in the reverse direction at 20Hz its revolving speed is 20x120 6 400 RPM 400 is transmitted in the complement form so the value of Index 6042H is set to FE70H 6 2 2 Torque Mode Profile Torque Mode The following parameters should be set in this mode Table 5 18 Related Parameters inTorque Mode Object Index Sub Index Length Name Value Meanings 23 Chapter 6 CANopen Communication and Inverter Control EPC CM3 User Manual 6060 00 1 Modes of Operation 4 Mode selection 6071 00 2 Target Torque User defined Target torque 6072 00 2 Max Torque User defined Max torq
37. line 23 TEr Function conflict of analog 6100 7 terminal 24 PEr External equipment fault 9000 7 26 to2 Consecutive running time out FFOO 7 27 to3 Accumulative running time out FFO1 7 28 SUE Power supply abnormal at 3200 2 37 Appendix 2 Fault Code EPC CM3 User Manual running 29 EPr Read write fault of EEPROM 5530 5 30 CCL Contactor suction fault 5400 7 31 TrC Port communication abnormal 7500 4 32 PdC Keypad communication 7500 4 abnormal 33 CPy copy fault 5530 7 35 S t Software version compatibility 6100 7 failure 36 CPU CPU Interference fault 5300 7 37 oCr Benchmark protection 5115 7 38 SP1 5 Power supply overranging 5113 5 39 SP2 10 Power supply overranging 5114 5 40 AIP Alinput overranging 3000 7 41 LoU Undervoltage protection 3220 2 42 OSP Over speed fault 7310 7 43 SPL Speed misalignment is large 7310 7 45 Plo PID detection overranging 5430 7 46 CAN Internal external 8100 4 communication fault 38 JIANGSU GTAKE ELECTRIC CO LTD No 3058 Jintong Road Nantong City Jiangsu Province Tel 86 0513 86392601 Fax 86 0513 86221809 JIANGSU GTAKE ELECTRIC CO LTD SHENZHEN BRANCH Building 10 Zhong yun tai Industrial Park Tangtou Road NO 1 Bao an District Shenzhen Guangdong Province China Tel 86 0755 86392609 Fax 86 0755 86392603 Http www gtake com cn Copyright 2015 JIAN
38. op Change Reserved Reserved Reserved Reserved 5 position at once RFGfor 0 Absolute Reserved Reserved Reserved Reserved 6 zero motion 1 Relative motion 8 Pause Pause Pause Pause Pause Pause RFG Running up Frequency Generator Pause To interrupt the operation of the driver and then continue to run after releasing 5 3 6 Status Word Status word Status Word Index 6041H refers to the current status of the driver and is always mapped to the second byte of the actual message and the bit definitions of the status words are shown in the table below MSB LSB Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit 15 14 13 12 14 10 9 8 7 6 5 4 3 2 1 0 Table 5 13 Bit Definitions of Status Words Compulsive or Bit Not 0 Ready to Switch On Y 1 Switched On V 2 Operation Enabled N 3 Fault 4 Voltage Disabled Y 5 Quick Stop Y 6 Switch On Disabled Y 7 Warning 8 Manufacturer Specific 9 Remote Y 10 Target Reached V 11 Internal Limit Active Y 12 Operation Mode Specific 13 Operation Mode Specific 14 Manufacturer Specific 15 Manufacturer Specific 19 Chapter 5 Overview of CANopen EPC CM3 User Manual The bit meanings of the state are shown in Table 5 14 Table 5 14 Bit Meanings in States Bit6
39. permitted to be used On the master station the function segment refers to the operation contents of the master station over the slave station the address segment Node ID the address of the slave stations operated station number on the slave station the function section shows the response of the slave station to the master station while the address segment refers to the address of the response slave station station number Four types of communication messages are assigned by COB ID as specified in the CANopen communication models and its scope is 000 h 7 FFH The lower the value is the higher the priority will be erry ye Function Node ID 1 127 sites Fig 5 2 Composition of COB ID The COB IB definitions for the broadcast objects of master slave connected subnetwork predefined by CANopen and its equal objects are as shown in Table 5 1 and Table 5 2 Table 5 1 Broadcast Objects of Master Slave Connected Subnetwork Predefined by CANopen Broadcast Objects of Master Slave Connected Subnetwork Predefined by CANopen Function Code Index of Communication Object ID bits10 7 COED Parameters in OD NMT 0000 000H SYNC 0001 080H 1005H 1006H 1007H TIME SSTAMP 0010 100H 1012H 1013H Chapter 5 Overview of CANopen EPC CM3 User Manual 5 2 CANopen Communication Protocol The CANopen communication protocol includes the following services NMT Network Management Object SDO Service D
40. s received is located in 1400 h index and the first group of the PDO messages sent is located in the index 1800 h The transmission modes are listed in the following table Table 5 5 Definition of PDO TransmissionType TR Conditions to Trigger PDO Da B both needed Ozone or both PDO Transmission ve SYNC RTR Event 0 B B Synchro non cyclical 1 240 9 Synchro cyclical 241 251 Reserved 252 B B Synchro after RTR 253 Asynchronous after RTR 254 2 Asynchronous specific events related to manufacturers 255 Asynchronous specific events related to equipement sub protocol NOTE SYNC Receive the SYNC object RTR Receive the remote frame Event example value change or interruption of timer Transmission Type For 1 240 the figure stands for the value of the SYNC object between PDOs For example provided that the second map of the TPDO is as shown as follows it is described with the object dictionary index 1A01H in CANopen Object1A01H Second TPDO Map Serieal No Value Meanings 0 2 Two objects mapped to PDO 1 60410010H Object 6041H sub index 00H consisting of 16 bits 2 60610008H Object 6061H sub index 00H consisting of 8 bits In the definitions of the equipment sub protocol CiA DSP 402 for CANopen Drives and Motion Control module the one with the object of 6041 H and the s
41. se refer to the parameter instruction of the function codes in function code corresponding to the Function Code column in the Appendix Object Dictioary in the User Manual for GK800 Series High Performance AC Motor Drives 22 EPC CM3 User Manual Chapter 6 CANopen Communication and Inverter Control Table 5 16 Common Parameters of Position Control Object Function Factor Index Length Code Neme Range Default 2032 00 2 F4 01 Positioning 0 3000 10 completion width 2033 00 2 F4 02 Positioning 0 000S 40 000S 0 200S completion time 2034 00 2 F4 03 Position loop gain 0 000 40 000 1 000 6 2 1 Velocity Mode The following parameters should be set in this mode Table 5 17 Related Parameters in Velocity Mode Object Index Sub Index Length Name Value Meanings 6060 00 1 Modes of Operation 2 Mode selection 6042 00 2 Target Velocity User defined Target velocity 6046 01 4 Velocity Amount Min User defined Lower limit of velocity 6046 02 4 Velocity Amount Max User defined Upper limit of velocity 604F 00 4 Ramp Function Time User defined Acceleration time 6050 00 4 Slow Down Time User defined Deceleration time 6051 00 4 Quick Stop Time User defined Deceleration time of emergency stop 2005 01 2 Frequency MAX User defined Max frequency setting 2013 01 2 Limt Torque Drive User defined Electric torque limit 2013 02 2 Limt Torque Break User de
42. ub index of 00 H refers to the Status Word while the one with the object of 6061 H and the sub index of 00H refers to Modes of Operation Display If the PDO message issent it may be triggered in ways of the input change timer interruption or remote request frame and so on and its transmission type is consistent to that of the PDO it can be found in the sub index 2 of the object 1801H then the message consists of 3 bytes of data with the format shown as follows 10 EPC CM3 User Manual Chapter 5 Overview of CANopen PDO producer gt PDO consumer s COB ID Byteo Byte1 Byte2 280H Node ID Status Word L Status Word H Modes Of Operation Display The PDO content can be changed by changing the content of the object 1 AO1H if the node support variable PDO mapping Please note that the LSB Little Endian of the multi byte shall be always sent first in the CANopen The data more than 8 bytes are not allowed to be mapped to a PDO MPDO multiplexor PDO defined in the CANopen Application Layer and the Communication Profile CiA DS 301 V 4 02 allows a PDO to transmit a large number of variables through the Sources contained in the data bytes ofthe message or the indexes and sub indexes in the destination nodes ID and OD 5 24 EMCY Emergency Object When there is an internal error in the hardware an emergency object will be triggered The emergency object is transmitted only when there is an error in the h
43. ue limit Torque Acceleration User defined Torque 2021 00 2 TET Deceleration Time acceleration deceleration time 2022 01 2 Limt Speed Forward User defined Limit of forard rotating speed 2022 02 2 Limt Speed Reverse User defined Limit of reverse rotating speed When the control word Index 6040 H is set to 000 FH the motor starts to run according to the parameters mentioned in Table 18 above and the Target torque is expressed with the relative percent of Rated Torque in 0 1 namely 1000 for 100 1000 for 10096 The speed limit is in 0 01 Hz namely 5000 for 50Hz The acceleration time is in 0 01s namely 10 for 0 10s 6 2 3 Simple Feed Mode The following parameters should be set in this mode Table 5 19 Related Parameters in simple feed mode Object Index Sub Index Length Malte Meanings 6060 00 1 Modes of Operation 1 FFH Mode selection 2060 00 4 Target Position User defined Target position 6042 00 2 Target Velocity User defined Target speed 604F 00 4 Ramp Function Time User defined Acceleration time 6050 00 4 Slow Down Time User defined Deceleration time When the control word Index 6040 H is set to 000 FH the motor starts to run at 0 Hz the motor is locked when it is set to 080FH the motor starts to run at the target speed in the forward direction mentioned in Table 18 above when it is set to 100FH the motor runs in the
44. ving an Enable Operation command from the master control For this transition Quick Stop Option Code should be 5 6 7 or 8 Function Driver function enabled 16 EPC CM3 User Manual Chapter 5 Overview of CANopen The methods for interrupting the state transition are listed in Table 5 9 Table 5 9 Objects of Option Codes for Interrupting State Transition Index Name State Transition 605BH Shutdown Option Code 8 605CH Disable Operation Option Code 5 605AH Quick Stop Option Code 11 605EH Fault Reaction Option Code 13 5 3 4 Modes of Operation The behaviors of the driver are defined by the operation modes Modes of Operation Index 6060H Write Only Modes of Operation Display Index 6061 H Read Only and the standard modes defined are shown as follows Please refer to the CiA Specification DSP 402 for the details of operation modes Standard Position Mode 1 Profile Position Mode In this position mode of the driver the following parameters can be set including the speed position acceleration limits as well as the displacement according to the desired trajectory Velocity Mode 2 Velocity Mode In this mode the speed is controlled by the inverter and there are speed limitation and slope function This mode is generally used when there is no speed sensor Standard Velocity Mode 3 Profile Velocity Mode The speed of the driver is controlled in the standard velocity mode without
45. xth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A01 00 RW U8 02 TPDO2 Mapping 01 RW 032 60410010 First mapping object 02 RW U32 60610008 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A02 00 RW U8 02 TPDO3Mapping parameter 01 RW 032 60410010 First mapping object 02 RW 032 60440010 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A03 00 RW U8 02 TPDOA Mapping parameter 01 RW 032 60410010 First mapping object 02 RW U32 60770010 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A04 00 RW U8 02 TPDOS Mapping parameter 01 RW 032 60410010 First mapping object 02 RW U32 20540010 Second mapping object 03 RW U32 0 Third mapping object 04 RW U32 0 Fourth mapping object 05 RW U32 0 Fifth mapping object 06 RW U32 0 Sixth mapping object 07 RW U32 0 Seventh mapping object 08 RW U32 0 Eighth mapping object 1A05 00 RW U8 02 TPDO6 Mapping paramet
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