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User Manual AC Servo Controller YukonDrive® EtherCAT® CANopen

1. Torque actual value 6077 Velocity actual value 606C Position actual value 6064 Mode specific bits in the status word Table 66 4 Mode specific bits in the status word Bit Name Value Description 0 Target velocity ignored 12 Target Velocity 1 Target velocity shall be used as input 66 1003376 06 2015 8 3 4 Cyclic synchronous torque mode EtherCAT only In this operation mode mode of operation 10 the controller cyclically transmits torque setpoints to the drive which controls the current As an option an additional torque setpoint can be transmitted Table 67 1 Supported objects Object no Object name Object code Type Ox6071 Target Torque VAR Integer16 Ox60B2 Torque Offset VAR Integer16 Illustration 67 2 Cyclic Synchronous Torque mode EtherCAT only Offset torque 60B2 i fo Target O N Torque M torque NA control O j 6071 N N S Torque actual value SS 6077 4 Velocity actual value 606C Position actual value 6064 Mode Specific bits in the status word Table 67 3 Mode Specific bits in the status word Bit Name Value Description 0 Target torque ignored 12 Target Torque 1 Target torque shall be used as input 8 3 5 External pre control of speed torque When using the drive controller in the cyclic synchronous position mode CSP see section 9 3 2 or cyclic synchronous velocity mode CSV see section 9 3 3 it is possible to specify external p
2. F position notation index An example of F velocity aran ina OF F position notation index would be 102 or 10 Objekt 6097 Acceleration factor The velocity encoder factor converts the desired velocity in velocity units into the internal format in increments velocity unit velocity encoder factor acceleration factor acceleration unit second Objekt 607E Polarity The position setpoint and position actual value are multiplied by 1 or 1 depending on the value of the polarity flag The same applies to the speed reference and actual speed value Please observe the operation of the object polarity as per CiA 402 V2 0 Bits 0 to 5 reserved don t use Bit 6 velocity polarity Bit 7 position polarity Note As in the case of the other objects in the factor group changes in polarity only take effect if the control is swit ched off 48 1003376 06 2015 7 5 1 0 map The status of the drive controller s inputs and outputs can be determined using various objects The following objects and parameters are implemented 7 5 1 Object 60FD digital inputs This object is implemented in compliance with device profile CiA 402 It allows digital input functions defined in the profile to be evaluated That is it does not offer an input map of existing physical inputs but rather a function related input map So the input to which for example a limit switch is connected is irrelevant The bit that defines t
3. Status Description Init Initialisation the device starts up The device is ready to be configured Pre Operational ane i Mailbox communication is possible PDO input data TxPDO device can be read Safe Operational MENE PDO output data RxPDO device is ignored Cyclic 1 0 communication Operational el PDO output data RxPDO device is processed Table 39 2 Status transitions Transitions Operations IP Start Mailbox Communication P Stop Mailbox Communication PS Start Input Update SP Stop Input Update Table 39 3 Status transitions Transitions Operations SO Start Output Update 05 Stop Output Update OP Stop Output Update Stop Input Update SI Stop Input Update Stop Mailbox Communication Ol Stop Output Update Stop Input Update Stop Mailbox Communication 6 2 Configuration for operation in a controller The services described in the previous section e g PDO mapping etc are all operated by the controller Ether CAT master The communication specific configuration of YukonDrive is performed on the basis of the supplied XML files by the master The configuration of control settings scaling etc can also be performed via the DR vE MANAGER Alternatively all parameters can also be configured via the object directory 06 2015 1003376 39 7 Implemented CiA 402 functionality The functions in this section relate to activation in the modes of operation of the CiA 402 profile 1 Profile Position Mode 8
4. User Manual AC Servo Controller YukonDrive EtherCAT CANopen QUICKLINK www harmonicdrive de 1100 This document describes the functionality of the following devices YukonDrive 10xx xDx xx CANopen YukonDrive 10xx xAx xx EtherCAT EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Content 1 rc i ee cee eee enters Seater ay eet ae nant tet nee a nies er neers sree treat 4 1 1 Measures for your ore f amen HGH HHNNMMIMBB IM MBMIMI I M MIDDD 4 1 2 Introduction to es ICN MA sn ee ts cee a ae ne tay sce agen sect ac kk den Ss epee eee rags eee che 5 1 3 Introduction to eS IG detec ces ye samk ani o n binke k kan nion l nake kara a b badine keh b one n k kek d n pn deems n ln cw kk kn h na eee 6 1 4 Oy Se re N Day aa e peb eoe eAe ee lh rr r dat eee aal tien a E e aTa 6 1 5 UL EMF COC LI STA heel ELON e DD E J IDE DT DD TT n NH 6 2 OT Se aT A oo 4 44445454415ak4515454545440044153504 50n ali k p ek H h k w k AA ii 7 2 1 S ttine the addres Seres a S TS DM DN J ID EE ID DD DD o RN ADI 7 22 rnin ld MED Sp aa a a e eae vmnnnrrmmmmr PE EAE i EE EE EAEE E aa EEEE EERE EOAR EEEE arnr 9 Pee ame Ese ede ee E ee 10 vena ll N YG SIN Saas xx D j w jjv tijWD3p3op3o3A220pDD2B2OxEO OGJ cOPJXE3XD U 2200m0mYW nE EEBNBESSEWDZDEEDDoDoDo I IM DDMMIAIRMI63 SAo 12 2 5 Display of operatin
5. 00000000 00010000 00000000 00100000 00000000 01000000 00000000 10000000 00000000 Value hex xx01 xx02 xx04 xx08 xx10 01xx 02xx 03xx 04xx 05xx 1xxx 2XXX 4XxXX 8XXX Objekt 0x60B9 Touch probe status Description External latch 1 valid positive rise via Touch probe module External latch 1 valid negative rise via Touch probe module External latch 2 valid External latch 2 valid Internal latch C valid positive rise via MC_Home module Internal latch C valid positive rise via MC_Home module Acknowledge value external latch 1 positive rise via Touch probe module Acknowledge value external latch 1 negative rise via Touch probe module Acknowledge value external latch 2 positive rise Acknowledge value external latch 2 negative rise Acknowledge value internal latch C positive rise via MC_Home module Internal latch C valid positive rise via MC_Home module Internal latch C valid positive rise via MC_Home module Internal latch C valid positive rise via MC_Home module Internal latch C valid positive rise via MC_Home module The stored position is written to object Ox60BA after bits 8 11 have been set in the status word 72 Time flowchart The time sequence of a measurement is Shown using the example of measuring button ISD05 and the correspon ding bits The time sequence applies analogously to the other configurable signals Illustration
6. Cyclic Synchronous Position Mode only EtherCAT 3 Profile Velocity Mode 9 Cyclic Synchronous Velocity Mode only EtherCAT 6 Homing Mode 10 Cyclic Synchronous Torque Mode only EtherCAT 7 Interpolated Position Mode 71 Device control and state machine The drive is controlled via the DRIVECOM state machine defined in CiA 402 see CiA 402 10 1 1 state machine No remote signal is provided 71 1 General information The DEVICE CONTROL FUNCTION monitors all the functions of the controller This function is subdivided into e device control of the state machine e operation mode function Illustration 40 1 Device controlling controlword 6040h Device Controlling Remote Terminals Operation Mode State Machine aa modes of operation 6060h statusword 6041h The status of the controller is controlled by way of the control word The status of the controller is displayed in the STATUS WORD In REMOTE MODE the controller is controlled directly from the CANopen network by PDO and SDO The state machine is controlled by the control word The state machine is also influenced by internal events such as errors 40 1003376 06 2015 71 2 State machine The state machine describes the CONTROLLER STATUS and the possible options for control by the master A single status indicates a specific internal or external response At the same time the status of a controller restricts the possible control commands For e
7. Remedy The parameter data set is transferred to the drive controller without a logic check At the end of the download the logic check is reactivated and the drive controller checks the transferred parameters for plausibility During this check parameter settings that do not functionally match are reported as errors Download procedure for a completed parameter data set 1 Reporting a download without logic check To deactivate the logic check and to report the download of a data set the value 1is written to parameter 11 subindex 4 2 Downloading the parameter data to the drive controller In this step the individual parameters of the data set are sequentially transferred to the drive Despite the deactivated logic check basic checking mechanisms are still active These monitor for example the mainte nance of parameter limits and become active if these are infringed Therefore if a value range limit is infringed by the download of a parameter this SDO protocol is directly rejected Abort message 3 Completing download and activating plausibility check Once all parameter data has been transferred to the drive controller parameter 11 subindex 4 is reset to the va lue 0 Then a logic check of the device parameters is carried out In case of error the user receives an Emergency message Note The download of a complete parameter data set is only possible when the system is at a standstill Make sure the drive controller is not switched
8. The CANopen objects and the drive controller parameters can be accessed via the Receive SDO COB IDs 600 node ID In a data transfer protocol a maximum of 4 data bytes can be transferred in Expedited mode This me ans all device parameters apart from String parameters can be written to with a single transfer protocol String parameters can be written to using the Multiplexed Domain protocol 06 2015 1003376 27 Example of read access to string parameters parameter 3 DV_DeviceAliasName Note All numeric values are hexadecimal The string X axis is to be transferred This text is entered in YukonDrive parameter 3 DV_DeviceAliasName Table 28 1 28 TIME 18 992445 18 992972 35 514341 35 514594 36 269620 36 270175 36 982385 36 982664 37 686447 37 686706 38 421344 38 421604 39 053526 39 053787 39 749081 39 749347 40 428981 40 429249 41 085839 41 086198 41 740755 41 741148 42 514034 42 514294 43 172512 43 172787 43 908571 43 908831 44 5668466 44 668740 53 884044 53 884414 Tx Rx Tx Rx Tx Rx Tx Rx TX Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx TX Rx TX Rx Tx Rx Tx Rx Direction 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 601 581 DLC
9. for access to objects of any length The entries in the Control field are generated by the CANopen driver They are only included to fully document the examples cited The entries are dependent on the transferred data The control field is described in the CiA 301 profile 5 2 1Data types Note The DR vEMANAGER user interface displays many parameter settings in the form of value substitution texts Example Parameter 45 O MOT_Type PSM When writing and reading via the field bus the corresponding numerical values for these value substitution texts must be used These values are displayed in brackets when the parameter is opened in DRiveMANAGER Example Parameter 450 MOT_Type PSM 1 06 2015 1003376 25 The drive units support the following parameter data formats Table 26 1 Data types Datentyp Value range Function USIGN8 0 255 USIGN16 0 65535 Unsigned USIGN32 0 4294967295 INT8 128 127 INT8 32768 32767 Integer signed INT32 2147483648 2147483647 FLOAT32 ref to IEEE 32 bit floating point number in IEEE format RIN ASCII characters max 100 bytes in bus mode incl zero terminator 5 2 2 Representation of data types in the control protocol All data types are represented as 32 bit variables in Intel format and with the correct preceding sign Table 26 2 Assignment of data types in the data field Data bytes in the control protocol USIGN8 INT8 sides Low Word High Word High Wor
10. homing mode 7 Interpolated position mode 8 Cyclic sync position mode only EtherCAT 9 Cyclic sync velocity mode only EtherCAT 10 Cyclic sync torque mode onlyEtherCAT Modes_Of_Operation_Display see 0x6060 Object code VAR VAR VAR VAR VAR VAR VAR VAR VAR Device Control Objects Type Unsigned16 Unsigned16 Integer16 Integerl6 Integer16 Integerl6 Integer16 Integers Integer8 Attr rw ro rw rw rw rw rw wo ro 45 7 4 Units and scalings factor group The DR vEMANAGER user interface offers a Scaling Wizard as a user friendly means of configuring the scaling of mechanical and electrical units of variables necessary for control The Wizard translates the application variables into representation of the parameters from the CiA 402 factor group The parameters from the factor group are listed below and can also be set directly by the user Correlations must be calculated externally and the final results entered in the relevant factor group parameter It is generally easier to have the Scaling Wizard calculate the parameter settings Note The following objects are directly calculated in YukonDrive e Position Factor Velocity Encoder Factor e Acceleration Factor The calculation is based on the objects stored in the formulae e g feed constant gear ratio etc It is in fact possible to change these variables in DRiveManacer or via the bus b
11. na anl e4 ek did nec dekan oe niba Ke kud e wla s 6 k deb nab da asan ab n a 31 1003376 06 2015 5 5 5 6 5 7 5 8 6 1 6 2 7 1 7 2 7 3 7 4 7 5 8 2 8 3 9 1 9 2 TU 10 1 a Wi 05 2015 Event controlled TXPDO trarnSITI SS DI LhK KAK A3 KK Kkl kk kaya kak yaka yak keka ka kaka 31 PENI na l o DY IM DUE E E E He Ee DaE E E E E E E 32 5 61 Mapping general ede Elka kek kek kek k lek k l ka k ye 33 562 MAPONICS OOS xc TI N N N N DN PR e aA E a O dG GC 33 Heartb at N yare a eet eta N NnNnNNN Eah e ETE EEEE E ERER ta a eE a se EEDE DEEE 34 Monitorine of telegram falllll ss ln sano c tee een k O E E EE O O eee eer 35 Setting the Device Parameters for EtherCAT sasiaren 36 Supported EtherC AT functionality hAK C 4 4iii aaa eases tidyeiasiunnnal dusana nancradaeajaimiaaalainsmnoynadonabaesinenniobannnSiaaanammsasaeanes 36 Configuration for operation in a COTI tro r M A llke y k k EAEEREN 33 IN l TIe N SU CIA TUNE O V u u y 531454155 15154554514 11555131454645 5ekana k n kel k G ke t AN 40 Device control and state 121 a e er ee ee eee ee 40 7141 d eh SP Fan Sh WU cr cc tet eg eae eg DMDMDMM 4 DN es N E D DD DD E E ET 40 714 2 State machine een a HHHH NNHMMD KIIMN 40 FA Device States erare DD J nn mEMNnMnMRE La aeEeaEa Ea E Er 41 nil NNN Sy gw x x x g _ _ _l _ _ Senet ce nee erry een ere eee Tree
12. 5 ENABLE OPERATION 0 1 1 1 1 4 0 RESET FAULT gt X X X X 15 1 Device status table Table 43 2 Bit combinations of the DRIVECOM state machine Status bit Status 6 5 3 2 1 0 NOT READY 0 X 0 0 0 0 STARTING LOCKOUT 1 X 0 0 0 0 READY 0 1 0 0 0 1 ON 0 1 0 0 1 1 OPERATION ENABLED 0 1 0 1 1 1 FAULT 0 X 1 0 0 0 FAULT REACTION ACTIVE 0 X 1 1 1 1 QUICK STOP ACTIVE 0 0 0 1 1 1 43 7 2 Option codes The devices support option codes for four different options for shutting down the drive These four options are e HALT function interrupt an ongoing movement e Controller disable function stop movement by cancelling the controller enable software e Quick stop function stop movement by initiating a quick stop e Fault reaction function stop movement in case of an error For all variants the option code sets the parameters for the desired device response Table 44 1 Option codes S ted CANopen Function UE settings Object 605Ah Quick stop option code Oto8 Object 605Bh Shutdown option code 1to1 Object 605Ch Disable operation option code 0 to1 Object 605Dh Halt option code 0 to 4 Object 605Eh Fault reaction option code Oto4 The objects form part of the data set as standard parameters of the devices Note The quick stop ramp is always executed with the smoothing preset for the driving profile ramps The error stop ramp is always executed without smoothing even when smoothing is programmed 44 1003376 06 2015 7 3 D
13. 73 1 Time sequence of Touch probe function Measurement activated Position read Steuerwort Ox60B8 Bit 0 Ox60B8 Bit 8 Statuswort Ox60B9 Bit 0 Ox60B9 Bit 8 i Signal recorded Latched position read 10 1 2 Control based homing The Touch probe function enables control led homing of an axis All the input signals described in section 10 1 1 can be used for this 10 2 Indexing table function The indexing table function is set in DR vE MANAGER 5 using the Scaling Wizard in the Movement Profile Scalings Units subject area A detailed description of the function can be found in the YukonDrive application manual To configure the function the following objects are used Table 73 2 Objects for indexing table function Object no Object name Object code Type 0x607B Position range limit ARRAY Integer32 Ox60F2 Positioning option code VAR Unsigend16 The object Ox60F Positioning Option Code for the Indexing Table function becomes used in a different way as defined in the CiA402 Only the bits 6 and 7 are relevant refer table below Table 73 3 Object Ox60F meaning of bits 6 and 7 Value hex Meaning 0x00 as linear 0x40 left direction of turning 0x80 right direction of turning OxCO shortest way 06 2015 1003376 73 11 EDS file object directory parameter list 11 1EDS file object directory An EDS file is available for integrating the devices into the CAN master The file is shipped with th
14. Byte 0 40 41 60 00 70 60 00 70 60 00 70 60 00 70 60 00 70 60 00 70 60 00 70 60 OB Byte 1 03 03 00 58 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Byte 2 20 20 00 2D 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Table 29 1 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments 00 00 00 00 00 Read Objekt 2003 Parameter 3 00 64 00 00 00 Reply 64 gt 100 bytes are to be transferred 00 00 00 00 00 Requirement segment 1 41 78 69 73 00 Reply segment 1 contains X Axis 00 00 00 00 00 Requirement segment 2 00 00 00 00 00 Reply segment 2 00 00 00 00 00 Requirement segment 3 00 00 00 00 00 Reply segment 3 00 00 00 00 00 Requirement segment 4 00 00 00 00 00 Reply segment 4 00 00 00 00 00 Requirement segment 5 00 00 00 00 00 Reply segment 5 00 00 00 00 00 Requirement segment 6 00 00 00 00 00 Reply segment 5 00 00 00 00 00 Requirement segment 7 00 00 00 00 00 Reply segment 7 00 00 00 00 00 Requirement segment 8 00 00 00 00 00 Reply segment 8 00 00 00 00 00 Requirement segment 9 00 00 00 00 00 Reply segment 9 00 00 00 00 00 Requirement segment 10 00 00 00 00 00 Reply segment 10 00 00 00 00 00 Requirement segment 11 00 00 00 00 00 Reply segment 11 00 00 00 00 00 Requirement segment 12 00 00 00 00 00 Reply segment 12 00 00 00 00 0
15. Ready to switch on XXXX XXXX x01x 0011 Switched on XXXX XXXX XO1x 0111 Operation enabled XXXX XXXX X00x 0111 Quick stop active XXXX XXXX XOXX 1111 Fault reaction active XXXX XXXX xOxx 1000 Fault A NO as UI 54 1003376 06 201 Bit 4 Voltage enabled Power supply is connected Bit 5 Quickstop In the LOW state this bit indicates that the controller is executing a quick stop Bits 0 1 and 2 of the status word are set to 1 when the drive is ready for operation The other bits indicate additional states of the drive such as execution of a quick stop In the event of an error the FAULT bit is set Bit 7 Warning Warnings such as temperature limits are indicated in bit 7 The device state does not change when warnings are issued For more information on the warning given refer to the FAULT CODE Bit 8 Manufacturer specific Currently not used Bit 9 Remote Currently not used Bit 10 Target Reached The bit is automatically set when a SETPOINT is reached The setpoint depends on the OPERATING MODE A change to the setpoint by the master changes this bit With quick stop OPTION CODE 5 6 7 or 8 this bit is set when the quick stop ends This bit is also set at a Standstill in response to a STOP request Bit 11 Internal Limit active This bit is set when internal limits are reached This bit is dependent on OPERATION MODE Bit 12 und 13 These bits are dependent on OPERATION MODE see following sectio
16. a new positioning operation to be initiated even while the current one is ongoing Illustration 62 1 Setpoint transmission from a host computer data new_setpoint change_set_immediately setpoint_acknowledge When the setpoint has been transmitted to the drive the master activates the positioning by setting the new setpoint bitin the control word 2 The drive responds by setting the setpoint acknowledge bit in the status word 3 once the new data has been detected and saved Now the master can delete the new setpoint bit 4 Then the drive deletes the set point acknowledge bit to signal that a new setpoint is accepted 5 In the dia gram the mechanism initiates a speed 0 on reaching the target position at time t1 After the message indicating the target position has been reached the next target position can be initiated at time t2 62 1003376 06 2015 8 2 4 Velocity mode V F mode This operation mode mode of operation 2 is used to control the drive in frequency regulated mode V F mode The units setpoint and ramp variables are derived from the factor group settings See also section 5 4 Units and Scalings Yukon Drive supports the following objects in this operation mode Table 63 1 Velocity Mode Object no Object name Object code Type Ox6042 vl target velocity VAR Integerl6 Ox6046 vl min max amount ARRAY Unsigned32 0x5048 vl velocity acceleration ARRAY Unsigned32 0x6049 vl velocity
17. deceleration ARRAY Unsigned32 In this operation mode the device must be scaled in the unit Hertz Hz This requires the following settings using the Scaling Wizard in the standard CiA 402 area Position gt rev Speed gt rev s gt 1 5 gt Hz Acceleration gt rev s s The limits then also have to be set Specifically these are Table 63 2 Limits in V F mode Object no Objekt name Description 0x6046 vl min max amount Index 0 Min speed in user unit 1 Max Speed in user unit 0x5048 vl velocity acceleration Index 0 Speed change in user unit 1 Per time unit 0x5043 vl velocity deceleration Index 0 Speed change in user unit 1 Per time unit 06 2015 1003376 63 8 3 Cyclical operation modes profile generation in the controller In the cyclical operation modes described below the profile generation takes place in the controller the drive s internal profile generator is not active The drive interpolates between the controller setpoints transmitted cycli cally according to position speed torque operation mode 8 3 1 Interpolated position mode The interpolated position mode operation mode mode of operation 7 is a further option alongside profile position mode for positioning axles via CANopen It is used for co ordinated movement of multiple axles ora single axle via one control In Interpolated Position mode though the driving profile is created enti
18. ee eee 44 Device control lJ n SR HMH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HNH HHHINHIMMDNDBMMIMBIMAaMN 45 Units and scalings factor gr0Lj hkh K l kaka kk kaka k kak keka kek k y EEEREN 46 W OTa Die OT E E ET DB ED E j E E E 49 451 ad Da NENN NN AS ere N la ae e e beiiiipw ko pp pp pp mm m 49 Z 5 2 0bj ct 2079 MPRO INPUT STA T te cel nei jens ii tne ince k k rk kad lectins 50 75 3 Object 2 SE MRPO DUTPUT STALT 444a amma encanta M Koy kn Wl ee SHA KANE H4 n di Ya ERK iki ee bre 50 7 5 4 Setting digital outputs via field DLUS M kk keke k 51 Fes AB Bde a re e OUTPUTS Prr tpn ial E E 51 er HT A E N IA ETE E 52 CiA 402 compatible operation ITIO SL k ekey k k kek EEEE 52 8 11 Configuring YukonDrive for activation via CIA 402 M K e 52 8 1 2 Control word I UN css canal kak kk lek keke kk keke kek k k bes daw kek leke nia EEEE ENNEA EEEE Kak rk kk 52 813 Status word ORY A 40 0 na ee noe oe ee ee 54 Operation modes with profile generation IMEIIVE oncadeeswsaimnonrsenoedaeantnosaseoaanediaieethunnwans dads ateietidetitsexaebinadidbentenaunets 56 8 2 1 Profile velocity ITIO AK ML llke nd dais kek ek kk kek k kak ek kla 56 822 u COMIN LS MUO Gat T TOI E A DE DID DDDDM I a DN IN BEE r 58 8 2 3 Pro leposition ModE ssrin AE nuna bi hk ano ke dk halk a ere haa KEWE Q ka 9 ere n d aa Re K 50 8 2 4 Velocity mode V F m08 MhKkMAEE alal ae kaka 62 Cycli
19. for your safet The YukonDrive drive controllers are quick and safe to handle For your own safety and for the safe operation of your machine please pay attention e First read the operating manual e Please note the safety instructions ZN Electric drives are dangerous Electrical voltages gt 230 V 460 V e Dangerously high voltages may still be present 10 minutes after the power is cut so always make sure the system is no longer live e Rotating parts Hot surfaces Your qualification e In order to prevent personal injury and damage to property only qualified electrical engineers may work on the device Knowledge of national accident prevention regulations e g VBG4 in Germany e Knowledge of layout and interconnection with the CAN bus field bus During installation observe the following instructions e Always comply with the connection conditions and technical specifications e Electrical installation standards e g for cable cross section shielding etc Do not touch electronic components and contacts electrostatic discharge may destroy components 4 1003376 06 2015 1 2 Introduction to CANopen CANopen is an interconnection concept based on the CAN Controller Area Network serial bus system CAN has many specific advantages in particular multi master capability real time capability resistant response to electromagnetic interference a high level of availability and the low cost of controller c
20. mode bits in the status word Description 10 Target reached Homin 12 S attained Homin 13 2 error 14 ROT_O Stop 0 Home position not reached Stop 1 Axle decelerates Stop 0 Home position reached Stop 1 Axle has velocity 0 Homing mode not yet completed Homing mode carried out successfully No homing error Homing error occurred Homing mode carried out not successfully The error cause is found by reading the error code Axle at standstill Speed is much lower than parameter 745 MON_REFWINDOW 59 8 2 3 Profile position mode In this operation mode mode of operation 1 the axle executes relative or absolute single positioning move ments Table 60 1 Profile Position Mode Object no Object name Object code Type Attr Ox607A Target_Position VAR Integer32 rw 0x607D Software Position Limit ARRAY Integer32 rw Ox6081 Profile_Velocity VAR Unsigned32 rw 0x6083 Profile_Acceleration VAR Unsigned32 rw 0x5084 Profile_Deceleration VAR Unsigned32 rw 0x6085 Quick Stop deceleration VAR Unsigned32 rw Ox6064 Position actual value VAR Integer32 r Ox607E Polarity VAR Unsigned8 rw Units of the parameters are set by way of the Scaling Wizard or the objects from the factor group Structure of operation mode Illustration 60 2 Structure of profile position mode target_position position Limit eee 607Ah units gt ruction Multiplier positio_range_limit 607Bh software_position_limit position_facto
21. ramp variables are derived from the factor group settings See also section 7 4 Units and Scalings The device supports the following objects for this operation mode Table 56 1 Profile Velocity Mode Object no Object Name Object Code Type Ox606C Velocity actual value VAR Int32 Ox60FF Target velocity VAR Int32 0x5094 Velocity encoder factor ARRAY Int32 0x8083 Profile acceleration VAR Int32 0x5084 Profile deceleration VAR Int32 Ox6085 Quick Stop deceleration VAR Ulnt32 Ox607E Polarity VAR UInt8 Note In addition to the objects listed in the table object Ox6064 Position Actual Value is also updated cyclically in profile velocity mode 56 1003376 06 2015 Illustration 57 1 target_velocity P wazan nd i i 60FFh ee Velocity Units Multiplier _max_profile_velocity velocity units p di Minimum velocity limit max_motor_speed RD Comparator 6080h Multiplier velocity_factor_1 6095h l __Profile_acceleration 6083h Profile deceleration 6084h __quick_stop_deceleration 6085h acceleration Units gt acceleration units Limit Function jacceleration units db max_acceleration 60C5h max_deceleration 60C6h motion_profile_type 6086h velocity demand gt demand tipi Mulipler velocity units G2 velocity_demand_value 606Bh velocity_factor_1 ex 6095h 607Eh Structure of profile velocity mode Mode dependent
22. the boot up message 2 2 Meanings of LEDs The CAN option of YukonDrive has two diagnostic LEDs H14 H15 Illustration 9 1 Device with CANopen Option 06 2015 1003376 9 The LEDs have the following function Table 10 1 Meanings of LEDs LED Function Meaning The LED displays the current network status e NMT STOPPED flashing with 800 ms cycle H14 yellow LED CANopen network status e NMT PRE OPERATIONAL flashing with 1600 ms cycle e NMT OPERATIONAL permanently lit Permanently lit if the 24V supply is H15 green LED Voltage supply CAN option powering the CAN option via the CAN bus 2 3 Installation Table 10 2 Installation Step Action Note See Operating Manual 1 Make sure the hardware enable is wired on YukonDrive X4 YukonDrive Wire the CAN connection using connector X32 See Specification of CAN bus connection table and e Connection of CAN signal cables 2 e Connection of interface power supply Assignment of connection e Activation of the internal bus terminating resistor on the X19 table final drive controller 3 Switch on the drive device Electrical installation is finished for how to proceed further refer to section 4 Commissioning and configuration The CANopen interface is integrated in the YukonDrive The connection is made via connector X32 The interface is isolated from the drive controller electronics The supply to the isolated secondary side
23. 0 Requirement segment 13 00 00 00 00 00 Reply segment 13 00 00 00 00 00 Requirement segment 14 00 00 00 00 00 Reply segment 14 00 00 00 00 00 Requirement segment 15 00 00 00 00 00 Reply segment 15 No further segments Transmission of transferred values ASCII At 6 bytes the string X axis is so short that it can be fully transferred in the first segment The following segments of 100 bytes of the parameter therefore only include zeroes Transmitted bytes HEX 58 2D 41 78 69 73 Interpretation ASCII X A Xx i S 5 3 1 Parameter set download A parameter data set can be downloaded by SDO transfer or via the DR vE MANAGER user interface version 5 or higher All manufacturer specific device parameters are also accessible via objects 2000 5FFF If a unified valid data set i e not just individual parameters needs to be transferred from the CAN master to the device the following points must be considered On every transfer of an individual parameter the drive controller checks whether the parameter matches its exis ting data set The check of the new parameter value sometimes refers to existing parameter values This means it is possible that the drive controller may reject a parameter even though it originates from a valid parameter data set because the parameter Set is not yet complete in the device Since a simple error reset may not eliminate the cause of the error it may be necessary to reset to the factory defaults
24. 0x1803 4th_Transmit_PDO_Parameter RECORD PDO CommPar rw Ox1A00 1st_Transmit_PDO_Mapping max 8 objects RECORD PDO Mapping rw Ox1A01 2nd_Transmit_PDO_Mapping RECORD PDO Mapping rw max 8 objects Ox1A02 3rd_Transmit_PDO_Mapping RECORD PDO Mapping rw max 8 objects 0x1A03 4th_Transmit_PDO_Mapping RECORD PDO Mapping rw max 8 objects en NO aa 24 1003376 06 201 5 2 Parameter channel Service Data Objects The Service Data Object SDO permits write and read access to the object directory This SDO is implemented according to the CAL specification by the Multiplexed Domain CMS object The protocol is designed for the transfer of data of any length An SDO server is integrated into the device for SDO transfer Communication is by way of two reserved identifiers Receive SDO 600 Transmit SDO 580 Illustration 25 1 Example of an SDO data transfer in Expedited mode SDO Client SDO Server Data 600H Node ID Byte 0 1 2 3 4 5 6 7 Subindex Index Controlfield Directory Controller 580H NodetD Byteo 1 2 3 4 5 6 7 Ema Index Controlfield The CAL specification makes a basic distinction between three protocol services e Download protocol Write Upload protocol Read e Abort protocol Error The upload and download protocols also differentiate between Expedited Multiplexed Domain protocol for access to objects with a data length of up to 4 bytes shown above and Multiplexed Domain protocol
25. 11 10 9 8 7 6 4 3 2 1 0 Operation Manufacturer Fault Enable Quick Enable Switch nei reserved Halt mode f specific Reset A operation stop voltage on specific O O O M M M M M MSB LSB O Optional M Mandatory 52 1003376 06 2015 Bits 0 3 and 7 DEVICE CONTROL COMMANDS are triggered by the following schema in the control word Table 53 1 Command Shutdown Switch on Switch on Fault reset Disable voltage Quick Stop Disable ope ration Enable operation Fault reset bits marked X are irrelevant Inthe state SWITCHED ON the drive executes the functionality of this state Bit of the controlword Enable operation Quick Stop 1 Enable voltage It exists no functionality in the state SWITCHED ON The drive does not do anything in this State Bits 4 6 and 8 Device control commands Switch on Transitions 2 6 8 32 3 7 3 10 12 7 10 11 15 Bits 4 6 and 8 are interpreted differently according to the active operation mode modes of operation display object Table 53 2 Bit Profile position mode New setpoint Change set immediately abs rel Stop Profile velocity mode reserved reserved reserved Stop Operation Mode Homingmode Homing operation start reserved reserved Stop Interpolated position mode Enable IP mode reserved reserved Stop Mode specific bits in the control word Cyclic sync
26. 2 Velocity offset 608 1 Position offset 60B0 Position control VS contro Torque actual value 6077 Velocity actual value Velocity Object code Type VAR Integer32 VAR Integer32 VAR Integerl6 Overview of cyclic synchronous position mode Torque control 606C Position actual value 6064 06 2015 1003376 65 Mode specific bits in the status word Table 66 1 Mode specific bits in the status word Bit Name Value Description 0 Target position ignored 12 Target position 1 Target position shall be used as input 0 No following error 13 Following Error 1 Following error 8 3 3 Cyclic synchronous velocity mode EtherCAT only In this operation mode mode of operation 9 the controller cyclically transmits speed setpoints to the drive which controls the speed and current As an option an additional speed setpoint and additional torque setpoint for torque pre control can be transmitted by the controller The following objects are supported by the device for this operation mode Table 66 2 Supported objects Object no Object name Object code Type Ox60FF Target Velocity VAR Integer32 Ox60B1 Velocity Offset VAR Integer32 Ox60B2 Torque Offset VAR Integer16 Illustration 66 3 Uberblick Cyclic Synchronous Velocity Mode Offset torque 60B2 Offset velocity 60B1 4 Target Velocity velocity control 60FF Torque control
27. 301 CiA 402 profile Example The object 1000 Device Type exists both in the CiA 301 profile and also as a device parameter with parameter number 2011 Simultaneous two way access would therefore be possible via CANopen or EtherCAT In order to uniquely configure the access the read write access for this object is only possible via profile specific object number 1000 as per CiA 301 Emergency The Emergency service is designed for the transfer of error messages In contrast to CANopen emergency messages in EtherCAT are not autonomously sent from the Slave but are retrieved by the master Functionality in YukonDrive e Errorcodes as per the CiA 402 device profile are supported For the structure content of the emergency message please refer to the section Emergency Objects SDO Information Service The SDO Information Service allows the master to read the object directory of the slave In this way the master can determine the supported objects of the slave with the required additional information e g data type access rights etc The SDO Information Service therefore represents an alternative to the use of EDS files familiar from CANopen Functionality in YukonDrive e Access to the object list and description e Alternative to integrating the EDS file 06 2015 1003376 37 EoE Functions such as the tunnelling of standard Ethernet frames in EtherCAT frames generally fall under Ethernet over EtherCAT This enables p
28. 376 06 2015 7 5 4 Setting digital outputs via field bus In order to be able to set or reset digital outputs OSDOO OSDO2 via the bus the MPRO_Output_FS_OSDxx output selectors parameter 122 124 must be configured for access via field bus The two setting options provi ded for this are valid for all three digital outputs OSDO0 OSDO1 OSDO2 and are shown in the following table Table 51 1 Setting MPRO_Output_FS_OSDxx parameters 122 124 Setting Description 39 Output set via communication option in 1ms cycle Output set via communication option updated in1ms cycle Output set via communication option updated in control cycle 40 Output set via communication option in NC cycle 62 5 us 7 5 5 Object 6OFE digital outputs When the manufacturer specific parameter Function selector for digital output is set to CAN 13 the associated output can be influenced by way of this object Table 51 2 Bit assignment of the object 60FE Bit OSDOO 16 05D01 17 OSDO2 18 OSDO3 25 05D04 26 OSDOS 27 06 2015 1003376 51 8 Operation modes 8 1 CiIA 402 compatible operation modes Devices from the YukonDrive families support CiA 402 operation modes Profile position mode e Cyclic Synchronous Position mode EtherCAT only Profile velocity mode e Cyclic Synchronous Velocity mode EtherCAT only e Homing mode e Cyclic Synchronous Torque mode EtherCAT only e Interpolated Position mode The operation mo
29. 700h e Four variably mappable TxPDOs transmission type 1 to 240 254 and 255 dec possible e Four variably mappable RxPDOs transmission type 1 to 240 254 and 255 dec possible One SDO server pay attention to definition of time conditions typical processing time in device approx 5 ms depending on capacity utilisation e One emergency object error code to CiA 402 plus manufacturer specific error location and number operating hours of the device e One Sync object e NMT state machine to CiA 301 Node guarding and heartbeat see below e Processing cycle PDO protocols can be processed in a minimum cycle time of 1 ms If protocols arrive faster the previous protocols are overwritten e SDO protocols and NMT services are processed acyclically Typical processing times lie between1 and 5 ms e Initialisation values of the COB IDs based on Predefined Connection Set e Access to device parameters 2000h 5FFFh expedited non expedited 06 2015 1003376 23 5 1 2 Object directory of CiA 301 For a full overview of the supported CAN objects of YukonDrive please refer to the EDS file Here you can refer both to the CANopen objects of CiA 301 and CiA 402 and to the manufacturer specific objects of the device The following list shows an extract of the object directories with important CiA 301 objects For these objects the transmission types or mapping for example are explained below Table 24 1 Object directory Object no Object
30. Name Object Code Type Attr 0x1000 Device Type VAR Unsigned32 ro 0x1001 Error_Register VAR Unsigned8 ro 0x1003 Pre Defined_Error_Field One subentry ARRAY Unsigned32 ro 0x1005 COB ID_SYNC VAR Unsigned32 rw 0x1006 Communication_Cycle_Period VAR Unsigned32 rw 0x1007 Synchronous_Window_Length VAR Unsigned32 rw 0x1008 Manufacturer device name String 0x1009 Manufacturer hardware version String Ox100A Manufacturer software version String 0x100C Guard_Time VAR Unsigned16 0x100D Life_Time_Factor VAR Unsigned8 0x1010 Store parameters ARRAY Unsigned32 rw 0x1011 Restore default parameters ARRAY Unsigned32 rw 0x1014 COD ID_EMCY VAR Unsigned32 0x1017 Producer _Heartbeat Time VAR Unsigned16 rw 0x1018 Identity_Object alle 4 Eintr ge Seriennummer unterst tzen RECORD Identity 23h ro 0x1400 Ist_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1401 2nd_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1402 3rd_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1403 4th_Receive_PDO_Parameter RECORD PDO CommPar rw 0x1600 Ist_Receive_PDO_Mapping max 8 objects RECORD PDO Mapping 21h rw 0x1601 2nd_Receive_PDO_Mapping max 8 objects RECORD PDO Mapping rw 0x1602 3rd_Receive_PDO_Mapping max 8 objects RECORD PDO Mapping rw 0x1603 4th_Receive_PDO_Mapping max 8 objects RECORD PDO Mapping rw 0x1800 1st_Transmit_PDD_Parameter RECORD PDO CommPar 20h rw 0x1801 2nd_Transmit_PDO_Parameter RECORD PDO CommPar 20h rw 0x1802 3rd_Transmit_PDO_Parameter RECORD PDO CommPar rw
31. O DL Mailbox EoE SDO Information Service Process Data EtherCAT Data Link Layer Physical Layer Ethernet The physical layer of EtherCAT based on IEEE802 3 100 Basel X Ethernet physics The EtherCAT Data Link Layer DL is then based on this and is split into mailbox and process data The following layer is called the Application Layer AL and includes the services CoE CAN over EtherCAT and EoE Ethernet over EtherCAT All services that are not time sensitive i e intervention of their execution contents in process data is not time sensitive are grouped together in the mailbox The mailbox is used as a service data channel and thus also enables access to drive parameters This is done via the SDO Service Data Objects channel The mailbox service also provides the basis for EoE Ethernet over EtherCAT services and error handling emergency telegrams The process data is structured on the basis of CANopen CiA 301 This means objects are mapped in PDOs Process Data Objects that are transferred cyclically This process data includes for example cyclic position speed or torque reference values and actual values The basis for both SDO and PDO accesses to the drive is always the object directory which is also based on CANopen For the user this means that these objects can be accessed both via CANopen and via EtherCAT In the case of YukonDrive the CiA 402 device profile is again set up on the application l
32. O_402_IntTimePeriod object Ox60C2 must be set to the cycle time for the setpoints or the telegrams 4 2 CAN specific configuration 4 2 1 Setting the software address and baud rate The software address and baud rate can be set using the following device parameters via DRIVEMANAGER Table 21 3 Parameters on the Bus Systems function screen Parameter Function Description 2005 COM_CAN_Adr Adresse CANopen Address assignment via parameter For more informati on on setting the address see section 2 1 2006 COM_CAN_Baudrate Baudrate Permissible baud rates see section 2 3 06 2015 1003376 21 Note YukonDrive has a default baud rate of 1 Mbit The actual address is calculated by adding the software and hardware address and is displayed using parameter P 2058 COM_CAN_Adr_Act Any change to the baud rate in parameter P 2006 COM_CAN_Baudrate only takes effect once YukonDrive has been restarted The current baud rate is displayed using parameter P 2059 COM_CAN_Baudrate_act 4 2 2 Commissioning instructions A drive device may not respond to a telegram for a variety of reasons There is no reply if the scope of telegram baud rate data length on the master computer is not correct e There is no reply if a drive device is addressed with the wrong bus address e There is no reply if the serial connection between the master computer and the drive device is not correctly set up e There is no reply if the 24V supply to the CAN connectio
33. STO Safe Torque Off see document 1007417 Description of the STO category 3 control terminal ISDSH For these devices the relevant function logic must be implemented by way of the higher order controller as per the Application Manual Note When the inputs ENPO and ISDSH are not configured the device stays in status 1 Not Ready to Switch On or 2 Switch On Disabled Only after correct configuration can the status be exited by a Shutdown command via DUS 4 Commissioning and Configuration 4 1 General commissioning of CANopen EtherCAT 4 1 1 Commissioning The DR vEMANAGER user interface is used for general commissioning of the drive system DriveManacer includes tools to identify motor data provides access to a motor database for servo motors and enables general device configuration First commissioning is a separate subject regarding operation via the user interface and is descri bed in detail in the device s application manual 4 1 2 Commissioning sequence Preconditions e The drive device is wired as specified in the operation manual and first commissioning is completed To test CAN communication it is sufficient to connect the voltage supply of the CAN option and the control voltage If current is to be applied to the motor the hardware enable ENPO and the STO Safe Torque Off must also be correctly configured Note For more detailed information on optimisation of the software functions and
34. Target position is a relative value Execute positioning Stop axle with profile deceleration if not supported with profile acceleration Profile position mode bits in the status word Description Target 10 reached Set point 12 i acknowledge Table 61 3 Bit Name Stop 0 Target position not reached Stop 1 Axle decelerates Stop 0 Target position reached Stop 1 Velocity of axle is 0 Trajectory generator has not assumed the positioning values yet Trajectory generator has assumed the positioning values Profile position mode bits in the status word Description 13 Following error 14 ROT_O No following error Following error Axle at standstill speed is much lower than parameter 745 MON_REFWINDOW 61 Functional description This OPERATION MODE supports two different options for target position input SET OF SETPOINTS When the target position is reached the drive directly approaches the next target position the axle is not stop ped when the first target position is reached SINGLE SETPOINT When the target position is reached the drive indicates the fact to the master Then the drive receives a new setpoint At each target position the drive is stopped before being moved on to the next target position The two options are controlled via the timing of the NEW SETPOINT and CHANGE SET IMMEDIATELY bits in the control word and the SETPOINT ACKNOWLEDGE bit in the status word These bits allow
35. alisation state only active on Blinking Pre Operational Untere Device is in pre operational state LED the lower port Single Flash Safe Operational yene ne ea e Device is in safe operational state connected here On Operational Device ready to start Depending on the device s hardware status an additional status error LED may be present in addition to the two LEDs on the two RJ 45 sockets In this case the meaning of the LEDs is as shown in the table below 16 1003376 06 2015 Table 17 1 LED Function Meaning of LEDs with additional status error LED Meaning Off no link No connection with another user Upper LED Link Activity On Link Connection with another user exists no data exchange On Link Lower LED Link PHY Off no link Red error Off No Error Blinking Invalid Configuration Single Flash Local Error Double Flash Watchdog timeout Green RUN Status LED isuse Off Initialisation RUN Error Device in status Initializing Blinking Pre Operational Device in status Pre Operational Single Flash Safe Operational Device in status Safe Operational On Operational Device in status Operational 17 3 4 Display of operating statuses via 7 segment display Table 18 1 D1 D2 Meaning Parameter System statuses 8 8 Device in reset stat
36. ayer For information on this layer please refer to the sections Implemented CiA 402 functionality and CiA 402 operation modes 36 1003376 06 2015 An overview of the EtherCAT functionality of YukonDrive is provided below Process Data e 4RxPDOs e Transfer length max 8 bytes per PDO e 4TxPDOs e Variable mapping as per CiA 301 cf CANopen red this must be completed with a dummy byte for example The dummy byte is entered as object Ox2807 ATTENTION The PDO must have an even number of bytes assigned If an uneven number is requi Cycle times e Transfer of cyclic position setpoints at max 8 kHz 125 us e Transfer of cyclic speed setpoints at max 8 kHz 125 us e Transfer of cyclic torque setpoints at max 8 kHz 125 us Mailbox YukonDrive supports the CAN over EtherCAT CoE and Ethernet over EtherCAT EoE protocol The following functions services are implemented CoE e SDO Abort e Initiate SDO Download e Download SDO Segment e Initiate SDO Upload Upload SDO Segment e Abort SDO Transfer e Alle Ger te Parameter sind Uber Objekt ID 2000H x erreichbar Note Profile specific parameters are visible in DriveManager but only in the 1000h CiA 301 Objekte 6000h CiA 402 objects writeable readable range This means parameters stored both as device parameters 2xxxh range and as profile parameters CiA 301 CiA 402 can only be read and written to via their object number CiA
37. bit 70 1003376 06 2015 Table 71 1 Bit S 8 12 13 15 Value bin 00000000 00000001 00000000 00000010 00000000 00000100 00000000 00001000 00000000 00010000 00000001 00000000 00000010 00000000 00000011 00000000 00000100 00000000 00000101 00000000 Value hex xx01 xx02 xx04 xx08 xx10 01xx 02xx 03xx 04xx 05xx Objekt 0x60B8 Touch probe function Description Enable external latch 1 positive rise via Touch probe module Enable external latch 1 negative rise via Touch probe module Enable extern latch 2 positive rise Enable extern latch 2 negative rise Enable internal latch C positive rise via MC_Home module reserved Read external latch 1 positive rise via Touch probe module Read external latch 1 negative rise via Touch probe module Read external latch 2 positive rise Read external latch 2 negative rise Read internal latch C positive rise via MC_Home module reserved Object Ox60B9 returns the status of the Touch probe function If a signal activated by object Ox60B8 has been registered this is indicated in the status word by setting the corresponding bit 0 4 71 Table 72 1 Bit S 8 11 12 15 Value bin 00000000 00000001 00000000 00000010 00000000 00000100 00000000 00001000 00000000 00010000 00000001 00000000 00000010 00000000 00000011 00000000 00000100 00000000 00000101
38. bits in the control word Multiplier 4 velocity_encoder_factor 6094h Structure of operation mode elocity demand Profile Acceleration Quick Stop Deceleration Motion Profile ype Profile Velocity Mode Bits im Statuswort Type 0 Execute the motion Table 57 2 Object no Object name Object code 8 Halt 1 Stop axle 06 2015 1003376 57 8 2 2 Homing mode This operation mode mode of operation 6 is used for homing a position controlled axle The drive executes a movement according to the programmed homing method Note The Touch probe function enables control led homing of the drive See section 10 1 The various homing methods differ in the integration of the hardware limit switch home switch and index signal into the encoder system It should be noted here that appropriate digital inputs should be configured for limit switch and home switch functionality e Limit switch function e LCW right hand hardware limit switch e LCCW left hand hardware limit switch e HOMSW home switch The following objects are supported by the device for this operation mode Table 58 1 Homing Mode Object no Object name Object code Type Attr Ox607C Home_Offset VAR Integer32 rw 0x8098 Homing_Method VAR Integer8 rw Ox6099 Homing_Speeds ARRAY Unsigned32 rw Ox609A Homing_Acceleration VAR Unsigned32 rw 0x6099 01 quick jog 0x6099 02 slow jog Illustration 58 2 Homing Function control_wor
39. cal operation modes profile generation in the controller oo ec ceceeeseceeccseeeeeceeeceeseeseeesseesseeseesseeseenss 64 8 31 Interpolated position ITIO aa llke keke ek keyey e 64 8 3 2 Cyclic synchronous position mode EtherCAT OIlly hE dEii eee 65 8 3 3 Cyclic synchronous velocity mode EtherCAT Only hk Ab kE ake eee 66 8 3 4 Cyclic synchronous torque mode EtherCAT only AAh A l lll ake 67 8 3 5 External pre control of speed tO0rQJU K llke k k kek k ra kek ka 67 hal ao a ND DD r gd kd 69 Error acknowledgement STIS ail ctestits ste rrtt rrtt trr EtEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE EEEREN 69 Error acknowledgement via bus SyStemM sssssissssserrrrstttttttt kk kak kak kk kek kak ka 69 MPN T TU TLI occ u 4 4554414no ie ken ok ke sn eleke kek b ta hel ki n 70 lll 002 0 Aen peer meee ve nee eee erence emer Oren etter rete ee een een en ener eee rd 70 10 11 Description of manufacturer specific implementation eee lake 70 101 2 Control Base NOMINE 440 c n l 1la wande an d meze d l ekir en bede band dal ak dan bak dad E 73 Bel lal SN Dyaooe g rmjgmmrm mmmmrmmmmmmm ammmommmmma i 73 EDS Til objert directory parameter NS a s yy 4 12548454452151454445 185ij2343 5544 ka aaMS aki eN 8n 74 FY eT UBL ea EON y erennere NN N N NH I MD DM DMDDEEEZTDZ k KE VMMMPBD BBDMDDMD TM 74 1003376 3 1 General 1 1 Measures
40. control circuits refer to the device application manual Table 19 1 Step Action Note Check the wiring Make sure the ENPO hardware enable X4 is not connected Switch on the mains power and the 24V supply to the CAN interface Configure the drive device using the 3 NED Inputs outputs software functions etc application manual Test the control quality and optimise the controller settings as necessary using the operation manual Set the parameters for the CAN communication The baud rate and the device address are required The add b lected using software and 5 J BERR Ea E EN N Ni Software and hardware address are added hardware The mapping must also be completed and the active operation mode Selected as per CiA 301 402 Test the drive on the higher order controller see section 3 4 7 Finally save the setting Save device setting Non volatile in device Note For more information on the subject of Units and scalings please refer to section 7 4 06 2015 1003376 19 4 1 3 Commissioning via DRIVEMANAGER Table 20 1 Procedure for commissioning with the aid of the application manual First commissioning based on operation manual A precondition for this is first commissioning with the aid of the operation manual The user manual only covers adjustment of the software functions Commissioning as per application manual j Commissioning based on CANopen user manual Ij Chec
41. d USIGN16 INT16 ee ee L USIGN32 INT32 OW BYLE igh Byte ow Byte igh Byte FLOAT32 JIEEE Format STRING See examples filled up with the appropriate preceding sign 00 or FF 26 1003376 06 2015 5 2 3 Access to device parameters Where can find the device parameters All device parameters are addressed by way of a parameter number In addition to the standard objects the CANopen profile also provides an area for manufacturer specific entries This area lies between 2000 and 5FFF If you then want to read or write parameter 455 MOT_FNOM rated motor frequency of the device the object index is generated from 2000 parameter number hex In our example Index 2000 1C7 Note Profile specific parameters are visible in DriveManacer but only in the 1000 CiA 301 Objekte 6000 CiA 402 objects writeable readable range This means parameters stored both as device parameters 2xxx range and as profile parameters CiA 301 CiA 402 can only be read and written to via their object number CiA 301 CiA 402 profile Example The object 1000 Device Type exists both in the CiA 301 profile and also as a device parameter with parameter number 2011 Simultaneous two way access would therefore be possible via CANopen or EtherCAT In order to uniquely configure the access the read write access for this object is only possible via profile specific object number 1000 as per CiA 301 5 3 Examples of SDO handling
42. d status_word homing_speeds homing_acceleration position_demand_value home_offset YukonDrive supports all 35 homing methods defined in CiA 402 The individual homing methods functions and movement sequences are described in the device application manuals Home Offset The HOME OFFSET object is the difference between position O of the application and the HOME POSITION found during homing It is represented in position units At the end of a homing run the HOME OFFSET is added to the HOME POSITION found All subsequent absolute positioning operations relate to this new home position The homing method and the associated properties can be changed in two ways Homing can be changed either via DR vE MANAGER or via CAN For configuration via CANopen the objects of the homing mode can be directly addressed For example for a change to the homing method object 0x5098 can be changed 58 1003376 06 2015 Mode specific bits in the control word Bit 4 HOMING OPERATION START Bit 8 STOP Table 59 1 Bit Name Homing Mode bits in the control word Description 7 Homing operation start 8 Stop Mode specific bits in the status word Bit 10 TARGET REACHED Bit 12 HOMING ATTAINED Bit 13 HOMING ERROR Bit 14 ROT_O Table 59 2 Bit Name Value Homing mode inactive Start homing mode Homing mode active Interrupt homing mode Execute the instructions of bit 4 Stop axle with Profile deceleration Homing
43. d in the application manual Note A full list of all error messages from YukonDrive including assignment of the corresponding emergency code can be found in the YukonDrive application manual 9 1 Error acknowledgement general Device errors can be acknowledged by the following mechanisms e Control word bit 7 edge controlled e Control input with programmed reset functionality e Hardware enable ENPO to control terminal e Operation via two buttons e DriveManacer user interface e Writing value 1to parameter 153 MPRO_DRVCOM_FaultReset via the control unit or bus system Note For a detailed list of all error messages and remedial measures please refer to the YukonDrive application manual on our product CD 9 2 Error acknowledgement via bus system Another option is available via the object 6040 control word An error acknowledgement is executed by a rising edge at bit 7 in the control word Resetting of the error is signalled by transmission of the following emergency message Table 69 2 Error acknowledgement ID Data bytes Description Emergency 0000000000000000 Emergency message acknowledgement error If the cause of the error is not eliminated the drive controller returns to error status after transmission of another emergency message 06 2015 1003376 69 10 Technology functions 10 1 Touch probe Positions of the drive can be recorded on the basis of certain input signals using the Touch probe function P
44. d to faulty addressing by the master Connecting cables Ethernet patch cables or crossover cables are suitable connection cables as per the CAT5e specification Cables lengths of 0 3 m to a max 100 m are permissible A Attention Never use EtherCAT and standard Ethernet together in one physical network This can lead to impairments including communication outages To avoid confusion always use different colours for EtherCAT and Ethernet cables 3 2 Pin assignment of the R 45 socket Table 15 1 Pin assignment of the RJ 45 socket PIN Colour Cable pair Function 1 white orange 2 TxData 2 Orange 2 TxData 3 white green 3 RecvData 4 blue 1 Unused 5 white blue 1 Unused 6 green 3 RecvData 7 white brown 4 Unused 8 brown 4 Unused Illustration 15 2 Pin assignment of the RJ 45 socket Pair 3 12345678 Note Ethernet cables are available in various lengths in the IT specialist trade Use CAT5e cable or better 15 3 3 Meanings of LEDs There are 2 LEDs on each RJ 45 socket Illustration 16 1 Device with EtherCAT option The two LEDs on the RJ 45 socket mean the following Table 16 2 Meaning of LEDs without additional status error LED LED Function Meaning Off no link Noconnection with another user Obere On Link Link Activity LED Connection with another user exists no data exchange Blinking Activity Data exchange active Off Initialisation RUN Device is in initi
45. de is switched via CANopen object 6060 modes of operation This switch is possible in Operation enable power to motor status The current operation mode is indicated in the CANopen object 6061 modes of operation display 8 1 1 Configuring YukonDrive for activation via CiA 402 For activation via CANopen or CoE EtherCAT as per CiA 402 profile the following parameters must be set in the device Table 52 1 Configuring YukonDrive No Name Function Setting 159 MPRO_CTRL_SEL Control location selector CiA 402 165 PRO_REF_SEL Setpoint selector CiA 402 These parameters can be found under Motion Profile gt Basic Settings If the drive is operated in an operation mode in which the internal profile generator is inactive and cyclic setpoints are transferred e g cyclic synchronous position mode the interpolation time must be configured Table 52 2 Configuring YukonDrive No Name Function 306 CON_IpRefTs Cycle time of setpoints in IP mode The interpolation time CON_IpRefTs represents the cycle time in which setpoints from a higher level controller are expected 8 1 2 Control word CiA 402 Object 6040 control word The object is also mapped in the parameter P 2208 MP_Controlword The control word contains bits for e status control control of operating modes and e manufacturer specific options The bits in the control word are defined as follows Table 52 3 Control word CiA 402 15
46. e address and baud rate MM MKkKA A kk kek 21 4 2 2 Commissioning NG UC ONS M k keke kek kelk 22 4 2 3 Testing the higher level controller WMk W l kk kelka 22 vala nya N _ _e_e_ _ rorererernmrmrnbnbrm zumre mm 22 4 2 5 Control FUNCE OS eine 440 45ya ala n k ke vk n kini eka nee ce ok ki eee er eee ee nek k S e S hen er VE San ee 23 4 3 Commissioning and Configuration of Ether AT Ml kk ekey 23 5 Setting the Device Parameters for CANOPEN i 4 n n did y dkNAD A a ra y ke 23 5 1 Implemented CiA 301 FUNCTIONALITY eee dlke yekeke keke ekey ka 23 511 CORT ENE UT OM ES scrisese eddi baad dian k dl dakan ki Da kiz ka w da kabe da k na a i Wla Ha dea nena aba 23 512 Objectdirectory of IA 3 Lu mask n me kelen laik man n ERN R SE ed d sa Kelo kr kalak ra Ue nn kan k r in E EESTE 24 5 2 Parameterkanal Service Data O Dj CtS MAA aaay 26 ARD o_o oorrrererbebebeeeelhrraraaabbbbemmmmmmmmmmmemmmmmm ma 26 5 2 2 Representation of data types in the control protocol sacccocecisssscsdsvocaceronennarsbnesstanseenneasssecaabdavedseniaencanedens 26 5 2 3 Access to device Dafal t0lS A A E kk keke k y ge keyey k kek kek kak ek ka 27 5 3 Examples of SDO handl eterna lat dst ae ae tdci octet lie anew ac caesar 27 5 3 1 Parameter set download MA llke kk k kek keke k la 30 54 DIDS ASS GT j ES sis sin de keri nl kon n vaka n
47. e deceleration 6084 or Profile deceleration Quick stop deceleration 6085 Limit or Quick stop deceleration Max acceleration 60C5 function incs Max deceleration 60C6 Quick stop option code 605A 64 1003376 06 2015 Mode specific bits in the control word Description Interpolated position mode inactive Interpolated position mode active Execute the instruction of bit 4 Stop axle Mode specific bits in the status word Description Table 65 1 Bit Name Value 0 4 Enable IP mode 1 0 8 Halt ji Table 65 2 Bit Name Value 0 10 Target reached 1 0 12 IP mode active 1 0 14 Axle synchronized HALT 0 Position not yet reached HALT 1 Axle decelerates HALT 0 Position reached HALT 1 Axle has velocity 0 Interpolated position mode inactive Interpolated position mode active Axle not synchronized Axle synchronized 8 3 2 Cyclic synchronous position mode EtherCAT only In this operation mode mode of operation 8 the controller cyclically provides the position setpoints for the drive The position speed and current are controlled by the drive As an option an additional speed and torque setpoint can be transmitted as a pre control value The following objects are supported by the device for this operation mode Table 65 3 Supported objects Object no Object name Ox607A Target Position Ox60B1 Velocity Offset Ox60B2 Torque Offset Illustration 65 4 Torque offset 60B
48. e firmware It contains all the CAN objects of the drive controllers Note YukonDrive has parameters with default values in the device that may deviate from the default values in the EDS file These are power stage specific parameters with contents that are dependent on the size Examples of such parameters are Para 302 CON_SwitchFreq Para 307 CON_VoltageSupply Para 651 DV_CAL_VDC 74 1003376 06 2015 Germany Harmonic Drive AG Hoenbergstralse 14 65555 Limburg Lahn T 49 64315008 0 F 49 6431 5008 119 info harmonicdrive de www harmonicdrive de Subject to technical changes 1003376 06 2015
49. erve as an event for the transmission of a TxPDO This means that only the mapped contents of this TxPDO can be used as an event for transmission of a TxPDO Accordingly it is not possible to send a TxPDO dependent on the changes in content of another TxPDO Example The status word 6041 is mapped in TxPDO1 TxPDO2 contains the current actual position A change in the Status word in TxPDO1 can therefore not be used as an event for transmission of the TxPDO2 If this is required the status word 6041 can also be mapped in TxPDO2 however Selecting events In YukonDrive every bit or any change to it in a TxPDO can be defined as an event By default all bits max 64bit 8byte are monitored for changes and are evaluated as events Individual bits can be displayed using screens however and therefore are no longer used for event generation Screens enabling the display of individual bits of TxPDOs are defined in field parameter 2007 Each TxPDO has subindexes and each subindex is responsible for 32 bits of the TxPDO Its structure is thus as follows Parameter 2007 COM_301_EvMask Event mask for asynchronous transmit pdos 06 2015 1003376 31 Table 32 1 Feldparameter 2007 Sub Id Name Value Description Type 0 EvMsk_TxPdo1L FFFFFFFF Event mask for TxPDO 1 Byte 0 3 uint32 1 EvMsk_TxPdo1H RIPER Event mask for TxPDO 1 Byte 4 8 uint32 2 EvMsk_TxPdo2L FFFFFFFF Event mask for TxPDO 2 Byte 0 3 uint32 3 EvMsk_TxPdo2H FIRFIR IFEI Event
50. evice control objects The following table lists the implemented objects for controlling the drive Table 45 1 Object no 0x6040 Ox6041 Ox605A 0x605B Ox605C 0x605D Ox605E Ox6060 Ox6061 sp Object name Control word Status word Quick_Stop_Option_Code 0 disable drive function 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on the current limit 4 slow down on the voltage limit 5 slow down on slow down ramp and stay in QUICK STOP 6 slow down on quick stop ramp and stay in QUICK STOP 7 slow down on the current limit and stay in QUICK STOP 8 slow down on the voltage limit and stay in QUICK STOP Shutdown_Option_Code 1 Reaction according to Quick_Stop_Option_Code 0 Disable Drive Function 1 slow down with slow down ramp disable of the drive Disable_Operation_Option_Code 0 Disable Drive Function 1 Slow down with slow down ramp and then disabling of the Drive Function Halt_Option_Code 0 disable drive motor is free to rotate 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on the current limit 4 slow down on the voltage limit Fault_Reaction_Option_Code 0 disable drive motor is free to rotate 1 slow down on slow down ramp 2 slow down on quick stop ramp 3 slow down on the current limit 4 slow down on the voltage limit Modes_Of_Operation 1 profile position mode 3 profile velocity mode 6
51. exited by a Shutdown command via DUS 06 2015 1003376 13 3 Mounting and Connection of EtherCAT 3 1 Installation and cabling Setup of the EtherCAT network In an EtherCAT network there is always one EtherCAT master e g an industrial PC and a variable number of slaves e g servo controller bus terminals etc Each EtherCAT slave has two Ethernet ports Slave to slave cabling is thus possible All EtherCAT users are generally connected in a line with the master at the beginning of the circuit On the last slave in the line the second Ethernet port remains open Illustration 14 1 Connection EtherCAT Rwan BE IN and OUT socket RJ 45 input output Each EtherCAT slave has two RJ 45 sockets The upper port X15 is the input IN and the lower port X16 is the output OUT of the slave The incoming cable from the direction of the master is connected using the IN port and the outgoing cable is connected to the next slave using the OUT port The OUT port remains blank for the last slave in the series An open output ona slave leads internally to a logical short circuit of the transmit Tx and receive Rx cables For this reason every EtherCAT network can be regarded as a logical ring in terms of its topology Illustration 14 2 EtherCAT Option Upper RJ 45 port input Lower RJ 45 port output 14 1003376 06 2015 A Attention Errors in cabling incorrect connection of input and output can lea
52. g states via 7 segment display aces imceciusncadvureeoncectanceaainds naseicaamen detained wnieasnnnanetonaseleaatmaan ke ka 13 2 6 Hardware enabl M A kake keke ee ee 13 Le At IF PL u c y rake EEA Ean NANa E Na ea iRNR 14 3 1 Installation and VEN aca hk lll catered keke keke keke kk k l ka keka 14 3 2 Pinassignment of the RJ 45 SOCK kk ek k k k k k k ka kek ka 15 DERB nn N Sacer cpt I I DD D JI IM MMMMMM MIM MDMDMDJDMID N gt EP i ih j eaten 15 3 4 Display of operating statuses via 7 segment display MAM kk e 18 3 5 Hardware enable sen na eam oe eee nee en ea Ore eo ere 19 4 COMMISSIONING ANC Lor ig r iy i 4 i5 5 2 as ss knnn n kuran n ln l y nak 19 4 1 General commissioning of CANopen Ether AT llke eee k ek kk keka ka 19 411 ME COUNTS SOUS NN RR MH nenHHHREDEHRDDHHHHHHHHHHHHHHHHHHHHH HHNNMNMMNMNMIuEL 19 41 2 COMMAS SIONS SEOIIGTICE s c1csccssscasssesspongtiadcenetacebdaseasadietecedetadaredciabadesnidasdioctneiaassbateesaidesnn kb k en a dan n wez d 19 4 1 3 Commissioning via DRIVEM ANAGER ene ee Tne nee ee ee eee eee 20 414 Operation mode selection Modes Of operation K A C K lake 20 41 5 Functionality of operation THOUS Malle k ekl kek kk kek kal 21 41 6 Setting the timing parameters noes llke kk k ek EEEE EEEE 21 42 CAN specific confieuratiO M reissen nanik niana akan nen yak deku s na ak eo elb E REEE e oan en alek ri 21 4 2 1 Setting the softwar
53. gram failure YukonDrive can be used to monitor the incoming SYNC telegrams and RxPDOs and to trigger an error message after a configurable number of failed telegrams The two parameters shown in the following table are used to configure monitoring Table 35 1 Data Types Para ID Name Description Selection of signal to be monitored 0 SYNC 1 RxPDO 2061 COM_CAN_Timeout_Type Timeout time ms 2062 COM_CAN_Timeout_Value aL Awake i 0 monitoring inactive Parameter P 2061 COM_CAN_Timeout_Type can be used to select whether the incoming SYNC signals or the RxPDOs are to be monitored Parameter P 2062 COM_CAN_Timeout_Value specifies the minimum time in milliseconds that must lapse after the last configured signal before a telegram failure is identified Telegram failure monitoring is only active in the NMT status Operational 06 2015 1003376 35 6 Setting the Device Parameters for EtherCAT 6 1 Supported EtherCAT functionality Below you will find an overview of the EtherCAT functionality implemented in YukonDrive The diagram below shows the basis for the description that follows It shows the structure of EtherCAT based on the OSI 7 layer model Illustration 36 1 EtherCAT structure Application HTTP FTP device profile CiA 402 TCP UDP Object Dictionary AL IP i Ethernet SDO PDO Henning 1 Emergency SD
54. he state of the limit switch is permanently defined within the object Table 49 1 Object 60FD digital inputs Bit Assignment 0 Negative limit switch 1 Positive limit switch 2 Home switch 3to15 Reserved 16 to 31 Manufacturer specific curr not implemented 18 Status requirement for safe standstill 19 ENPO 06 2015 1003376 49 7 5 2 Object 2079 MPRO_INPUT STATE This manufacturer specific object provides an input map of all the YukonDrive digital inputs The object is mappableand transferable by PDO The assignment is as follows Table 50 1 Object 2079 MPRO_INPUT_STATE Bit Assignment 0 Status of input ENPO 1 Status of input ISDOO 2 Status of input ISD01 3 Status of input ISDO2 4 Status of input ISDO3 5 Status of input ISDO4 6 Status of input ISDO5 7 Status of input ISDSH 8 to15 Don t use 16 Status of input ISDO6 17 Don t use 18 Status of input ISA00 19 Status of input ISA01 30 to 31 Don t use 7 5 3 Object 208F MRPO OUTPUT STATE This manufacturer specific object provides an input map of all the YukonDrive digital outputs The object is mappable and transferable by PDO The assignment is as follows Table 50 2 Objekt 208F MPRO_OUTPUT_STATE Bit Belegung 0 Status of output OSDOO 1 Status of output OSDO1 2 Status of output OSDO2 3 to 5 Don t use 6 Status of output motor brake 7 Status of relay output 8 to 14 Don t use 15 Status of relay output STO Safe Torque Off 50 1003
55. hips These advantages have resulted in CAN being introduced into widespread use in automation too Simplified cross manufacturer communication The integration of any number of devices in a manufacturer specific network involves substantial expense CANopen was developed to solve this problem In CANopen the use of CAN identifiers message addresses the time response on the bus the network management e g system start and user monitoring and the coding of the data contents is specified in a uniform way CANopen makes it possible for devices from different manufactu rers to Communicate in a network at minimal cost CANopen uses a subset of the communication services offered by CAL to define an open interface The selected CAL services are summarised in a kind of user guide This guide is called the CANopen Communication Profile CANopen functionality of YukonDrive The CANopen Communication Profile is documented in CiA 301 and regulates the way communication is executed It distinguishes between process data objects PDOs and service data objects SDOs The Communication Profile additionally defines a simplified network management system The device profile for CiA 402 Rev 2 0 variable speed drives was compiled on the basis of the CiA 301 Rev 4 01 communication services It describes the operation modes and device parameters supported The following sections will provide you with an overview of the CANopen functionality integrated i
56. hronous position mode EtherCAT reserved reserved reserved reserved Cyclic synchronous velocity mode EtherCAT reserved reserved reserved reserved Use of the specific bits is explained in more detail in the sections on the operation modes Cyclic synchronous torque mode EtherCAT reserved reserved reserved reserved 53 Bits 7 and 11 15 Table 54 1 Bit in the control word Bit Name Value Description 7 Fault Reset 0 gt 1 Fault Reset 11 No Function No Function 15 No Function 8 1 3 Status word CiA 402 Object 6041 status word The content of the object is also mapped in parameter P 2209 MP_Statusword The status word indicates the current status of the drive It contains the following bits for e current state of the device status of the operation mode and e manufacturer specific Table 54 2 Status word bits Bit Description M O 0 Ready to switch on M 1 Switched on M 2 Operation enabled M 3 Fault M 4 Voltage enabled M 5 Quick stop M 6 Switch on disabled M 7 Warning O 8 Manufacturer specific 0 3 Remote M 10 Target reached M 11 Internal Limit active M 12 13 Operation mode specific 0 14 15 Manufacturer specific Q Bits 0 3 5 and 6 These bits indicate the STATUS of the controller Table 54 3 Device state bits in the status word Value binary State XXXX XXXX XOxx OOOO Not ready to switch on XXXX XXXX X1xx 0000 Switch on disabled XXXX xxxx XO1x 0001
57. is provided by the customer via connector X32 10 1003376 06 2015 Illustration 111 System connection SPS PLC Table 11 2 Specification of CAN bus connection Connection Spring type terminal 1200 intern Wave terminating resistor e Activation of the bus termination in the device via switch 8 on the CAN option Bus termination Max input frequency 1 MHz 24 V 25 50 mA Ext voltage supply a isolated from drive controller Voltage ripple max 3 Vss Power consumption max 50 mA per user Cable type 4 wire surge impedance 120 0 06 2015 1003376 11 Table 12 1 Assignment of connection X32 Terminal X32 PIN PIN Function Description 10 5 CAN_ 24V External 24V supply 9 4 CAN_H CAN High 8 3 CAN_SHLD CAN Shield optional 7 2 CAN_L CAN Low 6 1 CAN_GND CAN Ground 0V Note Both connectors on terminal X32 are connected to each other in the device Note The external 24V supply for the option board is essential It is not powered by the device 2 4 Transmission speeds The CAN bus can be operated at the following baud rates Table 12 2 Transmission speeds at Maximum line length over Transmission speed the entire network 1000 kBaud 25m e Default setting 500 kBaud 100 m 250 kBaud 250m 125 kBaud 500m 50 kBaud 1000 m 20 kBaud 2500 m 0 Rounded bus length estimation worst case on basis 5 ns m propagation delay and a total effective device internal in out dela
58. ithout using REMOTE FRAMES A HEARTBEAT PRODUCER sends acyclic HEARTBEAT MESSAGE One or more HEARTBEAT CONSUMERS receive this message The relationship between the PRODUCER and the CONSUMER can be configured by way of the objects described below The HEARTBEAT CONSUMER monitors receipt of the HEARTBEAT PROTOCOL taking account of the preset HEARTBEAT CONSUMER TIME If the HEARTBEAT PROTOCOL is not received within the HEARTBEAT CONSUMER TIME a HEARTBEAT event is generated The HEARTBEAT PROTOCOL starts directly after entry of the HEARTBEAT PRODUCER TIME If the device is powered up with a HEARTBEAT PRODUCER TIME setting not equal to 0 the HEARTBEAT PROTOCOL Starts with the status transition INITIALISING gt PRE OPERATIONAL In this case the BOOTUP MESSAGE is classed as the first HEART BEAT MESSAGE Illustration 34 1 Heartbeat protocol Write Heartbeat COB ID 700 Node ID Heartbeat Heartbeat Consumer Producer request indication indication indication Heartbeat Producer Heartbeat Time Consumer Time request indication indication indication Heartbeat Consumer Time Heartbeat Event r reserved always 0 s the state of the Heartbeat Producer 0 BOOTUP 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL 34 1003376 06 2015 Note The NODE GUARDING and HEARTBEAT functions cannot be used in a device simultaneously If the HEARTBEAT PRODUCER TIME is not equal to 0 the HEARTBEAT PROTOCOL is used 5 8 Monitoring of tele
59. king the set application solution Setting the drive controller parameters using the application manual This includes for example the configuration of technology functions Configuration of field bus specific settings e g baud rate using this document To preserve the safety of personnel and machinery the application solution should only be checked at low speed Make sure the direction of rotation is correct In case of emergency the controller power stage can be disabled and the drive stopped by removing the ENPO signal Completing commissioning When you have successfully completed commissioning save your settings using DriveManaceR and store the data set in the device lt 4 1 4 Operation mode selection modes of operation There are different control modes for operation of the devices via CANopen The active operation mode is always selected via CiA 402 object 6060h Modes of Operation YukonDrive supports the operation modes as per the CiA 402 Profile Position Mode Profile Velocity Mode e Homing Mode e Interpolated Position Mode e Cyclic Synchronous Position Mode EtherCAT only e Cyclic Synchronous Velocity Mode EtherCAT only e Cyclic Synchronous Torque Mode EtherCAT only In the course of first commissioning the user implements the drive settings using motor data control settings I O configuration etc A relevant control mode is also directly connected with the respective operation m
60. mask for TxPDO 2 Byte 4 8 uint32 4 EvMsk_TxPdo3L FFFFFFFF Event mask for TxPDO 3 Byte 0 3 uint32 5 EvMsk_TxPdo3H BEREBERE Event mask for TxPDO 3 Byte 4 8 uint32 6 EvMsk_TxPdo4L FFFFFFFF Event mask for TxPDO 4 Byte 0 3 uint32 7 EvMsk_TxPdo4H lite elena Event mask for TxPDO 4 Byte 4 8 uint32 Example of application of the screens To only allow the lower 16 bits of the TxPDO1 as an event the subindexes of parameter 2007 are described as follows e Subindex 0 event mask TxPDO1 Bytes 0 3 0000FFFF e Subindex1 event mask TxPDO1 Bytes 4 7 00000000 Note The cyclic transmission of the TxPDOs is activated by setting a cycle time in ms in the objects 0x1800 TxPDO1 0x1801 TxPDOZ2 0x1802 TxPDO3 and 0x1803 TxPDO4 subindex 5 event timer 32 1003376 06 2015 5 6 PDO mapping 5 6 1 Mapping general Variable mapping of parameters is possible on the YukonDrive for all four RxPDOs and TxPDOs Mapping works as defined in the CANopen communication profile CiA 301 Most device specific parameters form part of the manufacturer specific area 2001h SFFFh and can also be mapped in one of the PDOs For these parameters objects refer to the EDS file of the drive controller 5 6 2 Mapping notes Unlike earlier devices the YukonDrive no longer has predefined mapping or mapping selectors This means that the controller must write the mapping to the drive controller prior to acommunication via PDO Transfer of the data set is als
61. meter and DIP switch 54 CAN address hardware address S4 parameter P 2005 COM_CAN_Adr This option is advantageous if for example you intend always to use the same para meter set with up to 15 drives but the lowest address is 30 Parameter P 2005 COM_CAN_Adr is then set to 30 The device address is then defined using the coding switch which ranges from 0 15 Illustration 7 2 Position of CAN connection on YukonDrive Q wy ZAM 06 2015 1003376 7 Address setting using DIP switch An address between 0 and 63 can be selected decimally using DIP switch 54 on the position controller The DIP switch is assigned as follows Positions 1 6 are reserved for the address setting position 7 for the activation deactivation of the 120 Ohm bus termination in the device Function assignment DIP switch1 significance 2 1 DIP switch2 significance 2 2 DIP switch3 significance 2 4 DIP switcth6 significance 2 32 DIP switch7 bus termination ON OFF Illustration 8 1 Device with CANopen Option Example of use of the DIP switches setting address 3 using the DIP switches e Set switch 1and switch 2 to ON 2942 3 e Resulting device address 3 lf the software address 0 is set g 1003376 06 2015 A Attention Switch 7 bus termination Note Changes to the CAN address are applied on e Reset node command e Restart device power up Note The active bus address can be found in
62. n The following table provides an overview Table 55 1 Mode specific bits in the control word Operation Mode Cyclic Cyclic Cyclic A Interpolated Profile position Profile velocity j A synchronous synchronous synchronous Bit Homingmode position j mode mode position mode velocity mode torque mode mode EtherCAT EtherCAT EtherCAT j Target Target Target Set point Homing IP mode Wa 12 Speed position velocity torque acknowledge attained active j j ignored ignored ignored Max slippage i 13 Following error Homing error reserved Following error reserved reserved error Bits 14 and 15 These bits are implemented specific to the manufacturer explanatory notes for them are given in the sections on the various operation modes 06 2015 1003376 55 8 2 Operation modes with profile generation in drive For operation modes with profile generation in the drive the controller merely transmits a target position or speed for the movement to the drive controller How the drive controller reaches this position speed i e the configuration of the driving profile e g trapezoidal triangular steepness of ramps etc is determined and executed entirely by the drive controller 8 2 1 Profile velocity mode This operation mode mode of operation 3 is used to activate the device at a velocity setpoint as per the CiA 402 profile The drive is in speed control in this operation mode The units setpoint and
63. n YukonDrive followed by the information necessary for commissioning 06 2015 1003376 5 1 3 Introduction to EtherCAT As far as real time Ethernet systems are concerned EtherCAT has become well established in the area of automa tion The decisive factor here is not only the IEEE802 3 100BaseT X Ethernet physics known in the home office area but also the excellent value for money with regard to implementation in the master and slave modules Interconnection can be executed as required ina Star ring or line structure using standard patch or crossover cables and is therefore easily adapted to the machine infrastructure To reduce the amount of training required familiar Communication and device profiles were used as of the applica tion layer In this way users familiar with CANopen profiles such as CiA 301 or CiA 402 can change over to this new field bus technology with minimal training In YukonDrive we have combined all our past experience in the CANopen area with this new field bus technology and achieved maximum compatibility and functionality EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany 1 4 System requirements It is assumed you have a standard CANopen setup program and a CANopen interface driver For the precise protocol definitions please refer to the CAL specification With the aid of these objects it is possible to configure the actual CANopen communicatio
64. n is missing or the cabling is faulty e There is no valid reply if several devices with the same device address are connected to the bus e There is no reply if the device has certain network statuses The current network status can be checked using parameter P 2060 COM_CAN_NMT_State Table 22 1 Parameter 2060 Parameter 2060 Description 0 Bootup 1 Init 4 Stopped Safe OP 5 Operational 127 Pre Operational 4 2 3 Testing the higher level controller To activate changed settings the device must be switched off and back on again When the power is connected after an initialisation period of a few seconds the device must transmit a one off boot up message ID 700h node ID 701h for device address 1 If this happens the communication is OK Note When transferring data to the device via SDO telegrams the number of data bytes transferred should be taken into account For this the correct length information must be transferred in the control byte Alternatively however an SDO transfer without specification of the data length is also possible The correct operation of the control byte in the SDO telegram should also be observed 4 2 4 Data handling Saving the settings All configuration data can be backed up by the DR vEMANAGER Note Please note however that some objects are RAM variables which must be correctly operated and initialised by the controller This includes for example object 6060h Modes of Operation Restoring fact
65. n very flexibly and adapt it to the specific needs of the user 1 5 Further documentation e Operation manual for commissioning of the drive unit e Application manual for additional parameter setting to adapt to the application e The application manual can be downloaded as a PDF file from our website at http www harmonicdrive de Follow the Download link e CiA 301 Rev 4 0 Application Layer and Communication Profile e CiA 402 Rev 2 0 Device Profile Drives and Motion Control e EtherCAT Communication Specification Version 1 0 2004 e EtherCAT Indicator Specification Proposal V0 91 2005 e EC61158 2 12 to IEC61158 6 12 6 1003376 06 2015 2 Mounting and Connection of CANopen A Attention Do NOT insert or remove the CANopen connector during operation 2 1 Setting the address Table 7 1 Setting the address Step Action Note Find out which address is assigned to the device you i 1 Ask your project engineer are installing Select the mode of addressing by bus address parameter 2 See below by DIP switch S4 by bus address parameter and DIP switch S4 Address setting finished for further procedure see Installation Three possible methods of address allocation e Only using bus address parameter P 2005 COM_CAN_Adr You will find parameter P 2005 COM_CAN_ Adr factory setting 1 in the field bus subject area under CANopen e Only using DIP switch 54 Combination of bus address para
66. nable 6 Quick stop QuickStopActive i Fault response active 2 FaultReactionActive E R Fault see below Fault The following appear alternately in the event of error R Display for errors or non acknowledgeable errors X X Error number decimal y y Error localisation decimal DS flashes if the STO Safe Torque Off function is active the display is not lit if the function is not active This is not a safe display under the terms of EN 61800 5 2 2 The point flashes if the power stage is active Example of the flash sequence ER gt 02 gt 05 ER gt O2 gt 05 Table 13 2 Example of the flash sequence Er Error ER Fault Description of error 05 Function for checking current parameter list Ge Error name 02 Error in the parameter list 2 6 Hardware enable YukonDrive has a control input for ENPO hardware enable on the control terminal This input must be configured to operate the power stage at 24V The device also provides the function STO Safe Torque Off see document 1007417 Description of the STO category 3 control terminal ISDSH For these devices the relevant function logic must be implemented by way of the higher order controller as per the Application Manual Note When the inputs ENPO and ISDSH are not configured the device stays in status 1 Not Ready to Switch On or 2 Switch On Disabled Only after correct configuration can the status be
67. o possible By default all mapping settings are set to 0 i e the PDOs do not contain any mapping The communication settings mapping transmission types etc can be saved in the device however and are subject to data set handling This means they do not have to be rewritten each time and can be transferred with the data set The following objects are relevant for mapping RxPDO s 1600 RxPDO1 mapping 1601 RxPDO2 mapping 1602 RxPDO3 mapping 1603 RxPDO4 mapping TxPDO s 1A00 TxPDO1 mapping 1A01 TxPDO2 mapping 1A02 TxPDO3 mapping 1A03 TxPDO4 mapping Note A maximum of 8 objects can be mapped per PDO In a PDO a maximum of 8 bytes can be mapped Note Remember that the PDO must always be assigned an even number of bytes If an uneven number is required this must be completed with a dummy byte for example Parameter 2055 COM_301_U8 object 0x2807 is available for this purpose 06 2015 1003376 33 5 7 Heartbeat function The Heartbeat function according to CiA 301 V4 01 is supported YukonDrive can then only be used asa heartbeat producer i e it sends heartbeat telegrams to the controller To this end object 1017 Producer Heartbeat Time is implemented A time value in ms is entered as a value for this object The time value represents the cyclic interval during which the drive controller sends its heartbeat telegrams Heartbeat Protocol The Heartbeat protocol defines an ERROR CONTROL SERVICE w
68. ode By switching modes of operation via CANopen EtherCAT it is possible to switch directly between position control speed control and torque control The drive is thus in speed control for Profile Velocity mode and in position control for Profile Position mode 20 1003376 06 2015 4 1 5 Functionality of operation modes Illustration 21 1 Changing functionality of operation modes in the display modes_of_operation eeni Profile Position Mode Operation Profile Velocity Mode Mode Function Homing Mode modes_of_operation_display 6061h Users can switch between the various operation modes as long as these are supported by the device The status word contains bits the meaning of which depends on the operation mode For monitoring it is neces sary for the bits to change their meaning when switching operation modes see also Chapter 6 4 1 6 Setting the timing parameters To ensure correct communication with the controller three timing parameters have to be set on YukonDrive As a rule these should all be set to the same value It should be borne in mind that different units have to be used when setting the three parameters see table Table 21 2 Setting the timing parameters Para ID Name Object Einheit 306 Internal interpolator cycle time ms 2015 Communication cycle period 0x1006 us 2266 Ox60C2 Index 0 Interpolation time base s Index1 Interpolation time exponent ForEtherCAT parameter P 2266 MPR
69. on for the duration of the download 30 1003376 06 2015 5 4 PDO Transmission types In connection with the PDO transfer various transmission types are defined in CANopen profile CiA 301 The transmission type and event control can be set separately for all supported RxPDOs and TxPDOs The drive controller supports the following transmission types Acyclic synchronous Type no 0 Meaning RxPDOs are evaluated once a device specific event has been triggered and the next SYNC object has been received the TxPDO is then transmitted from firmware version 2 15 00 Cyclic synchronous Types no 01 FO Meaning The difference between this and the acyclic synchronous transmission type is that RxPDOs are only evaluated after receipt of I FO Sync objects and TxPDOs are only transmitted every 1 FO Sync objects Asynchronous types no FE und FF Meaning RxPDOs are evaluated immediately on receipt TxPDOs are transmitted by a device specific event The Sync object is irrelevant to this mode of transfer Special feature of type FF For this the event is defined in the associated device profile Note The desired transmission types are set by way of the corresponding CANopen objects 1400 for RxPDOs and 1800 for TxPDOs 5 5 Event controlled TxPDO transmission Note Event control is only active when the relevant transmission type is set to asynchronous FE or FF Function of event control Any bit changes within the TxPDO can s
70. ory defaults ATTENTION Restoring the factory defaults sets back all parameters to their default values prior to the parametrisation of the actuator specific device parameters Ensure that you have backed up the relevant motor feedback and control parameters before restoring the factory defaults To set back the device parameters to their factory defaults the following possibilities exist Via field bus Write value 1 to subindex 3 of object 200BH PARA_SetCmd The factory settings are then applied to the whole device Note Please note that this also affects the settings for the baud rate device address The changes take effect after a Reset node command or device restart 22 1003376 06 2015 Via DrivEMANAGER First select the relevant YukonDrive in the DR vE MANAGER tree structure The right mouse button opens a context menu from which you can select the Reset Device Setting entry Note In both cases it takes approx 10 seconds for the device to signal that it is ready for operation again During this time the device performs a self test and changes all its settings to the factory setting However this setting is only retained if the data is backed up in the device Data backup is initiated via the DRiveMANAGER user interface or by writing to object 200BH PARA_SetCmd Subindex 1 1via the bus system The save opera tion can also be executed using object 1010 hex N ATTENTION ATTENTION Data backup takes a few hundred ms Du
71. ossible input signals are e Digital input ISDO5 e Digital input ISDO6 e Index signal It is possible to switch between different implementations using parameter 2285 Touch probe function selector e CiA 402 implementation not yet implemented e Manufacturer specific implementation 10 1 1 Description of manufacturer specific implementation In order to be able to use this function parameter P 2285 Touch probe function selector must first be set to 2 BECK2 the setting BECK1 is currently not supported If signals are to be recorded via the two digital inputs ISDO5 and ISDO6 these will have to be configured using parameters P106 P107 MPRO_Input_FS_ ISDOx as measuring buttons setting 15 These parameters can be found in the subject area Configuration of inputs outputs Digital inputs Finally the following objects also have to be mapped Table 70 1 RxPDO 0x60B8 Touch probe function TxPDO Ox60B9 Touch probe status Ox60BA Touch probe posi pos value Object Ox60B8 Touch probe function is used to specify whether the touch probe function is to be triggered on the falling edge rising edge or on both edges of the respective signal Setting the corresponding bit 0 4 activates the respective function edge controlled The reading of the stored position is controlled by bits 8 12 On receipt of the configured signal anew measurement must be started by resetting and then reconfiguring the corresponding
72. r 607Dh 6093h home_offset 607Ch polarity 607Eh profile_velocity i 6081h _ speed units gt Limit Function end_velocity its eee 6082h speed units max_profile_velocity 607Fh speed units N F P Minimum velocity limit max_motor_speed Comparator 6080h Multiplier velocity_factor_1 6095h profile_acceleration j 6083h acceleration units gt profile_deceleration 6084h acceleration units ayak Limit Function acceleration _ quick_stop_deceleration acceleration units _ _ _ __ c m pe 6084h max_acceleration 60C5h max_deceleration 60C8h Structure of profile position mode op NO Co 60 1003376 06 201 Mode specific bits in the control word Bit 4 new Setpoint Bit 5 Change set immediately Bit 6 abs rel Bit 8 Stop Table 61 1 Bit Name Profile position mode bits in the control word Description 4 New set point 5 Change Set immediately 6 abs rel 8 Stop Mode specific bits in the status word Bit 10 Target reached Bit 12 Set point acknowledge Bit 13 Following error Bit 14 ROT_O Table 61 2 Bit Name Does not assume target position Assume target position Finish the actual positioning and then start the next positioning Interrupt the actual positioning and start the next positioning Target position is an absolute value
73. re control values for the Speed and torque via the controller The internal pre control function in the drive must be deactivated for this The relevant settings can be found in the tables below Table 67 4 CiA402 objects for external pre control Object no Object name Data type Scaling Ox60B1 Velocity Offset Integer32 As per scaling for speeds CiA402 factor group Ox60B2 Torque Offset Integerl6 In o based on rated motor torque in object 0x6076 i e a value of 1000 corresponds to the rated motor torque 06 2015 1003376 67 Table 68 1 YukonDrive device parameter Parameter Function Value 375 CON_IP_SFFScale Scaling of speed pre control 0 100 based on the pre control value 376 CON_IP_TFFScale Scaling of torque pre control 0 100 based on the pre control value 379 CON_IP_FFMode Switchover of pre control sources and See individual subindexes specific setpoint formats Subindex 0 PositionHighResolution 0 32 bit position setpoint default Subindex 1 Source for speed pre control values 0 internal pre control default 1 external pre control Subindex 2 Source for torque pre control values 0 internal pre control default 1 external pre control Types of interpolation When using external pre control via EtherCAT both linear and cubic or spline interpolation can be applied The type of interpolation is set via parameter P 370 CON_IP However do NOT use the setting SplineExtFF This type of inte
74. rely by the control It cyclically transmits roughly interpolated position values between which the drive controller handles the fine interpolation e g linear Accordingly the profile for the axle to follow is determined through the change in target positions for each time unit Position control is therefore implemented not only in the drive but also at the control level The following objects are supported by the device for this operation mode Table 64 1 Supported Objects Object no Object name Object code Type 0x60C0 Interpolation sub mode select VAR Integer16 0x60C1 Interpolation data record ARRAY Integer32 Ox60C2 Interpolation time period RECORD IndexO Unsigned8 Index1 Integer8 Illustration 64 2 Structure of interpolated position mode Position range limit 607B Software position limit 607D Home offset 607C Interpolation data record 60C1 Limit function Interpolation data Ea _ Inter configuration 60C4 polation Inter polated ae Position Interpolation submode selection 60C0 factor demand internal Polarity 607E value 60FC Profile velocity 6081 Profile or End velocity 6082 velocity Position _ 4 Bn or demand Max motor speed 6080 m Limit End value eamaid ean Minimum function odiiy 6062 Max profile velocity 607F com f inc s parator Polarity 607E Frome acceleration 0083 Profile acceleration Profil
75. ring that time the device must not be switched off otherwise the settings will be lost Object 200BH PARA_SetCmd Subindex1is automatically set to 0 by the device after the save operation This process can be used for timeout monitoring of the function 4 2 5 Control functions Control functions can be optimally adapted to the relevant application Consequently several control formats are offered The appropriate formats can be selected by the master during the setup phase via the bus or by adjusting the relevant device parameters The drive devices state machine has a cycle time of 1 ms All control commands and setpoints are processed within that cycle time by the drive device NOTE Control PDOs are processed in a minimum cycle time of 1 ms If protocols arrive at the device faster the telegram that arrived most recently overwrites the previous one An error message is not generated if tele grams are overwritten as a result of insufficient cycle time 4 3 Commissioning and Configuration of EtherCAT Commissioning via EtherCAT is possible using the XML file supplied on your controller All further commissio ning and configuration steps depend on the controller used For notes on this please refer to the documentati on provided by your controller manufacturer 5 Setting the Device Parameters for CANopen 5 1 Implemented CiA 301 functionality 5 1 1 Communication Objects e Boot up to CiA 301 V4 01 guarding boot up via identifier
76. rotocols for example TCP IP to be transferred via EtherCAT Implemented functionality in YukonDrive e Initiate EoE request e Initiate EoE response e EoE fragment request EoE fragment response Distributed Clocks Synchronisation in EtherCAT is implemented on the basis of distributed clocks Each slave has its own clock which is synchronised with the others using a synchronisation pulse The reference clock with which users are synchronised is accommodated in a Slave Notes on YukonDrive e All configuration of distributed clocks takes place in the controller e Multiples of 125 us time basis for control must always be used as cycle times XML File The XML file is used to integrate an EtherCAT slave into an EtherCAT master control It includes the configuration mapping etc for the respective operation modes Notes on YukonDrive The XML file is supplied with the firmware Integration of this file is control specific NMT Network Management The Network Management is essentially based on the network management of CANopen although Stopped CANopen status has been replaced by Safe Operational EtherCAT status Depending on the range of functions offered by the control software individual status transitions can be executed automatically or via the PLC Illustration 38 1 EtherCAT State Machine a NE w Bootstrap optional 38 1003376 06 2015 Table 39 1 Status description
77. rpolation is reserved for a different operation mode Checking pre control variables in DR vEMANAGER 5 You can check the transmitted external pre control variables in YukonDrive in 2 ways e The objects for pre control can be found in the CANopen EtherCAT subject area as device parameters The variables nref_Ext external speed pre control and mref_Ext external torque pre control can be recorded with the internal oscilloscope 68 1003376 06 2015 9 Emergency object Table 69 1 Emergency Telegram Byte 0 1 2 3 4 5 6 7 Bit 7 8 15 16 23 24 39 40 47 48 63 Profile Device Profile CiA 402 Drive controller Error Emergency Error Register Error Operating hours meter Error Code It Error number Object location in full hours CiA 402 1001h The decisive factors for rapid localisation are the error code and error location Byte 3 of the emergency telegram contains the error code which provides an initial categorisation of the cause of the error The precise cause of the error is specified by the error location in byte 4 Bytes 5 6 and 7 contain the internal operating hours meter of the device CANopen errors i e incorrect configurations bus disturbances etc are indicated by error code OxFF00 Note When an error occurs the controller executes a response as per the parameterised error response These can be set separately for individual errors Note The status indicators of the 7 segment display are explaine
78. sition encoder resolution The position encoder resolution defines the relationship between the encoder and motor revolutions encoder increments position encoder resolution motor revolutions Objekt 6090 Velocity encoder resolution The velocity encoder resolution defines the relationship between the encoder increments per second and motor revolutions per second encoder _crements velocity encoder resolution second motor revolutions second Objekt 6091 Gear ratio Gear ratio defines the transmission ratio of a gear in relation to the motor It is defined as follows motor shaft revolutions ear ratio __ __ _________ g driving shaft revolutions Objekt 6092 Feed constant The feed constant defines the feed per drive shaft revolution in position units This includes the gear if present feed feed constant _ _______ driving shaft revolutions 06 2015 1003376 47 Objekt 6093 Position factor The position factor converts the desired position in position units into the internal format in increments position encoder resolution gear ratio osition factor p feed constant Objekt 6094 Velocity encoder factor The velocity encoder factor converts the desired velocity in velocity units into the internal format in increments velocity encoder factor velocity encoder resolution gear ratio position unit F velocity notation index feed constant velocity unit e second
79. unction is deactivated OPERATION ENABLE Technology ready e No errors were detected e Drive function is enabled and power is connected to motor e Drive parameters have been changed Refers to standard application of the drive QUICK STOP ACTIVE e Drive parameters have been changed e QUICK STOP function being executed e Drive function is enabled and power is connected to motor e Ifthe QUICK STOP OPTION CODE is set to 5 remain in QUICK STOP ACTIVE status you cannot quit the QUICK STOP ACTIVE status but you can switch to OPERATION ENABLE status using the ENABLE OPERATION command FAULT REACTION ACTIVE e Drive parameters have been changed e An error has occurred in the device e The QUICK STOP function has been executed e The drive function is enabled and power is connected to motor FAULT e Drive parameters have been changed e An error has occurred and the fault reaction has been executed e Power disconnection and connection depends on the application The drive function is deactivated 42 1003376 06 2015 Bit combinations of the DRIVECOM state machine Device control commands The following bit combinations of control bits 0 3 and 7 form the device control commands for the status transi tions of the state machine Table 43 1 Bit combinations Control word Command Transitions 2 1 SHUTDOWN 1 1 2 6 8 POWER 1 1 3 DISABLE POWER x 0 7 9 10 12 QUICK STOP 0 1 11 DISABLE OPERATION 1 1
80. us 0 Auto initialisation on device startup Start 5 il Not ready to switch on no DC link voltage NotReadyToSwitchOn So 2 Starting lockout DC link is OK power stage not ready SwitchOnDisabled 3 Ready to switch on power stage is ready ReadyToSwitchOn Table 18 2 Example of the flash sequence ER gt D2 gt D5 ER gt 02 gt D5 D1 D2 Meaning Parameter 4 On power is connected to the device SwitchedOn Drive ready current applied to drive and drive ready for input of 5 OperationEnable setpoint 6 Quick stop QuickStopActive 7 Fault response active 2 FaultReactionActive E R Fault see below Fault The following appear alternately in the event of error E R Display for errors or non acknowledgeable errors X y Error number decimal x y Error localisation decimal D5 flashes if the STO Safe Torque Off function is active the display is not lit if the function is not active This is not a safe display under the terms of EN 61800 5 2 2 The point flashes if the power stage is active Table 18 3 Er Error ER Fault Ge Error name 02 Error in the parameter list g5 Description of error 05 Function for checking current parameter list 18 3 5 Hardware enable YukonDrive has a control input for ENPO hardware enable on the control terminal This input must be configured to operate the power stage at 24V The device also provides the function
81. ut they will be overwritten by the Internal calculation as part of the control initialisation Note In this section you will find an overview of the objects from the factor group and the underlying formulae for the calculation You will find practical examples for the implementation of scaling in the Application Manual Factor Group gem CiA 402 Table 46 1 Factor Group Object no Object name Object code Type Attr Ox607E Polarity VAR Unsigned8 rw 0x8089 Position_Notation_Index VAR Integer8 rw Position_Dimension_Index Ox608A VAR Unsigned rw Only display for scaling block Ox608B Velocity_Notation_Index VAR Integer8 rw Velocity_Dimension_Index Ox608C VAR Unsigned rw Only display for scaling block 0x608D Acceleration_Notation_Index VAR Integer8 rw Acceleration _Dimension_Index Ox608E VAR Unsigned8 rw Only display for scaling block Ox608F Position_Encoder_Resolution VAR Unsigned8 rw 0x6090 Velocity_Encoder_Resolution ARRAY Unsigned32 rw 0x6091 Gear_Ratio ARRAY Unsigned32 rw 0x5092 Feed_Constant ARRAY Unsigned32 rw 0x6093 Position_Factor ARRAY Unsigned32 rw 0x6094 Velocity_Encoder_Factor ARRAY Unsigned32 rw 0x6097 Acceleration_Factor ARRAY Unsigned32 rw The factor group objects can be calculated and entered directly by the user independently of the DriveMANAGER Scaling Wizard The corresponding encoder settings must be made however 46 1003376 06 2015 Calculation correlations for factor group parameters Objekt 608F Po
82. xample initiating a point to point positioning operation is only possible in the OPERATION ENABLE state States may change because of the control word or other internal events The current status is displayed in the STATUS WORD The state machine describes the controller status with regard to user commands and internal error messages Illustration 41 1 State Machine controlword 6040h State Machine Internal Events statusword 6041h Actions y 7 1 3 Device states Illustration 41 1 State Machine Power Fault 15 v Disabled Fault Reaction Active Enabled Quick Stop Activ The following device states are possible NOT READY TO SWITCH ON e Only low voltage is connected to the drive e The drive is initialised or is performing a self test e Ifinstalled the brake engages in this state e The drive function is deactivated SWITCH ON DISABLED Starting lockout e Drive initialisation is complete Drive parameters have been set e Drive parameters have been changed No power to device for safety reasons e The drive function is deactivated e STO Safe Torque Off standstill and or ENPO not active READY TO SWITCH ON e Power is connected to the device e Drive parameters have been changed Drive function is deactivated SWITCHED ON e Power is connected to the device POWER AMPLIFIER is ready for operation e Drive parameters have been changed e The drive f
83. y as follows 1M 800 kbit s 210 ns 500 250 kbit s 300 ns includes 2 40 ns for optocouplers 125 kbit s 450 ns includes 2 100 ns for optocouplers 50 10 kbit s Effective delay delay recessive to dominant plus dominant to recessive divided by two 2 Fora bus length greater than about 200 m the use of optocouplers is recommended If optocouplers are placed between the CAN Controller and the transceiver this affects the maximum bus length depending upon the propagation delay of the optocouplers i e 4m per 10 ns propagation delay of employed optocoupler type 3 Fora bus length greater than about 1km bridge or repeater devices may be needed When selecting the transmission rate it should however be ensured that the line length does not exceed the permissible line length for the transmission rate in question 12 1003376 06 2015 2 5 Display of operating states via segment display Table 13 1 Display of operating states via 7 segment display D1 D2 Meaning Parameter Systemzustdnde 8 8 Device in reset status 0 Auto initialisation on device startup Start Start Sir il Not ready to switch on no DC link voltage NotReadyToSwitchOn D 2 Starting lockout DClink is OK power stage not ready SwitchOnDisabled 3 Ready to switch on power stage is ready ReadyToSwitchOn 4 On power is connected to the device 2 SwitchedOn 5 Drive ready current applied to drive and drive ready for input of setpoint OperationE

User Manual AC Servo Controller YukonDrive® EtherCAT® CANopen

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User Manual AC Servo Controller YukonDrive&reg; EtherCAT&reg; CANopen

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User Manual AC Servo Controller YukonDrive® EtherCAT® CANopen