Kickdrive User Manual
Contents
1. request status send canid 0x600 nodeld 8 40 41 60 00 00 00 00 00 wait for target reached status word upper four bits 4 using 0 5 seconds timeout wait canid 0x580 nodeld 8 4b 41 60 00 4 500 loop until found target has been reached wait until drive moves again do send canid 0x600 nodeld 8 40 41 60 00 00 00 00 00 wait canid 0x580 nodeld 8 4b 41 60 00 0 500 Copyright 2014 www fuh edv de www fullmo de 20 7 2 7 2 1 Kickdrive User Manual loop until found loop CANopen Drive The CANopen Drive module offers basic configuration testing and service tasks for CANopen positioning drives supported by this Kickdrive application Details on the actual drive models supported can be found in the Kickdrive Projects Templates included in your specific Kickdrive software version Notice The following sections on CANopen Drive panels provide a basic overview of the available functions Details can depend on the actual drive model used and are documented in the Kickdrive Projects Templates section of the application itself Setup The Setup panel is used for various configuration and simple testing tasks Notice Use initial setup functions with care It is strongly recommended to perform initial setup functions with only one drive unit connected to Kickdrive and not within a full CANopen installation with several drive nodes Initial Setup Assign or change the CAN Node ID o2. create a kickzip file from your kickpro project and other auxiliary files first as described in Projects and Templates How to use Open your kickzip kicktpl project Choose menu File Generate Runtime e Select a target folder and file name for the executable e Choose a Runtime Configuration StandardWindow a standard resizable desktop window application FullScreen a frameless full screen application Notice For FullScreen applications your Ul Panel should feature a custom Close or Quit button to exit the application This is required because in the full screen configuration there is no standard Windows title bar with a close button Please contact our Technical Support for an example on how to do this e Click Generate After successfully generating the exe output file try Test Runtime exe to run the executable you created Notice If your application requires a different configuration than the provided StandardWindow or FullScreen or other customized features like using your own exe icon please let us know We can provide individual customized runtime configurations on request Notice The generated exe runtime does not require a license key and may be distributed free of charge Nonetheless the original copyright information contained in license and copyright txt still applies to the core binary files automatically included in every runtime package 7 Kickdrive Modules 7 1 CAN Interface
3. Project kickpro not the default kickzip file format e Now you can manually edit the original kickpro file if necessary using a standard text or XML editor e The QML sub directory contains all Qt Quick QML files that define your Ul Panel application You can use standard text editors or the Qt Quick development tools to work with these files e g create modified versions with a different look or functions Notice Additional developer guides about Qt Quick QML within Kickdrive are available on request Please contact your Application Support 7 7 Automation The Automation module allows generating and running Python code within the Kickdrive application In addition to standard Python code it supports several extensions that allow automation of Kickdrive tasks 7 71 Setup The Automation Setup panel allows the user to configure and test the Python script that is packaged with the project Notice Please refer to additional Developers Documentation available for Python Automation in Kickdrive and the KickMessage messaging system used for automating and remote controlling Kickdrive functions Additional Automation Functions Listen Logs and displays all internal messages and commands between different Kickdrive modules and visible panels This is a good starting point for developing your own automation scripts because it shows which KickMessage is used to perform a certain function available through a Kickdrive use
4. The CAN Interface module controls the communication interface to the CAN network This is usually a CAN USB interface with the following parameters Communication Port Copyright 2014 www fuh edv de www fullmo de 16 Kickdrive User Manual The default setting first found will use the first fullmo USB2Drive or USB CAN device found It is the standard setting for CAN CANopen applications Third Party Hardware Support The CAN Interface module also supports several third party hardware configurations The following interfaces can be selected in the Communication Port box Communication Device Device Drivers and Technical Port Support vscom or VSCOM USB CAN The COMx syntax is http www vscom com an alternative which allows multiple CAN interfaces for special applications IXXAT CAN devices VCI 3 API http www ixxat com Lawicel CANUSB http www canusb com peak Peak PCAN USB products http www peak system com COM5 COM6 etc kvaser All Kvaser CAN products supported by the http www kvaser com Kvaser CANLIB API ems CAN PC Interfaces from EMS Thomas http www ems wuensche de W nsche Movimento Castor USB http www movimentogroup com MHS Elektronik Tiny CAN http www mhs elektronik de Zanthic CAN4USBFX http www zanthic com Notice Li Third party hardware usually requires the installation of additional drivers available from the vendor Please consult the documentation supplied by the vend
5. UI Format column of the parameters Data Objects you want to use for the UI Panel to define their appearance and behavior See UI Format Definition for syntax and examples After the UI Format value is set create your visual control by dragging the data object row from the Object Editor table onto the UI Panel s white canvas area e Show Data Objects will display a table with the current data objects and their controls configuration To modify the behavior of a created control edit the Ul Format column in the objects table The UI will be refreshed with the latest changes Appearance and positions are defined by the Instances column Use the Scaling column to scale the raw data object values in the same way Scaling is used in the Object Editor and Scope modules You may need to adjust the behavior of your UI controls based on the scaling For example adjust the range for a slider control to match the possible minimum and maximum values after scaling or adjust the step size for a dial control To create multiple instances of the same data object drag the data object from the table onto the canvas again UI Format Definition Notice User Level 2 is required for accessing the UI Format definitions in the Object Editor The UI Format column of data objects defines the appearance and behavior of the created control Its value is a list of key value attribute pairs delimited by semi colons describing the control s ap
6. a kickzip file except that no file name for saving the project is chosen If you are saving the project for the first time using x Save Project you are prompted to provide a location and name of the new project which will be saved as a kickzip file Notice You can create your own templates by using a kickzip file and simply changing its extension to kicktpl Copyright 2014 www fuh edv de www fullmo de 14 6 5 6 6 Kickdrive User Manual Editing the Module Tree To edit the modules tree in the Kickdrive Main Screen right click on a module tile and choose an action from the displayed context menu Notice User Level 2 is required for making the context menu accessible You can Cut Copy or Paste a module within the modules tree To copy modules between different projects open a second Kickdrive instance with the second project Delete a module and its children from the project tree e Rename a module The different Kickdrive modules have master slave relations that are not visible in the modules tree E g a CANopen Drive module always uses a CAN Interface module for CAN bus communication When you rename such a slave module e g from CAN Interface to CANUSB the master slave connections are automatically updated However when you Paste a module into a project Kickdrive might not be able to automatically choose the correct slave s for this module In this case it is required to look at the original uncomp
7. add 10 1 x Non linear expressions like this are possible too However watch out for invalid results e g division by zero Kickdrive will display these values as 0 Copyright 2014 www fuh edv de www fullmo de 7 5 3 7 5 4 Kickdrive Modules 29 Notice The scaling is only applied to the displayed value not to the recorded raw data This means you can apply a different scaling expression at a later point when loading the data using Open or to rescale all data on the fly Recording Data Use the Record toolbar button to start and stop recording of all monitored data into a csv file To make the filename contain the date and time of the recording s start use the placeholder DATETIME which will be replaced with the proper timestamp For example the filename measurements DATETIME csv will be stored as measurements 2012 02 16T15 01 32 csv To view the recorded data use Open Notice Only data objects that were configured for sampling in the Scope module s configuration table will be recorded If Triggers are active only data within the trigger event window will be recorded Notice The recorded data csv file is accompanied by an xml file containing information about the recorded data objects When copying the csv file to a different location make sure the xml file is included to ensure the data can be viewed Plot A Plot panel displays scoped data in a scalable plot Multiple data
8. ann A nn ARA NR RASAR ER BARA RA ARA RA RAR BARR ARE RR ANAR SARA RER RAR RR AR ER RR Dn 24 CANopen Node Ul F t m t oses ossessenspussusanasssnspoonsh saens sinnrans varnrssrsa inser kensakossnevnivensnrekes ken sssbse s RSRReKSD KSR ENARE 24 4 Network Manager cc edidere eene 26 A NN 27 Scope Getting Started eese ra 27 ter TP rg eiie it 28 Recording DATO sisi E 29 dr NEED M M 29 Copyright 2014 www fuh edv de www fullmo de Table of Contents MAG GOR E eL Lu INLINE ncs Ul Panel Getting Started 1 delatan Ul FORM at De OM iii dis Node IDs and Multi Node Panels sscssscssssecseeessesseeseneeseesenesseesenessneneeesneeseesaneeseeesuesseesenedsnessnenseesenenes Project and UI Files Advanced User Interfaces eese enne nnne nnn nnne antra 7 AUROTM ATI OM oss osnalber dennes ieee saa oases ea wdc sbi ii SEU EE E A A AEEA E Kids ns ink EE A Kd Led e K Rn E SRK a Ad Copyright 2014 www fuh edv de www fullmo de Kickdrive User Manual Copyright Copyright 2014 Flachmann und Heggelbacher GbR www fuh edv de and fullmo GmbH www fullmo de All rights reserved No parts of this work may be reproduced in any form or by any means without the written permission of the publisher Trademarks Products that are referred to in this document
9. node e g a third party servo drive I O module or sensor device The Parameter Editor table contains a list of CANopen objects and their values similar to the Object Editor For the selected object additional display and editing controls are shown below the table These elements are configurable by changing the Ul Format column in Design Mode Notice The appearance and behavior of the Parameter Editor depends on the Edit Mode setting Some of the functionality described below is only relevant to specific Edit Mode settings Parameter Editor functions Read Read the value of a parameter or of the entire list depending on the Edit Mode Write Write to the device the value of a selected parameter or of the entire list depending on the Edit Mode amp Store Store the written parameters permanently l e the CANopen device will continue to use these values after a voltage reset This function is used after writing modified values using the Write function 6 Reset Reset all device parameters to the factory settings Z Design Mode Allows adding and removing parameters from the list as well as editing the Ul Format and Comment columns to modify the display and editing controls used for this element In Design Mode you can e Add more objects Drag data objects from the Object Editor and drop them on the Parameter Editor Alternatively Copy data objects from the Object Editor and Paste them into the parameter tab
10. not conflicting with other operations on the CANopen network e g service operation tasks such as Firmware downloads 7 5 Scope The Scope module allows the user to display data in scalable plots Data can be recorded to a file and reviewed later 7 5 1 Scope Getting Started e Drag one or several Data Objects from the Object Editor and drop them on the Scope configuration table Make sure the Sampling field is set to Software mode Use the Rate field to adjust the sampling rate samples msec Use the Scaling field to modify the values using a factor or a basic mathematical expression Use the Start and Stop toolbar buttons to enable or disable sampling To create a Plot Panel for a monitored data object double click its row in the configuration table The plot will display the latest available data To create a plot for multiple data objects use Create Plot and choose the data object or multiple objects to include in the plot To configure and toggle triggers use the Triggers module Click Record to start a Recording and store all sampled data to a file To load an existing recording use the Open button and select a csv file You can define Triggers to filter the recorded data To go back to live scope and data logging use the Live Mode button Notice When opening a csv recording file make sure that the matching xml file is present in the same folder Copyright 2014 www fuh edv de www fullmo de 28 Kickdr
11. objects can be represented by multiple curves in the same plot window You can change the Value Div scale Y axis and Time Div scale X axis to zoom in or out By default the plot displays the latest data available To display earlier data use the scrollbar below the plot Notice All plot panels created are stored within the Kickdrive project file When re opening the project the panel is recreated automatically but it will only display data once you Start the Scope or load a matching recording Reading a value at a specific time The value cursor is a thin black vertical line with a time stamp For each data object a color mark and a black text label shows the actual value at this specific point in time You can move the Copyright 2014 www fuh edv de www fullmo de 30 Kickdrive User Manual cursor to a different position by clicking on the plot window You can also move the time range and the time marked by the cursor in small steps by using the and buttons located next to the scrollbar Configuring the Value Div scale The Value Div combo box configures the displayed range on the values scale the Y axis of the plot Choose from any of the available presets It is also possible to enter your own custom scale configuration Possible configuration modes Auto The scale changes automatically to display the current range of values Min Max The scale will is defined by the min max boundaries entered U
12. values Format options value 1 text 1 value 2 text 2 etc For example here is a combo box to choose between 4 different values 0 1 3 or 6 type combo options 0 Reset 1 Profile Position 3 Velocity Mode 6 Homing Mode Example UI Format Definitions Wem 0 emm type text A simple label or a text box This can be used to display or edit if writable any value Copyright 2014 www fuh edv de www fullmo de 26 7 4 Kickdrive User Manual type integer range 0 100 A textbox a slider and a dial accepting values between 0 and 100 type combo options 0 Reset A combo box with the specified options Reset Profile Position Velocity Mode Homing Mode and 1 Profile Position i corresponding values 0 1 3 6 3 Velocity Mode 6 Homing Mode Network Manager Use the Network Manager to perform a baud rate and node scan for an unknown network and build a Kickdrive setup and operation module for every supported drive node found Network Scan Use the following procedure for a successful scan Connect the CAN Interface to the CANopen network e Connect the CAN Interface to your PC via USB e Switch on power supply for the CANopen nodes e Make sure in the CAN Interface module baud rate is set to either Scan or the actual baud rate of your network Choose Scan Network to find out about Scanned Node IDs all existing node IDs within this network Configurable Node IDs su
13. 200 milliseconds shape text updates r w A user modifiable textbox value is read from the device upon initialization Once the user edits the value it will be written to the device shape slider range 0 100 A user modifiable slider with the range between 0 E and 100 and the step size 1 shape dial range 200 200 A user modifiable dial with the range between 200 skep Lie update sdri and 200 all selectable values being multiples of 10 shape radio Two user selectable radio buttons Off and On is E Ro corresponding to the values 0 and 1 updates r w shape bitfield fieldsize 8 A list of 8 digital output bits that can be toggled by clicking on them For a data object that has the Name Digital Output the elements would be labeled Digital Output 0 updates rw Copyright 2014 www fuh edv de www fullmo de 36 7 6 3 7 6 4 Kickdrive User Manual Digital Output 1 Digital Output 7 shape bitfield A list of input bits where only three bit indexes 2 5 and 7 are shown used 2 Limit Switch Left 5 Limit Switch Right 7 Start options 2 2 Limit Switch Left 5 5 Limit Switch Right Ted Start updates r1000 Node IDs and Multi Node Panels The basic Ul Panel examples provided are set to Node ID 001 Resp if you drag Data Objects from the Object Editor as described previously they will use the Node ID from the Object Editor settings Using Z Design Mode a
14. aking use of the full range of Kickdrive s functionality For example e Commissioning and configuring field bus nodes like drive units or controllers Field bus monitoring e g generating a CAN Bus trace file CAN BUS monitor with Find and Filter functions Scope data display Live display of data from one or several drive parameters logging to a file trigger on specific events Custom UI Panels create display and control elements for a specific application e g machine control Build a simple panel from predefined sliders and dials using simple drag and drop Alternatively create rich smartphone like user interfaces with your own graphics material and application specific behavor Kickdrive projects are made up of standard modules which serve as building blocks For example the CAN USB Interface or the CANopen Drive For specialized applications Scope UI Panels additional project templates are available containing more modules Copyright 2014 www fuh edv de www fullmo de Kickdrive User Manual File Help Lh r3 La New Project OpenProject Save Project User Level th UI Panel Demo v CAN Interface Device Name Actual Velocity Target Velocity ECI 63 75 i Software Version e CANopen Drive v1 1 271 Setup Status Word Object Editor 1427h Firmware UI Panel LJ Project EE Scope Pat 869 Description ica ass Time Div 200 msec div Value Div au
15. atting py files for Python script code that is executed by Kickdrive or is compiled and loaded into a drive unit bin firmware files for updating drive unit application firmware kickzip Compressed Project Files kickzip files are compressed file archives that contain One kickpro file of the same name as the kickzip archive Additional helper files css py bin as described above When opening a kickzip project Kickdrive creates a temporary folder and extracts all files to this location When saving a kickzip project Kickdrive first creates an updated kickpro file in the temporary folder and then creates the compressed kickzip file containing all files from the temporary folder including sub directories Notice You can extract the kickpro file and all helper files by using menu File gt Bl Save As and choosing Kickdrive Uncompressed Project kickpro instead of the default kickzip file format Notice To create a kickzip compressed file archive first create a standard zip file archive that contains the kickpro file and all required helper files Then change the file extension from zip to kickzip kicktpl Template Files A Kickarive installation comes with a number of predefined projects for specific tasks stored as kicktpl template files The Project Selector and the projects defined in Getting Started are examples for such templates Opening a kicktpl file is the same as opening
16. bar area stays the same for all Kickdrive project Main Toolbar Functions _ New Project Opens the Kickdrive Home Project template Usually it is a project selector that allows you to Copyright 2014 www fuh edv de www fullmo de Using Kickdrive 11 pick your specific application Open Project Opens an existing Kickdrive project kickzip or kickpro or template kicktpl al Save Project Saves the currently open project including all configurations and additional files used within the project User Level Changes the User Level A password may be required O Stop Drives Put all drive units listed in the Module area back to idle mode Warning The Stop Drives function is not an emergency stop device It cannot perform any safety or emergency functionality for your drive application Please ensure that external emergency stop functions are effective according to the safety regulations and requirements of your drive application ES Updates Downloads the latest version of the application and relevant projects You need to have login information in order to download software updates and additional Kickdrive projects and templates Please refer to your original Kickdrive distributor or to your supplier for your login data 2 Modules Area This area shows the Kickdrive Modules available with the currently opened project Greyed out items are modules that require a higher User Level for access Editing the mod
17. ch attractive user interfaces in minimum time QML is a declarative user interface language based on Javascript It describes how user interface elements look and how they behave Kickdrive projects can make use of Qt Quick technology to build custom designed screens and attractive end user applications Copyright 2014 www fuh edv de www fullmo de Safety 7 3 Safety 3 1 Intended Use This software is intended for the commissioning and service of position drives and other motion oriented machine control units This software accesses the devices via a high level application layer protocol such as CANopen 3 2 Safety Notices Warning For all commissioning and service tasks please refer to the technical documentation of your drive unit or automation device controlled by this software All works must be performed by Qualified Personnel familiar with the drive units or devices 4 Overview Kickdrive is a modular PC software platform that can be used for a variety of configuration commissioning and service tasks It is highly flexible and uses application specific project and template files to present the user with exactly the functions and controls needed for a specific task For example a field engineer could work with a Kickdrive project that performs exclusively application specific service tasks e g a drive firmware update Meanwhile developers and application engineers could work with a scalable fully flexible interface m
18. ed When triggers are defined only data Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 31 within the event windows is monitored All data that did not fire a trigger or is outside a trigger event window is ignored it will not appear on plots and it will not be saved to a file when Recording Trigger Configuration Use the Pre Trigger Time and Post Trigger Time fields to define the size of the trigger event window Switch between triggered and non triggered mode using the Trigger On Off button Enter the trigger definitions in the definition table using the format described below A validation indicator next to the data shows if the entered trigger is valid To remove a trigger from the table enter an empty string Trigger Definition Format data object id trigger on any change in the data object value data object id lt gt trigger level trigger on rising gt or falling lt slope Examples 002 6041h 00h trigger on any change in the value of the specified data object 001 60ffh 00h lt 200 trigger when the value of the specified data object drops below 200 001 58ffh 00h 100 trigger when the value of the specified data object rises above 200 Notice Even when using a Scaling factor the trigger always works on the raw data value not on LE the scaled result Notice You can use triggers as a post processing and data analysis tool for Recorded Data Set up and activate the triggers bef
19. elector lo CANopen Drive Easy Setup In a Easy setup for CANopen drive with unknown baud rate and Node ID Einfache Inbetriebnahme eines Antriebs mit unbekannter Baudrate und Node ID A CANopen Drives Advanced Network Setup Advanced configuration for one or several CANopen drives Additional features include Oscilloscope and Network Status Overview Erweiterte Konfiguration von einem oder mehreren CANopen Antrieben Zus tzliche Funktionen wie Oskzilloskop Modul und Netzwerk bersicht 4p WARNING The above projects are for isolated testing and configuration Do not use within a running CANopen network Kickdrive Main Screen and Project Selector Pick a project or an application from the Project Selector list on the right e Alternatively use Open Project to load a Kickdrive Project File kickzip or kickpro that you received for your specific application Main Screen and Toolbar The Kickdrive main screen is divided into three sections 1 a v O Open Project Save Project User Level Stop Onves Setup x 14 Mb GAIA Object Editor 1 a a CAN Interface wy fee ete crt gt per frame 8 timc Data b 2 ws SOLA 44000000 000 I LJ de 100 hr 4469000000000 Tx zs 1904 SH 441600022 24 00 E 1724 Goih 404160900000 0000 Tx 14 SE OH 000 23140 Og 17250 Gh 4416090000000 Tk z 129 SH 4160002224 0 Kickdrive Main Screen Layout 1 Menu and Toolbar Area The menu and tool
20. es It is not a full scripting engine for that use the Automation module but a simple macro sequence for quick and easy testing Available commands send lt ID gt lt data Size gt lt data Hex gt delay lt milliseconds gt wait lt ID gt lt data size gt lt data Hex gt lt timeoutMillisec gt ID and data size can be provided as hex expressions send 0x7e5 2 04 01 or send 7e5h 0x2 04 O1 wait supports string wildcards and for the lt data hex gt parts An additional timeout can be specified Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 19 Example wait 581h 8 4b 41 60 00 4 1000 waits for a status word where the highest four bits are 4 gives up after one second The following macros are supported inside the send and wait commands canid lt expression gt calculates the expression and returns a CAN ID in hex format canunsigned32 expression or caninteger32 expression calculates the expression and returns a 4 byte CAN data block canunsignedl6 expression or canintegerl6 lt expression gt as above but 2 byte canunsigned8 expression or caninteger8 expression as above but 1 byte Example nodeld 1 velocity 1000 send canid 0x600 nodeld 8 23 ff 60 00 canunsigned32 velocity A simple do loop syntax can be used for endless loops Or use do loop until found in combination with a wait macro Example do do
21. farlirrgag User Manual Doc Rev 1 0 13 30 01 2014 Kickdrive V1 9 80 www kickdrive de 2 Kickdrive User Manual Table of Contents 1 Copyright 4 2 About This Manual 5 1 Symbols Used Li ne uei ae AKERA A EL KNDD ESAE EAEE ENSE EONA aS 5 2 Terms Used Em 5 3 Safety 7 1 Intended Use ities t ete ii dis 7 2 Satety Notices M ia 7 4 Overview 7 5 Installation 9 6 Using Kickdrive 9 1 Getting Started noo a a Aa a ea i coc ecc cc eese REKA A Dr ee REKA RNA ENAS 9 2 Main Screen and Toolbar s siti ea aaao aea a nn nn nennt nnn nen nnn nn nn nnns 10 xmurlgul mam 11 4 Projects and Templates ssssssssssssssrssssssnessssnesnssnnnn nennen nennen RKA RER RARE RKA RER nnne nn nnn 12 5 Editing the Module Tree eeeeeseseeeeeeeseee nennen enne nennen KARE R nnn hane nnn nnne nnn nnn 14 6 Inu Xecnoici seme H 14 7 Kickdrive Modules 15 1 CAN Interface M 15 CAN Mod t 17 CAN SEN OCT ii cda 18 pae EM 20 NN 20 OD je 2 A KOKA End sch vicepouesudestoe T 21 SCRIP te essi E E EE E E E und beds densusuespbanddeuuncadugabesuaveavaexiehdswasvosvan 22 EI c 22 3 CANopen Node cece cod 23 CANopen Node Edit Mode s ssssessssssassnannanannnnnnnnknnannnan nana nnn
22. filter e g id 81 ff hide emergency msg Auto Filter Pressing Auto Filter will add a filter condition to suppress the CAN frame type with the most frequent appearance Repeated use of Auto Filter is a convenient way to get an almost steady display where only rare CAN frames e g control PDOs or emergencies are shown Recording Monitored Frames Use the Record button to start recording CAN frames to a text file By default the traced file will be stored in the projects folder with the date time stamp of the beginning of recording Make sure you save the project to have the recorded file accessible in the future To load a recorded file use the Open button this will load all CAN frames from the recorded file into the CAN monitor Optionally use Delete All to clear the monitor before opening the file Notice Filtering only affects the screen display not the actual CAN frame buffer or trace file recordings After deactivating Find Filter the full CAN traffic is shown again Notice The CAN Monitor display will only hold a limited amount of CAN frames in memory Please use the Record function to record an unlimited amount of CAN frames to a standard text file txt You can re open a CAN trace file using any textual editor or by using the Open button This will load all frames into the monitor CAN Sender The CAN Sender module can be used for simple CAN testing applications which require sending one or several fixed CAN fram
23. for a Data Object ID 127 1000h 00h here Node ID 127 object index 1000h and subindex Oh CANopen object data values are obtained using SDO or PDO transfer SDO Service Data Object CANopen SDO transfers are used for low priority reading and writing of device parameters and objects SDO Upload read from device and SDO Download write to device specifications define different standard methods of reading and writing different types of data including optimized transfers for large blocks of data PDO Process Data Object CANopen devices produce or consume PDO CAN frames They are used for fast data transfer of critical process data Before using PDO transfer the CANopen device must be configured i e the content of the PDO object must be defined PDO Mapping Two types of PDOs are defined for CANopen Transmit PDO TPDO process data produced by the device node e g status and position information Receive PDO RPDO process data consumed by the device node e g control command XDD XDC XML Device Description File xdd XML Device Configuration File xdc XDD files contain a dictionary of device functions and parameters and supersede the classic eds files Electronic DataSheet XDC file in addition contain parameter values for device configuration and supersede the dcf file format Device Configuration File Qt Quick QML Qt Quick is a new user interface Ul technology and development kit for creating ri
24. formats as used in Scaling for the Scope are supported Notice for Read Write values only simple scaling factors like 0 25 are permitted On Write the entered value will be transformed back to the original raw unscaled value When using scaling expressions like x 20 10 the object value becomes read only and cannot be edited or written to the device 7 2 3 Script The Script Module is used to edit compile and download Embedded Python scripts into a drive unit that supports it Notice For details on the Embedded Python engine sample code and applications please refer to the documentation available for your CANopen drive unit or contact Applications Support 7 2 4 Firmware Using the Firmware module you can update your device s application firmware with a new software version provided in a bin file format Notice Before starting a Firmware download make sure the Node ID is correct and the device is accessible e g using the Drive Setup panel Warning Please make sure that you are using a correct bin file intended for your specific device Kickdrive does not perform additional checks before downloading the file Using a wrong or mismatching bin file can damage your drive unit and make it impossible to download a correct bin file in a second attempt Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 23 7 3 CANopen Node The CANopen Node module offers a basic configuration screen for any type of CANopen
25. ive User Manual 7 5 2 Configuration After dragging a Data Object from the Object Editor and dropping it on the configuration table you can use the following fields to configure the data processing within the Scope module Sampling and Rate This defines how the values for the data logging and scope are obtained A eme Sampling is disabled or inactive Software Kickdrive sends out SDO Upload requests to the node using the fixed time interval of Rate milliseconds TPDO lt no gt lt byteStart gt lt size gt The object is available through Transmit PDO no 1 4 Within the PDO frame the data required starts at byte position lt byteStart gt 0 7 and is size 1 2 or 4 bytes large Example TPDO3 0 2 The value is a 16 bit value obtained from the first two bytes of Transmit PDO 3 Notice The TPDO and RPDO methods are passive sampling methods They do not perform the actual device PDO configuration PDO mapping and do not change the CAN node state using NMT They are safe to use within a running CANopen application Scaling Allows scaling and processing the raw data values You can use a simple factor or more complex formulas including offsets or even non linear transformations Examples aie mn Scale the value by 0 25 i e the displayed value is four times smaller than the raw data value Scale the value by 100 i e the displayed value is multiplied by 100 Divide raw data value by 65536 then
26. le Modify the parameters Name UI Format and Comment The UI Format configures the UI elements that are displayed for the parameter as described in the Ul Format documentation The Comment defines the additional description text shown below the name in the UI elements section Apply Scaling factors and formulas in the same way as for the Object Editor Copyright 2014 www fuh edv de www fullmo de 24 7 3 1 7 3 2 Kickdrive User Manual Modify the Edit Mode Notice User Level 2 is required for accessing Design Mode CANopen Node Edit Mode The Edit Mode affects the appearance and behavior of the CANopen Node module It can be modified from Design Mode Notice User Level 2 is required to switch to Design Mode LONE NENNEN 0 Standard The read write behavior is similar to the Object Editor Read Write works on the currently selected object only 1 List Read No Write Edit functionality Read always reads the entire list of parameters not only a single object 2 List Read Write No Store Reset functionality Read Write always affect the entire list of parameters 3 Auto Store Same as the EditMode 2 but Write will always execute a Store action after writing the values to make the parameter change permanent CANopen Node Ul Format Notice User Level 2 is required to switch to Design Mode which makes the UI Format column available for editing The UI Format column in the Parameter Edito
27. ll be available fieldsize Only used by bitfield shapes Defines the number of bit signals used for this integer value Example fieldsize 8 This value is displayed as eight individual bit signals with a running numeric value bit index ranging from 0 to 7 If fieldsize is zero or not defined the bitfield shape will only show the bit indexes defined in options see below Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 35 options Used by the radio and bitfield shapes It specifies a list of available options and their corresponding values resp bit indexes for bitfield shapes The options are selectable clickable if the updates attribute specifies write updates r w and not read only updates r1000 Format options lt value_1 gt lt text _1 gt lt value_2 gt lt text_2 gt etc Example for a radio button control to choose between 4 different values 0 1 3 or 6 shape radio options 0 Reset 1 Profile Position 3 Velocity Mode 6 Homing Mode Example for a bit field representing 3 digital input signals shape bitfield options 0 Limit Switch Left l1 Limit Switch Sight 2 Start Example UI Format Definitions remem shape label updates r A read only label The control s value will be read from the device only upon initialization shape label updates r200 A read only label The control s value will be read from the device upon initialization and then periodically every
28. may be either trademarks and or registered trademarks of their respective owners The publisher and the author make no claim to these trademarks Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Disclaimer While every precaution has been taken in the preparation of this document the publisher and the author assume no responsibility for errors or omissions or for damages resulting from the use of information contained in this document or from the use of programs and source code that may accompany it In no event shall the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to have been caused directly or indirectly by this document Contact Technical Support for Kickdrive support kickdrive de Flachmann amp Heggelbacher GbR Waldkirchbogen 27 D 82061 Neuried Germany www fuh edv de Any information or support related to fullmo or ebmpapst drive products positioning drives linear drives automation applications info fullmo de Fullmo GmbH Robert Bosch StraBe 12 D 88677 Markdorf Germany www fullmo de Copyright 2014 www fuh edv de www fullmo de About This Manual 2 About This Manual 2 1 Symbols Used The following symbols are used in this document Warning As defined by these operating instructions and the danger notices on the products death severe bodily injury o
29. movable media e g a disk on key USB memory stick Then start the Kickdrive software by double clicking on Kickdrive exe Notice No installation setup is required but please make sure you extracted all files and folders from the original zip archive to a location on your PC or removable media Notice Additional device driver installation can be required for hardware accessories like the CAN Interface USB CAN Driver installation on Windows 8 Windows 7 and other recent Windows versions is fully automatic when connecting the device for the first time Please follow the Windows instructions Using Kickdrive Getting Started Warning Do not operate Kickdrive within an automation network where any of the Kickdrive CAN or CANopen communication could possibly disrupt the normal operation Warning Incorrect wiring or wrong cabling can damage electronic components including the CAN Interface CANopen devices and the PC connected with the CAN Interface e Connect the CAN Interface to your equipment first before connecting it to the PC e Switch on power supply for the CAN nodes e Connect the CAN Interface to your PC using the USB cable supplied e Start the Kickdrive software application Kickdrive presents a home screen that allows you to pick your specific application or project Copyright 2014 www fuh edv de www fullmo de 10 6 2 Kickdrive User Manual Module C Project selector Basic Applications Ort Project S
30. nd with Show Data Objects activated you can change Node IDs or duplicate a set of Ul controls for a different Node ID or a second CANopen Device Use the following functions available from the toolbar 3 Clone After selecting one or several rows of the Data Objects table use Clone to duplicate these elements and paste them into the Ul Panel canvas using a different Node ID Notice The cloned elements will receive the same Name text as the original elements You can edit the text of the Name column in the Data Objects table so your Ul elements show to which Node ID they belong You can also use an application specific name e g print format adjustment 1 Change ID Select one or several rows in the Data Objects table then use Change ID to change the Node ID to a different value Project and Ul Files Advanced User Interfaces After composing your UI Panel you can store the user interface created using the al Save Project function from the Kickdrive main toolbar If you created your UI Panel by starting with one of the Kickdrive templates provided the saved file is a Kickdrive Compressed Project file kickzip by default For many advanced applications it is necessary to work directly with the uncompressed files stored inside the kickzip file archive For that e Save the project using menu File gt 4 Save As and choose Kickdrive Uncompressed Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 37
31. ng Object Editor Basic Functions Read Read the selected values from the device CANopen Upload If nothing is selected in the Object Editor table all values are read Edit Use this function or double click on an element in the Value Editor column The values are not written to the device immediately unless amp Synch Mode is used Write Write the selected values to the device CANopen Download If nothing is selected in the Object Editor table all writable values are downloaded 4 Store Store the written parameters permanently l e the CANopen device will continue to use these values after a voltage reset This function is used after writing modified values using the Write function Reset Reset all device parameters to the factory settings 3 Synch Mode Read read only parameters periodically Writable parameters are read once After that every modification entered by the user will be downloaded to the device immediately Default Copy the value from the dictionary s Default column to the Value column for the selected rows If no rows are selected all objects will be updated to the default values To write these defaults Copyright 2014 www fuh edv de www fullmo de 22 Kickdrive User Manual into the device use Write Scaling When operating at User Level 2 you can use the Scaling column to define how values should be scaled before showing them in the Value column The the same
32. nits Div Offset The scale starts at the entered offset The units div value will define the number of units between each div which is a minor tick on the scale The minor ticks are those without a value to the side of them There are two possible formats for the configuration standard and shorthand While typing a label just beside the input control will display the normalized standard version of your scale A message is displayed if your current input is invalid Examples for the Value Div Scale Scalin Normalized Standard Shorthand Description g Format Format Metho d Auto automatic a Scale will be automatically adjusted based on the current values displayed Min min 0 max 100 The displayed scale will be between 0 and Max 100 min 0 25 max 0 75 25max0 75 The displayed scale will be between 0 25 and 0 75 Units 100 div offset 0 The displayed scale will start at offset 0 Div with 100 units between each div Offset The displayed range will start at offset 20 with 0 1 units between each div 0 1 div offset 20 0 10 20 7 5 5 Trigger A Trigger is defined on a data object and can be set to a specific condition Once the condition has been met the data within a time window frame called Trigger Event Window will be forwarded When no triggers are defined all data is forwarded directly as soon as it is monitored Trigger Event Window Time period before and after a trigger event has been fir
33. o display the current communication on the CAN Bus or log it to a text file using the Record function The Find Filter function allows to search for specific CAN telegrams resp display a filtered version of the CAN bus traffic The drop down list in the Find Filter contains some presets for useful filtering options demonstrating how the filter works Filter Conditions id lt MyCobID gt show only CAN frames with a specific COB ID id lt MyCobID gt show only frames that do NOT contain this COB ID dir tx show only frames transmitted by Kickdrive index ObjIdx subindex lt ObjSubIdx gt show only CANopen frames related to a SDO with the specified Obj Idx and ObjSubIdx data 80 show only frames where the CAN data starts with hex 80 Multiple Conditions You can use more than one filter condition in one filter e g dir tx index ObjIdx subindex lt ObjSubIdx gt show only frames from Kickdrive that contain Objldx and ObjSubldx Only CAN frames that match ALL filter conditions dir index and subindex will be displayed Inverting your filter Starting your filter with the keyword exclude will hide anything that matches the filter condition e g exclude id 581h index 606c index 6041 show only SDO traffic for object 606c and 6041 for CANopen node 1 Comments Copyright 2014 www fuh edv de www fullmo de 18 Kickdrive User Manual Use a to add additional free text comments about your
34. or to make sure your CAN interface is properly installed and configured For any issues or questions concerning specific devices please contact our Technical Support for assistance Notice Kickdrive only provides basic support for third party hardware interfaces and does not intend to support their capabilities to a full extend Usually only one CAN channel is available though Kickdrive and time stamping is based on PC time stamps not on more accurate hardware time stamps that a specific interface might provide Baud Rate Copyright 2014 www fuh edv de ww fullmo de Kickdrive Modules 17 The scan setting is used when you are connecting to a CAN network or device with an unknown baud rate The baud rate scan will actively reset the nodes and try to access any existing CAN node Warning The baud rate scan uses a CANopen NMT communication reset which will might will interfere with any running application Never use baud rate scan in an automation network or in a drive application which is in normal operation mode Notice The baud rate scan or any previous access attempt with mismatching baud rate can render the network inaccessible l e one or all CAN nodes or the CAN interface s controller itself have entered a bus off state and are no longer communicating If the baud rate scan fails for no obvious reason please power cycle all CAN nodes and then the CAN Interface itself 7 1 1 CAN Monitor Use the CAN Monitor module t
35. ore opening the csv file After modifying the trigger settings the recording data must be re loaded using the Reload toolbar button 7 6 Ul Panel The UI Panel module can display data objects in configurable dynamic user interfaces making use of Qt Quick QML technology You can build personalized interfaces suitable for different users and scenarios Data Objects can be represented by graphic controls dial slider option box on a canvas You can change the look and behavior of any element and create a smartphone like user interface for your individual application Copyright 2014 www fuh edv de www fullmo de 32 7 6 1 7 6 2 Kickdrive User Manual Notice The instructions in the Getting Started section show how to compose a panel of a basic set of predefined UI controls each communicating via a single Data Object and SDO communication requests similar to the Object Editor Read and Write functions For more advanced user interfaces with graphics and animations please contact your Application Support UI Panel Getting Started e The Start Stop buttons control whether the interface is live meaning whether it is communicating with the actual network nodes e g CANopen devices and reading or writing the specified data objects e Start designing or modifying your User Interface by clicking on the L Design Mode toolbar button Notice User Level 2 is required for accessing Design Mode In the Object Editor edit the
36. pearance and behavior The following is a description of all available attributes Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 33 shape Defines the type of control will be created when the Data Object is dropped on the UI Panel canvas Available standard shapes pa dial control used to display or modify a value within a given range radio a list of options displayed as radio buttons each one representing a certain data object value e g 3 and a matching description e g Velocity Mode See the options description for more details bitfield a list of bit signals Each signal corresponds to one bit of the control s integer value See the options and fieldsize descriptions for more details Notice Every shape corresponds to one qml file from the QML folder of your Kickdrive Project e g KickLabel qml KickTextInput qml You can design and use your own QML Qt Quick elements by defining e g shape MyOwnQmlControl qml with MyOwnQmlControl qml being a modified version of one of the Kick qml files Li Once a control has been created on the canvas e g by using drag and drop its type cannot be modified by changing the shape definition The shape definition only applies to creating new elements on the canvas To change the type of an existing control on the canvas you need to modify the text in the Instances column of the Data Objects table updates Defines how the UI control comm
37. pported drive nodes available for setup and operation through Kickdrive e Choose Build Project to create a Kickdrive module for each of the IDs listed in the Configurable Node IDs text field Warning Never use baud rate scan or similar configuration tasks in running machinery or in a CANopen application in normal operation See also the additional information in the CAN Interface module description Node Monitor You can use the Node Monitor for a simple network overview which displays some basic information on every Node ID that is listed in the Scanned Node IDs text field Make sure the Scanned Node IDs list is the list of nodes you want to monitor e Click the Node Mon Config to display a list of parameters that should be read for every node You can drag additional Data Objects from the Object Editor module and drop them on the Node Monitoring Configuration table e In the Ul Format column use the updates keyword to specify how the values should be Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 27 obtained e g updates r read only once when starting the Node Monitor updates r2000 read every 2000 milliseconds See UI Panel UI Format Definition section for additional details on the updates specifier e Click on Node Monitor to start the network overview node monitoring Notice Node Monitor uses SDO transfer for reading out the values from the network nodes Please make sure this is
38. r CAN Baud Rate The following panels are available after starting a drive node using the Start Drive button Test Velocity Switch the drive to operation mode Profile Velocity Mode and perform basic velocity control set target velocity acceleration and deceleration Test Position Switch the drive to operation mode Profile Position Mode and perform basic positioning control Set target position and enable positioning set additional profile position parameters like velocity Homing Test basic homing methods including Homing Mode 35 to reset the actual position to zero new reference position without moving the drive Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 21 7 2 2 Object Editor The Object Editor module is used for reading editing and writing device parameters It is also where you can define any Data Object that can be used in other modules like the CANopen Node Scope or the UI Panel modules The Object Editor panel consists of two parts Object Dictionary Device Description The upper part of the Object Editor panel is used to display a dictionary of parameters available for a device The parameter descriptions are defined by a XDD XDC configuration file Use the Open Dict function to load a different new configuration file Object Editor Drag one or several parameters from the Object Dictionary to the Object Editor table to make them available for reading editing and writi
39. r considerable damage to property could result if the appropriate safety measures are not taken Notice Important information about the product or part of the operating instructions 2 2 Terms Used Qualified personnel Personnel who are familiar with the installation assembly commissioning and operation of the product and are qualified to carry out the respective activities CAN CAN Bus Controller Area Network Field bus design according to ISO 11898 1 CANopen CAN based higher layer protocol designed for use in motion oriented machine control networks as maintained by http www can cia org CAN Interface Accessory to connect the PC with the CAN bus network Usually this is a CAN USB interface but other options e g CAN NET via Ethernet TCP can be available Node CANopen device identified by a Node ID in the range of 1 127 CANopen Drive EC position drive that can be configured and operated using Kickdrive e g ebm papst ECI series Copyright 2014 www fuh edv de www fullmo de Kickdrive User Manual Python A programming and scripting language under OSI Open Source License maintained by http www python org Kickdrive currently uses the Python 2 6 7 implementation Data Object A device parameter or value that can be read out and or modified using Kickdrive For CANopen devices a data object is referenced by the Node ID and the object index and subindex Kickdrive uses the following standard format
40. r interface interaction Macro Recorder In addition to the Listen function a new line of Python code will be generated for each new command request that was sent through user interface interaction This does not result in a complete working Python automation script for repeating the user action but it is again a good way to find out about the Kickdrive internal commands and responses and how they can be used with your own Python program Copyright 2014 www fuh edv de www fullmo de
41. r table configures the editing control available for each data object Custom UI Format settings for each object allow a clean and intuitive on the fly visualization of its value For example a dial and a slider for integer data within a well defined min max range or a combo box for multiple choice parameters Copyright 2014 www fuh edv de www fullmo de Kickdrive Modules 25 Notice The UI Format settings described below are not identical to the ones used for the Ul Panel However if you drag a data object from the UI Panel or the Object Editor and drop it on the CANopen Node panel appropriate conversions and additions are applied The UI Format value is a list of key value attribute pairs delimited by semi colons The following is a description of the available attributes type Defines the type of data to be visualized integer Integer values are displayed as a textbox a dial and a slider See the range attribute to define min max values Texts are displayed using a textbox only combo A combo box This is useful for objects that accept a limited set of different values with different meanings The values available and their descriptions are defined using the options attribute See below for more information and an example range Defines the minimum and maximum values For example range 0 100 range 100 100 options Used with type combo This specifies a list of available options and their corresponding
42. ressed project file kickpro file and edit the related slave information manually Notice Additional developer guides about the kickpro file structure are available on request Please contact your Application Support Warning The module tree editing actions are not reversible Make sure you have a backup version of your project before modifying its contents Runtime Generator Notice This function is only enabled for registered licensed installations of Kickdrive not in the free evaluation version For some examples of generated runtime applications please see the downloads section on our website The Generate Runtime function allows you to distribute your project as a single executable exe file The result is a one click executable that does not require installation or a license key and includes all core Kickdrive components required to run the project The runtime executable uses a special user interface It does not have the Menu and Toolbar or Modules area see Main Screen Instead the first UI Panel module found in the project will be displayed If the project does not contain a UI Panel or the panel is only available for User Level 2 the project file s main HTML documentation text is displayed Copyright 2014 www fuh edv de www fullmo de Using Kickdrive 15 The Runtime Generator can only be used for compressed projects kickzip kicktpl files If you are working with an uncompressed project kickpro
43. scribed in Projects and Templates Edit the kickpro file using a standard text editor or a specialized XML editor Search for the userLevel attributes and change accordingly To convert your modified project file back into a kickzip or kicktpl file please follow the instructions in Projects and Templates Projects and Templates Everything you see in the modules and content area of Kickdrive is defined in a Kickdrive template or project file The following file formats are used E kickpro Uncompressed Project Files A Kickdrive kickpro file defines everything you can see in the Modules and Content area of Kickdrive CAN Interfaces CANopen Drive units Scope modules a s o The kickpro file is a standard XML file that can be edited by experienced users to build specific applications e g work with three drive units instead of one modify the user levels required for each module create additional HTML documentation Notice When manually editing kickpro files make sure you keep a copy of the original files Check carefully that your modified file is a valid xml file A good XML editor can help validate the XML format and prevent invalid changes that could break the structure Copyright 2014 www fuh edv de www fullmo de Using Kickdrive 13 The kickpro file is often accompanied by additional files that are necessary to run the project s predefined tasks These files can include css files for documentation form
44. tomatic 5 mj B CAN Interface CAN Interface for USB CANopen Drive Scan CAN Monitor CAN Bus Monitor Autodetect CAN Sender CAN Bus Frame Sender A standard project template for testing and service of fullmo ebm O e papst CANopen drives Sc Data Li Ep Pol DAE WARNING This project uses active bus A Cani E scan to obtain baud rate and node id of rigger Configuration the drive DO NOT use this in a running network fullmo ebm papst CA WARNUNG Dieses Projekt f hrt einen aktiven Bus Scan durch Nicht in einer e laufenden CANopen Installation ject Edit Read Edit Write Drive P benutzen Script Python Script Host How to Use B firmware Firmware Update M Project Scope Trigger Scope Network CAN Interface CAN Monitor ex 0 8 Q 5x Pause Scroll Trace Find Fiter Copy Paste Delete All Initial Setup and Test Trace file tracefile_DATETIME txt Frome timo D Data Dir 6016 24075 43 6c 60 00 00 00 00 00 10 16 19 000 10 16 20 000 10 16 21 000 10 16 22 000 10 16 23 000 s Ir lt 1 Q gt 6017 24076 581h 43 64 60 00 80 26 00 00 ERCI E J Copyright 2014 www fuh edv de www fullmo de 6 1 Installation 9 Installation The Kickdrive application software is usually distributed in a exe self extracting archive file Double click the exe file to copy the application to a directory on your computer or a re
45. ule tree is also possible but requires a higher User Level too 3 Content Area Clicking on a module symbol in the modules area 2 will open a detailed view of this module or a specific function e g CAN Monitor in the content area 3 The content area allows docking and stacking of several module views When saving a project the layout of the content area is remembered and restored when re opening the project 6 3 User Level User levels can be used in Kickdrive projects to limit access to modules that are not needed for standard operation or that need to be used with extra precautions The password protection is not intended to prohibit access to certain users but rather as an indication that you are now operating on a more advanced level The default user levels and Copyright 2014 www fuh edv de www fullmo de 12 6 4 Kickdrive User Manual passwords are Pee 1 Standard Warning Notice Different versions of the Kickdrive software may use different user levels and passwords The highest User Level tasks can require additional expert knowledge about the controlled devices or could possibly render a device unusable or cause other damage Changing the required User Level for a module The minimum User Level required for a specific module is stored in the Kickdrive project file To modify these settings perform the following steps e Store your project as a kickpro Uncompressed Project File as de
46. unicates with the actual data object Its value defines if the data object s value can be modified by the user and also how the value is read from the device Examples the value is read from the device only once upon initialization Copyright 2014 www fuh edv de www fullmo de 34 Kickdrive User Manual the value is read from the device periodically in this case every 1000 milliseconds the initial value is read from the device upon initialization and can then be modified by the user User modified values will be sent to the device Notice You cannot combine periodical reading with the control being user modifiable E g updates r100 w is not a valid definition range Defines the allowed range for input controls It is only used by the slider and dial controls Examples range 0 100 range 100 100 Notice When dragging an object from the Object Dictionary Device Description of the Object Editor module the range is calculated from the original xdd xdc device description file if available If no value range was specified in the device description file a default range value is chosen step Defines a valid positive step size for some of the range based controls such as the slider or the dial The default step size is 1 Change the value to configure the control to round selected values to the specified step size Examples step 1 the default behavor step 10 only values that are multiples of 10 wi
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