manual - stÖber · manual canopen 3 communication module ca6 with the ca6 communication module,...

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06/en

anua

2015

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ID 442637.00

ID 4 2

Table of contentsMa

Ta

1

2

3

4

work structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

ction of suitable lines . . . . . . . . . . . . . . . . . . . . . . 10

- Terminal X200 . . . . . . . . . . . . . . . . . . . . . . . . . 11

- CANopen interface . . . . . . . . . . . . . . . . . . . . . 12

s of the bus communication . . . . . . . . . . . . . . . . 12

SD6 and MC6 with CANopen . . . . . . . . . .14

e drive controller . . . . . . . . . . . . . . . . . . . . . . . . . 14

ate CA6 and CiA402 . . . . . . . . . . . . . . . . . . . . . . 14

igure global CANopen settings . . . . . . . . . . . . . . 15

k PDO communication . . . . . . . . . . . . . . . . . . . . 16

sfer project configuration .. . . . . . . . . . . . . . . . . . 17

project configuration . . . . . . . . . . . . . . . . . . . . . 18

t up CAN network . . . . . . . . . . . . . . . . . . . . . . . . 18

ll EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CAN bus system .. . . . . . . . . . . . . . . . . . . . . . . . 19

CANopen Manager .. . . . . . . . . . . . . . . . . . . . . . 19

drive controller . . . . . . . . . . . . . . . . . . . . . . . . . . 19

exchange .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

igure CAN bus system . . . . . . . . . . . . . . . . . . . . 20

igure CANopen Manager . . . . . . . . . . . . . . . . . . 20

42637.00 WE KEEP THINGS MOVING

nual CANopen

ble of contents

General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

1.1 Further documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.1.1 CiA specifications .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1.2 Website downloads . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2 Technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.3 Instructions for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4 Abbreviations, symbols, indexes . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.5 Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Notes on safety .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

2.1 Operation in accordance with its intended use . . . . . . . . . . . . . . 7

2.2 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.3 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.5 Working on the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.6 Disposal .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.7 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Communication Module CA6 . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

3.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

4.1 CAN bus - Net

4.2 Connection .. .

4.2.1 Sele

4.2.2 SD6

4.2.3 MC6

4.2.4 State

5 Commissioning -

5.1 DS6: Configur

5.1.1 Activ

5.1.2 Conf

5.1.3 Chec

5.1.4 Tran

5.1.5 Save

5.2 CODESYS: se

5.2.1 Insta

5.2.2 Map

5.2.3 Map

5.2.4 Map

5.3 Configure data

5.3.1 Conf

5.3.2 Conf

ID 4 3

Table of contentsMa

6

rgency Objects - EMCY .. . . . . . . . . . . . . . . . . . . 42

References .. . . . . . . . . . . . . . . . . . . . . . . . . .46

n objects - CiA DS 301 . . . . . . . . . . . . . . . . . . . 46

n objects - CiA DS 402 . . . . . . . . . . . . . . . . . . . 50

n objects - ific parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 53


nual CANopen

5.3.3 Configure drive controller . . . . . . . . . . . . . . . . . . . . . . 22

5.4 Compile project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.5 Transfer project configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 25

More about CANopen? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

6.1 CAN bus and CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.1.1 CANopen – Communication .. . . . . . . . . . . . . . . . . . . 26

6.1.2 Object directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.1.3 Network structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.2 CAN message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.2.1 COB-ID .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6.3 Communication objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

6.3.1 Process Data Object - PDO . . . . . . . . . . . . . . . . . . . . 31

6.3.2 Service Data Object - SDO . . . . . . . . . . . . . . . . . . . . 33

6.3.3 Network Management Object - NMT . . . . . . . . . . . . . 39

6.3.4 Error Control Objects - ERROR . . . . . . . . . . . . . . . . 40

6.3.5 Synchronization Object - SYNC . . . . . . . . . . . . . . . . . 42

6.3.6 Eme

7 Object directory -

7.1 Communicatio

7.2 Communicatio

7.3 CommunicatioSTOBER-spec

ID 4 4

General Information1Ma

1Theautcomfromof cthe

Pro•••••••

cumentationn the following table provides relevant information on

ument versions at www.stoeber.de.

ocumentation Contents IDanual Technical data,

installation, connection, setup, commissioning and customer service

442426

ommissioning nstructions

Installation and functional test

442537

anual Operation and setup, commissioning

442454

anual Projecting, installation, connection, setup, customer service and maintenance

442461


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General Information new SD6 drive controller offers maximum precision and productivity for

omation technology and machine manufacturing despite ever more plex functions. Highly dynamic drives ensure the shortest recovery times fast changes in reference value and load jumps. You also have the option

onnecting the drive controllers in a DC intermediate circuit, which improves energy footprint of the entire system.

pertiesLarge power range using 4 sizesQuick DC-Link: Innovative installation concept for the DC link connection Very good control performanceEasy to serviceIsochronous system bus (in preparation)Modular safety technology (in preparation)Free, graphical programming in accordance with IEC 61131-3 CFC (in preparation)

1.1 Further doThe documentation listed ithe SD6 drive controller. You can find the latest doc

Device/software DSD6 drive controllers M

SD6 drive controllers Ci

Controller Based Mode (CBM) application

M

MC6 Motion Controller M

ID 4 5


1.1•

•

•

•

•

ownloadspenal information about CAN and CANopen on the CiA on" (www.can-cia.org).s as well as a dictionary covering CAN terminology wnload area (see www.can-cia.org/index.php?id=6).

r simple integration of the drive controller SD6 in r.de.

nd project planning softwareDESYS software as well as detailed software

in the CODESYS download area at

upportions that are not answered by this document, please

3060stoeber.de

ut training sessions, please contact:er.de


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.1 CiA specificationsCANopen communication profile; this specification describes the important services and protocols under CANopen: CiA DS 301 V4.02 – CANopen application layer and communication profile

CANopen Framework for programmable devices: CiA DSP 302 V3.0 – CANopen application layer and communication profile

CANopen device profiles; these specifications describe the behavior of many device classes:CiA DS 402 V2.0 – CANopen device profile drives and motion control,CiA DS 40x

Recommendations for cable and plug connector: CiA DRP 303-1, ISO 11898-2

CANopen – Standardization as European Norm: EN 50325-4 2002 Part 4: CANopen

1.1.2 Website dInformation about CANoYou can find further generwebsite "CAN in AutomatiDifferent CiA specificationis available in the CAN do SD6 – Device descriptionYou can get an EDS file foCODESYS at www.stoebe

CODESYS programing aA current version of the COdocumentation is availablehttp://de.codesys.com/.

1.2 Technical sIf you have technical questcontact:• Phone: +49 7231 582-• E-mail: applications@

If you have questions abo• E-mail: training@stoeb

ID 4 6


1.ThiCACA

SpeTo STOtrai

TecBefthethe

1. sare used in conjunction with the device, its optional ries are trademarks or registered trademarks of

re not listed here are the property of their respective

AbCA

CB

Ci

CO

DB

I/O

EM

GN

IG

LS

LS

ignificant Byte

ignificant Word

rk Management

ss Data Object

ved Data

te Transmit Request

e Data Object

mmable logic controller

ronization Message

mitted Data

pen and CiA are registered Community trademarks N in Automation e.V., Nuremberg, Germany.

SYS is a registered trademark of 3S-Smart are Solutions GmbH, Kempten, Germany.

oft, Windows, Windows XP and the Windows logo gistered trademarks of Microsoft Corporation in the nd/or other countries.


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3 Instructions for uses documentation supports you with the installation and connection of the 6 communication module for connecting the SD6 drive controller to the Nopen bus system.

cial knowledgebe able to put the CA6 communication module into operation with the

BER MC6 controller, you should know the basics of CANopen. Intensive ning on the CiA specifications concerned is not necessary.

hnical requirementsore putting the CA6 communication module into operation, you have to wire SD6 drive controller and initially check its correct function. To do this, follow instructions in the commissioning instructions of the SD6 drive controller.

4 Abbreviations, symbols, indexes 1.5 TrademarkThe following names that equipment and its accessoother companies:

All other trademarks that aowners.

breviationsN Controller Area Network

M Controller Based Mode

A CAN in Automation

B-ID Communication Object Identification

T Distributor

Input/Output

CY Emergency Message

D Ground

B Integrated Bus

B Least Significant Byte

W Least Significant Word

MSB Most S

MSW Most S

NMT Netwo

PDO Proce

RxD Recei

RTR Remo

SDO Servic

PLC Progra

SYNC Synch

TxD Trans

TrademarksCANopen,CiA

CANoof CA

CODESYS CODESoftw

Microsoft,Windows,Windows XP, Windows 7

Microsare reUSA a

Abbreviations

ID 4 7

Notes on safety2Ma

2The••STOwithma

2.

As eleenein s••Des

2.The•

•

smentay bring a machine onto the market, he must

t according to Machine Directive 06/42/EC. As a with the use of the machine are determined. The

-stage and iterative process. On no account can achine Directive be given as part of this son, seek detailed information about the norms and

ling the drive controller in machines, commissioning n determined that the machine meets the

ive 06/42/EC.

ersonnelal risks. For this reason, all work on the devices as osal must only be performed by qualified personnel ible dangers.rsons who have acquired the authorisation to ts and/orlists

e

le regulations, legal provisions, rules and standards documentation including the safety information


nual CANopen

Notes on safety devices can represent a source of danger. Therefore observethe safety guidelinestechnical rules and regulations given in the following sections and points.BER shall assume no liability for damage resulting from failure to comply the instruction manual or relevant regulations. We reserve the right to

ke technical changes for the purpose of improving the devices.

1 Operation in accordance with its intended use

defined by DIN EN 50178 (previously VDE 0160), the drive controllers are ctrical equipment operating as power electronics to control the flow of rgy in high voltage systems. They are designed exclusively for installation witching cabinets, protection class at least IP54, and for supplyingsynchronous servo motors andasynchronous motors.ignated use does not include connecting other electrical loads!

2 Component part of the product technical documentation is a component part of a product.Since the technical documentation contains important information, always keep it handy in the vicinity of the device until the machine is disposed of.If the product is sold, disposed of, or rented out, always include the technical documentation with the product.

2.3 Risk assesBefore the manufacturer mconduct a risk assessmenresult, the risks associatedrisk assessment is a multisufficient insight into the Mdocumentation. For this realegal position. When instalis forbidden until it has beerequirements of EC Direct

2.4 Qualified pDevices may cause residuwell as operation and dispwho are aware of the possQualified personnel are peperform these activities by• Training from specialis• Instruction from speciaIn addition, they must hav• read,• understood and • observed the applicab

and existing technical contained in it.

ID 4 8

Notes on safety2Ma

2.Appma1.

2.3.4.5.

2.Pleindreg•••••

on of notes on safety

ge may occur

ary measures are not taken.

s that minor injury may occur


serious danger of death


r of death exists


ant information about the product or serves to ction in the documentation to which the reader

cial attention.


nual CANopen

5 Working on the machinely the 5 safety rules in the order stated before performing any work on the

chine:Disconnect.Also ensure that the auxiliary circuits are disconnected.Protect against being turned on again.Check that voltage is not present.Ground and short circuit.Cover or block off adjacent live parts.

6 Disposalase comply with the latest national and regional regulations! Dispose of the ividual parts separately depending on their nature and currently valid ulations such as, for example:Electronic scrap (PCBs)PlasticSheet metalCopperAluminum

2.7 Presentati

NOTICE

Noticemeans that property dama

if the stated precaution

CAUTION!

Cautionwith warning triangle mean


WARNING!

Warningmeans that there may be a


DANGER!

Dangermeans that serious dange


InformationNote that the discharge time of the DC link capacitors is up to 5 minutes. You can only determine the absence of voltage after this time period.

Informationrefers to importemphasize a seshould pay spe

ID 4 9

Communication Module CA63Ma

3Witintevia CAreleSDfasspe

3.Inssaf

Remove

Notto p

Proetccondriv

Dan

ge due for example to electrostatic discharge!e measures when handling open printed circuit othing appropriate for ESD and an environment free

ct surfaces.

er slot of the drive controller.

10.ncluded with the communication module.

unication module

screw for the dummy cover on the top of the drive

ion module into the drive controller on the guide

that the pin contacts are pushed into the female

over included with the communication module into at an angle. the drive controller so that the tips are resting under

the two screws.


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Communication Module CA6h the CA6 communication module, SD6 provides a universal fieldbus rface for a connection of the drive controller to higher-level control systems CANopen.6 fully complies with the CANopen standard and allows direct access to all vant drive parameters and functions.

6 itself is parameterized via Service Data Objects (SDO) and controlled via t cyclic Process Data Objects (PDO) that assign target positions, travel eds or acceleration specifications, for example.

1 Installationtallation work is only admissible when no voltage is present. Observe the 5 ety rules.

ove the additional covers before commissioning so that the device will not rheat.

e the minimum open areas specified in the technical data during installation revent the drive controller from overheating.

tect the device against falling parts (bits or strands of wire, pieces of metal, .) during installation or other work in the control cabinet. Parts with ductive properties may result in a short circuit or device failure within the e controller.

WARNING!

ger of personal injury and material damage due to electric shock!Always switch off all power supply voltage before working on the drive controller! Note that the discharge time of the DC link capacitors is up to 5 minutes. You can only determine the absence of voltage after this time period.

CAUTION!

Danger of material dama Take suitable protectiv

boards, for example clof dirt and grease.

Do not touch the conta

CA6 is installed on the uppYou need:• A Torx screwdriver TX• The cover and screw i

Installation of the comm

1. Loosen the fastening controller.

2. Push the communicatrails.

3. Push the module in soconnector strip.

4. Insert the tips of the cthe recess in the front

5. Set the cover down onthe edge.

6. Fasten the cover with

ID 4 10

Electrical installation4Ma

44.CA(maCAsubTo so conTheconsubOnCAto tterm

nidual drive controllers to each other or to the MC6 ach have their own interfaces in the form of 9-pin ecting to the CAN bus system.

of suitable lines

and plug connector

le with different sheath materials for different environmental conditions. nals, at least a 3-pin cable with CAN-High, CAN-Low required.n – particularly at high transfer rates – we s that meet the requirements stated in ISO 11898-2,

140 Ωcitance: 60 nF/km

70 mΩ/m

ith metal housings or housings made of metalized connectors at the start and at the end of a CAN bus two cable inlets are advantageous for looping


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Electrical installation1 CAN bus - Network structureN operates as standard with a linear topology where all subscribers sters and slaves) are connected to each other via three shielded lines:

N-High and CAN-Low; a line for the reference ground between the scribers is also provided. prevent superimposed data due to signal reflections at both bus ends and significantly reduce failure susceptibility, termination resistors of 120 Ω are nected between CAN-H and CAN-L. following figure abstracts a CANopen network consisting of a MC6 troller as master as well as several SD6 drive controllers as bus scribers, i.e. slaves.

e of the two necessary termination resistors is integrated in the MC6 Nopen interface and permanently activated; the second must be connected he last subscribing SD6 (X200: sliding switch set to "On"). Connecting the

ination resistors is also necessary for very short lines.

4.2 ConnectioTo be able to connect indivcontroller, CA6 and MC6 eSub-D connectors for conn

4.2.1 Selection

4.2.1.1 CAN cable

CAN cableCAN bus lines are availabapplication scenarios and For the transfer of CAN sigand a reference ground isTo ensure correct operatiorecommend using bus linefor example:• Ripple resistance: 95 –• Maximum mutual capa• Conductor resistance:

Plug connector9-pin Sub-D connectors wplastic are suitable as plugline; plug connectors with through.

ID 4 11


4.2AboTheconpluEns

4.2ThetheTheentrateNotincr

minal X200drive controllers to each other, the CA6 s a 9-pin Sub-D connector.

0

Ba10

20

50

10

12

25

50

80

10

tion Function—

CAN-Low line

Reference ground

—

—

—

CAN-High line

—

—


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.1.2 Shieldingve all, suitable shielding is essential at high transfer rates. shielding of the CAN cable is mounted under the strain relief of the nector; the shielding is therefore connected to the drive controller via the g housing and the Sub-D connector.ure continual shielding over the entire bus length.

.1.3 Transfer speed and line length maximum length of a CAN bus line is dependent on the transfer speed, i.e.

baud rate. following table shows the maximum permitted cable lengths (over the

ire extension of the bus) in combination with each of the possible baud s. e that the sensitivity of serial bus systems increases as the transfer speed eases.

4.2.2 SD6 - TerTo be able to connect the communication module ha

Terminal description X20

ud rate (kbit/s) Maximum cable length (m)5000

2500

1000

0 800

5 500

0 250

0 100

0 < 30, only with special cable ± 60 nF/km

00 < 10, only with special cable ± 60 nF/km

InformationAll drive controllers that are connected via a CAN network must have the same baud rate.

Pin DesignaConnector

1 —

2 CAN-L

3 GND

4 —

5 —

6 —

7 CAN-H

8 —

9 —

ID 4 12


4.2To pre

Thelayeandvar

the bus communicationunication is apparent directly at the communication a green and a red LED. Both LEDs display ates according to CiA DR-303-3 and thus allow for a of the bus system directly at the drive controller.

Pi1

2

3

4

5

6

7

8

9


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.3 MC6 - CANopen interfaceconnect the SD6 drive controller with the MC6 controller, MC6 provides a defined CANopen interface.

CANopen interface involves a SJA1000 CAN controller with physical rs according to ISO 11898-2 (high-speed CAN). The interface is floating has a 120 ohm termination resistor that is permanently active and not

iable.

4.2.4 States of The state of the bus commmodule. CA6 is fitted with communication-specific stquick and easy diagnosis

n Designation Function— —

CAN-L CAN-Low line

GND Reference ground

— —

— —

GND Reference ground

CAN-H CAN-High line

— —

VEXT External supply voltage

ID 4 13


Gre

Red

LEOf

Fla

Sin

On

LEOf

SinFla

Dofla

Trifla

On


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en LED display

LED display

D state Meaningf No error, no warning.

shing Drive controller is ready for parameterization for the preparation of actual operation.

gle flash "Stopped" NMT state, all communication activities are stopped.

"Operational" NMT state, CAN bus is activated, all services are in operation.

D state Meaning Measuref No error, no warning. –

gle sh

Communication error in operation mode (Warning Level)

Check the bus cabling, shielding and compliance with the CAN Specifications regarding this.

uble sh

Node Guard Event Check the Node Guard function of the controller.

ple sh

SYNC error Check the SYNC configuration of the controller.

Bus off The SD6 concerned no longer subscribes to the CAN communication. Check the baud rate and bus cabling and switch off the drive controller and then switch on again.

ID 4 14

Commissioning - SD6 and MC6 with CANopen5Ma

5

YouSTOThetheCOSof

To bthe••••

Co1.

2.

igure drive controller drive controllers of the bus system via the st record them as part of a project. You then define nd adapt the predefined communication objects and irements. in the following chapters in the specified order!

A6 and CiA402 all drive controllers in the DriveControlSuite tem in one project and under one module.

Suite and click on Create new standard project. project automatically includes a module, a drive

axis. You can rename these elements as desired.ontroller in the project tree and click on Project

ing window opens.ules tab and activate the communication module

troller tab and activate (the latest version of) the 402 CANopen.close the subsequent information window.


nual CANopen

Commissioning - SD6 and MC6 with CANopen

want to operate several SD6 drive controllers in conjunction with the BER MC6 Motion Controller via a CANopen network.

following chapter describes the commissioning of the stated systems with aid of the STOBER DS6 Software DriveControlSuite as well as the DESYS project planning software from the manufacturer 3S-Smart tware Solutions GmbH.

e able to implement the individual commissioning steps exactly, we require following system environment:STOBER Motion Controller MC6STOBER SD6A drive controller with CA6A communication moduleSTOBER DS6 DriveControlSuite from version 6.0-F CODESYS from version 3.5

mmissioning is divided into the following steps:DriveControlSuite: Configure drive controllerThe CA6 communication module in conjunction with the CiA 402 device controller are activated separately for each subscribing drive controller on the bus system in the DriveControlSuite. Associated CANopen-specific settings such as parameterization and assignment of the process data channels are also configured for data transfer for each drive controller.

CODESYS: map and configure CAN networkCODESYS provides a platform in which the CANopen hardware environment can be mapped, set up and saved as a global project configuration. This project configuration is finally saved in the MC6 controller. The CODESYS software is thus the CAN interface for the connection of all drive controllers in the CAN group to the MC6 controller.

5.1 DS6: ConfTo be able to configure allDriveControlSuite, you muglobal CANopen settings atheir channels to your requPerform the steps included

5.1.1 Activate CWe recommend recordingsubscribing to the bus sys

1. Start the DriveControl The newly created

controller and an 2. Mark the (first) drive c

planning. The project plann

3. Select the Option modCA6A CANopen.

4. Select the Device condevice controller CiA

5. Confirm with OK and

ID 4 15


5.1ReqYou

1.

2.

pecify how high the number of remaining remote quests from the controller must be before the drive ntroller changes to the Fault state.

ermitted value range: 0 – 255efault: 0.ote: he Life Time is the product of A203 x A204 and must within the value range 0 – 65535 ms.

efine the time between two consecutive heartbeat essages of the drive controller. ermitted value range: 0 – 65535 ms = deactivated) efault: 200 msote that the simultaneous use of Guard Time and eartbeat is not permitted! You can disable both ntrol services or enable one of them.


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.2 Configure global CANopen settingsuirement: have activated the CA6 module as well as the CiA 402 device controller.

Mark the drive controller concerned in the project tree and click on Wizards > CANopen. The CANopen wizard opens.Configure CANopen as follows:

A213 Fieldbus scaling

Define how the PDO elements are represented (scaled) for the transfer. Permitted values: Raw value (values are passed without change) or integer (values are converted) Default: raw value

A82 CAN baud rate

Define the transfer rate depending on the bus length. Permitted value range: 10 – 1000 kbit/sDefault: 250 kbit/s

A83Bus address

Enter the bus address (node ID) of the drive controller. Permitted address range: 0 – 125Default: 1

A203 Guard Time

Define the time between two consecutive remote requests of the controller. Permitted value range: 0 – 4000 ms (0 = no monitoring)Default: 0 msNote that the simultaneous use of Guard Time and Heartbeat is not permitted! You can disable both control services or enable one of them.

A204 Life Time Factor

SrecoPDNTlie

A210 Producer Heartbeat Time

DmP(0DNHco

ID 4 16


5.1ThemarecEacto b

TheAntconTheConDuein tThebe maele

5.1ReqYouand

1.

2.

ransmission type of the RxPDO.

lements that are transmitted via the first RxPDO of his channel. The respective position (1st – 6th) has nformation about the associated transmission order. otal length of the elements of the first RxPDO to be ransmitted. The value must not exceed 8 byte. To omply with the value, change the type or number of he elements to be transmitted in this channel if ecessary.

xPDO channels that receive the "active" status.tus of the channels and activate/deactivate it if on the green status light of a channel.


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.3 Check PDO communication CA6 communication module allows the simultaneous operation of a

ximum of four independent PDO channels for each transmission and eption direction. h of these PDO channels includes a PDO with a maximum of six elements e transmitted in a defined order.

current default settings are recommendations of STOEBER riebstechnik to ensure correct communication between controller and drive troller. assignment of the COB-ID corresponds to the principle of "Predefined nection Sets". Only change this if you operate outside of the norm. to the restricted transfer rate of the CAN bus, only two channels are active

he CANopen PDO defaults. STOBER drive controller supports a flexible assignment of the elements to

transmitted to the individual PDO. If you reconfigure this predefined PDO pping according to your requirements, note that the entire length of the ments to be transmitted may not exceed 8 byte per channel.

.3.1 Check receive PDOuirement: have activated the CA6 module as well as the CiA 402 device controller configured the global CANopen settings.

Mark the drive controller concerned in the project tree and click on Wizards > CANopen > CANopen RxPDO. The CANopen RxPDO wizard opens.Check the default settings for the elements that are transmitted from the controller in the direction of the drive controller.

A221[0]COB-ID

COB-ID of the first RxPDO that is transmitted via this channel.

A221[1]Transmission Type

T

A225[0] – A225[5]1st – 6th mapped parameter

Eti

Resulting length Ttctn

3. Repeat step 3 for all R4. Check the activity sta

necessary by clicking

ID 4 17


5.1

ReqYouand

roject configurationject configuration to one or more drive controllers as u must connect your computer to the network.

e controllers of your bus system in the ject and under one module. The drive controller is

1.

2.

3.

4.

ded all drive controllers of your bus system in the ue by saving the project configuration and transfer of your bus system.

e project tree under which you have recorded the rned and click on Establish connection. indow opens.olumn IGB IP address tab: ou want to connect with and confirm with OK. indow opens.

ller, assign the In project column, the Send to drive Method column and confirm the assignment with

transferred to the selected drive controller.


nual CANopen

.3.2 Check Transmit PDO

uirement: have activated the CA6 module as well as the CiA 402 device controller configured the global CANopen settings.

5.1.4 Transfer pTo be able to transfer a propart of an IGB network, yoRequirement:You have recorded all drivDriveControlSuite in a proswitched on.

Mark the drive controller concerned in the project tree and click on Wizards > CANopen > CANopen TxPDO. The CANopen TxPDO wizard opens.Check the default settings for the elements that are transmitted from the drive controller in the direction of the controller.

A229[0]COB-ID

COB-ID of the first TxPDO that is transmitted via this channel.

A229[1]Transmission Type

Transmission type of the TxPDO.

A229[2]Inhibit Time

Minimum time between the transmission of two PDO elements.

A233[0] – A233[5]1st – 6th mapped parameter

Elements that are transmitted via the first TxPDO of this channel. The respective position (1st – 6th) has information about the associated transmission order.

Resulting length Total length of the elements of the first TxPDO to be transmitted. The value must not exceed 8 byte. To comply with the value, change the type or number of the elements to be transmitted in this channel if necessary.

Repeat step 3 for all TxPDO channels that you want to set to the "active" state.Check the activity status of the channels and activate/deactivate it if necessary by clicking on the green status light of a channel.

5. When you have recorcurrent project, continto the drive controller

1. Mark the module in thdrive controller conce The connection w

2. Direct connection > CMark the IP address y The assignment w

3. For each drive controcontroller action in theStart. The project file is

ID 4 18


5.1ReqYou

: set up CAN networkn to map and configure your real CANopen to make it available as a global project file of your

S software in the download area of the CODESYS

llowing sequence of steps when mapping your ESYS.

Ses of the STOBER drive controllers are described in cts and summarized in an EDS file. Integrate this YS library.

SD6-EDS from the STOBER download area and irectly from the CD STOBER ELECTRONICS 6 ess.

1.

2.

3.

4.5.6.

te a standard project and save it., the Devices view is active.e repository > Install.e location of the SD6-EDS, mark it and click on

egrated in the CODESYS library. in the Device repository > Installed device CiA CANopen > CiA Remote Device > SD6. s been installed.sitory window.


nual CANopen

.5 Save project configurationuirement: have transferred the project configuration to a drive controller.

5.2 CODESYSCODESYS offers the optiohardware environment andcontroller. You can get the CODESYwebsite.Always comply with the foCANopen network in COD

5.2.1 Install EDThe functions and propertithe form of numerous obje"SD6-EDS" in the CODESPreconditions:You have downloaded thesaved it locally or copy it dduring the installation proc

Mark the drive controller concerned in the project tree and click on Wizards > Save action values. The storage wizard opens.Save the project configuration in the drive controller by setting A00[0] Start to 1: active.The configuration changes are only effective when the drive controller is restarted. Click on Action System Reset. The restart wizard opens.Restart the drive controller by setting A09[0] Start to 1: active. Restablish a connection to the drive controller. Transfer and save the project configuration to all drive controllers of your bus system.

1. Start CODESYS, crea CODESYS opens

2. Click on Tools > Devic3. Navigate to the storag

Open. The EDS file is int

4. Check the installationdescriptions window: Click on Fieldbuses > The SD6-EDS ha

5. Close the Device repo

ID 4 19


5.2Mahar

5.2MaintePreYou

controllerrs that you operate in your CANopen network in the orresponding hardware modules in the CODESYS

D6-EDS in the CODESYS library and a CANopen .

1.

2.

3.

4.

1.

2.

3.

4.

on CANopen_Manager > right mouse button > Add

indow opens.ion: TRIEBSTECHNIK GmbH &Co. KG.STOBER that may be mounted to the current ice tree are displayed.firm with Add Device. ntroller is mapped in the device tree.rive controllers that exist in your real CANopen

window.


nual CANopen

.2 Map CAN bus systemp your real CAN bus system in the project by integrating a corresponding dware module in the CODESYS device tree.

.3 Map CANopen Managerp your real CANopen Master (CANopen Manager) in the project by grating a corresponding hardware module in the CODESYS device tree.conditions: have integrated a CAN bus system in the device tree.

5.2.4 Map driveMap all SD6 drive controlleproject by integrating the cdevice tree.Preconditions:You have integrated the SManager in the device tree

Click in the device tree on Devices > right mouse button > Add device. The Add device window opens.Device > Manufacturer section: Select 3S - Smart Software Solutions GmbH. The devices of the manufacturer 3 S that may be mounted to the

current position in the device tree are displayed.Click on CANbus and confirm with Add device. The CAN bus system is mapped in the device tree.Close the Add device window.

Click in the device tree on CANbus > right mouse button > Add device. The Add Device window opens.Device > Vendor section: Select 3S - Smart Software Solutions GmbH. The devices of the manufacturer 3 S that may be mounted to the

current position in the device tree are displayed.Click on CANopen_Manager and confirm with Add Device. The CANopen Manager is mapped in the device tree.Close the Add Device window.

1. Click in the device treeDevice. The Add Device w

2. Device > Vendor sectSelect STOEBER AN The devices from

position in the dev3. Click on SD6 and con The SD6 drive co

4. Repeat step 3 for all dnetwork.

5. Close the Add Device

ID 4 20


5.Conthe

5.3Con

CANopen Managertion properties of your CANopen Manager.ging the default settings when you operate outside d to do so in the following step directions.

1.

2.

vice tree on the module CANopen_Manager > Sub-r.nager sub-tab opens.

pecify the bus address of the master. Permitted ddress range: 0 – 127efault: 127he master changes automatically to operation ode as soon as all necessary drive controllers are

eady for use. efault: activated very second the master queries the status of a rive controller that does not provide a response uring the boot sequence until it receives a positive esponse from it.efault: activated he master is responsible for the start of the drive ontroller.efault: activated he master starts all drive controllers ready for use ith the command NMT Start All.efault: deactivatedefines the behavior in the case of an error during rive controller monitoring. efault: Restart Slave


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3 Configure data exchangefigure the data exchange between the drive controllers and controller via

CAN bus system.

.1 Configure CAN bus systemfigure the general communication properties of your CAN bus system.

5.3.2 ConfigureConfigure the communicaWe recommend only chanof the norm or are prompte

Double click in the device tree on the module CANbus > Sub-tab CANbus. The CANbus sub-tab opens.Configure the CAN bus as follows:

Network Specify the number of the CAN bus system that should be addressed.Default: 0

Baudrate (bit/s) Specify the baud rate that you have defined in the DriveControlSuite for this CAN bus.Default: 250000

1. Double click in the detab CANopen Manage The CANopen Ma

2. General section:

Node ID SaD

Autostart CANopenManager

TmrD

Polling of optional slaves

EddrD

Start slaves TcD

NMT Start All (if possible)

TwD

NMT Error Behavior

DdD

ID 4 21


3.

4.

ime between two consecutive heartbeat essages.efault: 200

he master sends TIME messages. efault: deactivated

D of the TIME messages.ermitted value range: 0 – 2047efault: 100ime between two consecutive TIME messages.efault: 1000


nual CANopen

Sync section:

Enable Sync Producing

Activate this option so that the master SYNC can send messages. Default: deactivated

COB-ID (Hex) ID of the SYNC messages. Permitted value range: 1 – 2047Default: 80

Cycle Period (μs) Set the time between two consecutive SYNC messages to 4000 μs.Default: 1000To remove the subsequent CODESYS warning message, click in the project tree on Task configuration > MainTask. Type section: Set the interval time to t#4ms.Return to the CANopen Manager sub-tab.

Window Length (μs)

Time window for synchronous PDO.Default: 1200

Enable Sync Consuming

Indicates that the master SYNC messages are received by another device. Default: deactivated

Heartbeat section:

Enable Heartbeat Producing

The master sends heartbeat messages. Default: activated

Node ID Specify the bus address of the master that sends the heartbeat messages.Permitted value range: 1 – 127Default: 127

Producer Time (ms)

TmD

5. TIME section:

Enable TIME Producing

TD

COB-ID (Hex) IPD

Producer Time (ms)

TD

ID 4 22


5.3ConfolloNotpro

5.3Weof t

CA

1.

2.

ll SDOs are loaded in the object directory of the rive controller. efault: deactivatedhe drive controller starts with a valid configuration;

he master does not send SDOs or NMT start ommands.efault: deactivatedhe drive controller sends SYNC messages; if the YNC mechanism is already activated for the aster, this option for the drive controller is not vailable to you.efault: deactivated

eat section:

he drive controller sends heartbeat messages.he Node Guard function is automatically eactivated for an activated heartbeat service.efault: activated ime between two consecutive heartbeat essages. Specify the time here that you have

onfigured in the DriveControlSuite under CANopen A210 Producer Heartbeat Time.efault: 200

tion:

he drive controller sends EMCY messages in case f internal error.he time function is automatically deactivated for an ctivated emergency service.efault: activated


nual CANopen

.3 Configure drive controllerfigure the communication settings of the drive controller as described in the wing. e that you must separately define each drive controller existing in the ject.

.3.1 CANopen Remote Device recommend only changing the default settings when you operate outside he norm or are prompted to do so in the following step directions.

Nopen Remote Device

Double click in the device tree on the (first) module SD6 > Sub-tab CANopen Remote Device. The CANopen Remote Device sub-tab opens.General section:

Node ID Specify the bus address of the drive controller.Possible address range 1 – 127Default: 1

SDO Channels (1/4 active)

Shows the activated SDO channels.Default: 1st channel activated, channels 2 – 4 deactivated

Enable Expert Settings

Activate this option to show advanced settings such as the tab for Receive and Transmit PDO mappings, etc. to be able to configure them.Default: deactivated

Optional Device The drive controller is not absolutely necessary for the start of the CANopen network.Default: deactivated

Create all SDOs

AdD

No initialisation TtcD

Enable Sync Producing

TSmaD

3. Nodeguarding/Heartb

EnableHeartbeat Producing

TTdD

Producer Time (ms)

Tmc>D

4. Emergency/TIME sec

Enable Emergency ToTaD

ID 4 23


ing

5.

6 > Sub-tab PDO Mapping.-tab opens.PDO) section: way as the RxPDO settings in the e channels that you have enabled for the receive

st active RPDO channel. ies window opens.lect cyclic - synchronous (Type 1-240).ther activated RPDO channels.DO) section: way as the TxPDO settings in the DriveControlSuite u have enabled for the Transmit PDO.st active TPDO channel. es window opens.lect cyclic - synchronous (Type 1-240).ther activated TPDO channels.


nual CANopen

5.3.3.2 PDO mappCOB-ID ID of the EMCY messages. Permitted value range: 1 – 2047Default: $NODEID + 16#80

Checks at Startup section:

Check Vendor ID The manufacturer ID of the drive controller is read from the firmware at the start and compared with the corresponding entry in the EDS. If the two do not match, the drive controller is not started.Default: activated

Check Product Number

The product number of the drive controller is compared at the start – in the same way as the manufacturer ID. Default: deactivated.

Check Revision Number

The revision number of the drive controller is compared at the start – in the same way as the manufacturer ID. Default: deactivated.

1. Change to module SD PDO Mapping sub

2. Select receive PDO (RActivate – in the sameDriveControlSuite – thPDO

3. Double click on the fir The PDO Propert

4. Transmission type: Se5. Repeat step 4 for all o6. Select send PDO (TP

Activate – in the same– the channels that yo

7. Double click on the fir The PDO properti

8. Transmission type: Se9. Repeat step 4 for all o

ID 4 24


5.3Trathe

Re

1.

2.

3.

4.

5.

6 > Sub-tab Transmit PDO Mapping.pping sub-tab opens., proceed in the same way as the Receive PDO and n TxPDO configuration one to one from the he Transmit PDO in your CODESYS project.


nual CANopen

.3.3 Receive and Transmit PDO mappingnsfer the configurations for the CANopen RxPDO as well as TxPDO from DriveControlSuite in the current CODESYS project.

InformationYou can only carry out the following mapping of the Receive and Transmit PDO in CODESYS expert mode.

ceive PDO mapping

Change to module SD6 > Sub-tab Receive PDO Mapping. Receive PDO Mapping sub-tab opens.Mark the first receive PDO 1st receive PDO parameter and click on Add Mapping. Select item from object directory window opens.Select the first element that is transmitted to the DriveControlSuite via the first RxPDO (see A 225[0], Default: A515 Controlword) and confirm with OK. The entry from the object directory is to be assigned to the first receive

PDO as the first element to be transmitted.Repeat step 3 for all elements that you defined in the DriveControlSuite for the first RxPDO. Note that the transmission order must be identical.In the same way as your RxPDO configuration in the DriveControlSuite, mark the set-up receive PDO and arrange all elements that you have also assigned in the DriveControlSuite as described in step 3. Note that the transmission order must be identical.

Transmit PDO Mapping

6. Change to module SD Transmit PDO Ma

7. For the Transmit PDOtransfer your CANopeDriveControlSuite to t

ID 4 25


5.Com

5.TraReqThea ccomcom

1.

2.

3.

1.

2.

3.


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4 Compile project configurationpile the completed project configuration to check it for any errors.

5 Transfer project configurationnsfer the project configuration to MC6. uirements: IP addresses of the commissioning PC and the MC6 are not important for

onnection. However, it is advantageous if the IP address of the missioning PC and the MC6 are in a same subnet. The IP address of the missioning PC must be saved in the gateway setting.

Click on Build > Build. The compilation run starts.Click on View > Messages. The message window opens. CODESYS distinguishes between three

"message types": errors, warnings and information. Check the compilation status. If your project configuration contains errors, double click on the relevant message and follow the instructions of the CODESYS error wizard.

Double click in the device tree on Device. The Communication Settings tab opens.If you want to deactivate the search for a DHCP server in the network at startup, specify a fixed IP address. As a result, the MC6 can be accessed more quickly after a restart.Click on Online > Login. The project configuration is transferred to MC6.

ID 4 26

More about CANopen?6Ma

6Therela

6.CAThefor TheCArefeOnestconprosubCAits happsim

WhCAfor subIn CothCALaySinorg

– Communicationndle all bus subscribers with the same properties in

f these classes has its own "device profile" in which tandard configurations, runtime behavior or error

all associated parameters. nized in a so-called "object directory".

ed on their own communication profile. Here it is devices in a network based on CAN are addressed e used to exchange process data or large data

ectoryh bus subscriber describes its complete scope of

rious data (standardized data types, objects of the profile and of the device profile, manufacturer-

) can access entries of the object directory via an as well as an additional subindex (column address,

t and is divided into logical segments.


nual CANopen

More about CANopen? following chapter summarizes the important terms, services and tionships concerning CANopen.

1 CAN bus and CANopenN and the communication in CAN bus "Controller Area Network" (CAN) bus system involves a real-time fieldbus serial data transfer. individual tasks of a CAN bus are defined in so-called layers. The actual

N protocol complies with the "Data Link Layer" (layer 2) of the ISO/OSI rence model.

this level, simple or manufacturer-specific CAN networks can be ablished and subscribers (slaves) of different manufacturers can be nected to each other without problem. The data flow itself is controlled by a tocol in the case of a common line that controls access to the individual scribers – regardless of the manufacturer. N has many advantages – due to its real-time and multi-master capability, igh resistance to interference and its good availability, it serves a wide lication layer. Above all CAN is used where high transfer speeds and a ple, cost-effective installation is required.

at is CANopen?Nopen is the communication protocol based on CAN and the open standard the networking of controllers, drives, encoders or sensors, i.e. all scribers of a CAN bus system. ANopen, the functionality of the subscribers communicating with each

er as well as the basic communication mechanisms are defined. Nopen extends CAN by the so-called application layer (CAN Application er, CAL = layer 7 of the ISO/OSI reference model). ce 1996 CANopen is maintained by the CiA (CAN-in-Automation e.v.) anization and is specified as European Norm EN 50325-4.

6.1.1 CANopenCANopen is intended to buthe same classes. Each ospecific features such as shandling are defined with All device profiles are orgaAll device profiles are basdefined how the connectedand which mechanisms arvolumes.

6.1.2 Object dirThe object directory of eacfunctions in the form of vaCANopen communication specific objects...). Service Data Objects (SDOindex (row address, 16 bit)8 bit). This index is in table forma

ID 4 27


Ob

6.1ThethephyConratetranThe

ageN protocol occurs in the form of messages

of a standardized message "container" is The CAN bus system distinguishes between four

of a Data Frame from another bus subscriber.

ssion error.

etween the sending of Data Frames and Remote

AN message is structured as follows.

Ind00

00

00

00

00

00

00

10

20

60

A0

B0


nual CANopen

ject directory – Structure

.3 Network structure topology of a CAN network is generally linear; in a CANopen network,

oretically up to 127 subscribers can be addressed, 64 bus subscribers are sically possible. cerning the network extension, a length of 1 km is possible for a transfer of 50 kbaud, for example; a network extension of 25 m is realistic for a sfer rate of 1 Mbaud.re are generally nine transfer rates available (10 kbaud – 1Mbaud).

6.2 CAN messCommunication via the CA(telegrams). The structuredesignated as a "Frame". different frames:• Data Frame

... for data transport.• Remote Frame

... for the requirement • Error Frame

... for a known transmi• Overload Frame

... as a forced pause bFrames.

Structure of a standard CA standard CAN message

ex (hex) Object00 Not used

01 – 001F Static data types

20 – 003F Complex data types

40 – 005F Manufacturer-specific data types

60 – 007F Profile-specific, static data types

80 – 009F Profile-specific, complex data types

A0 – 0FFF Reserved

00 – 1FFF Communication profile (CiA 301 and 302)

00 – 5FFF Manufacturer-specific parameters

00 – 9FFF Parameters from standardized profiles (CiA 4xx)

00 – AFFF Network variables

00 – FFFF Reserved

ID 4 28


6.2Themevia In a11 diffasstran(Ex

AssForCon

Connection Seteters of the drive controller are configured

of the Predefined Connection Set as supplied at

he easy commissioning of a "standard" CAN nd up to 127 drive controllers.

4 are activated, a maximum of 31 drive controllers

ded for most application cases.ts, whereby bits 7 – 10 are assigned with the function with the node ID (7 bit). efined for each type of CAN message. The function d for the Peer-to-Peer objects. This gives rise to the l message of a bus subscriber.n Set is then active when the values of the are entered in the communication parameters . The hen added.in the COB-ID of the communication objects d Connection Set.

COB-ID Comm.parameter (index)

Prio

hex 0 – Highest

0hex 128 1005

0hex 256 –


nual CANopen

.1 COB-ID COB-ID (Communication Object Identifier) determines the priority of a

ssage in the network (low COB-ID = high priority). COB-IDs can be changed SDO access. standard message (standard CAN frame), the COB-ID is defined by

bits whereby 2032 different logical addresses can be encoded and 2048 erent items of information sent. As this number proves to be inadequate, the ociated CAN specification extends the identifier to 29 bits whereby the smission of 536,870,912 different items of information has been enabled tended CAN-Frame).

ignment of the COB-ID the assignment of the COB-ID, there are two mechanisms – "Predefined nection Set" and "Dynamic Distribution".

6.2.1.1 PredefinedThe communication paramaccording to the principle delivery.This assignment enables tNetwork with a controller aIf SDO channels 2, 3 and can be connected. This method is recommenA COB-ID consists of 11 bicode (4 bit) and bits 0 – 6 A special function code is dcode and node ID are addeCOB-ID for each individuaThe Predefined Connectiorespective function codes associated Node IDs are tThe following tables contaaccording to the Predefine

Broadcast objects

Object Functioncode

NMT 0000 0

SYNC 0001 8

TIME 0010 10

ID 4 29


PeeNot annels SDO2, 3 and 4 for a max. of 127.

Comm. parameter (index) PrioCAN SD6

1014hex, 1015hex

A207 High

1800hex A229.0

1400hex A221.0

1801hex A230.0

1401hex A222.0

1802hex A231.0

1402hex A223.0

1803hex A232.0

1403hex A224.0

1200hex –

1200hex –

1201hex A218.1

1201hex A218.0

1202hex A219.1

1202hex A219.0

1203hex A220.1

1203hex A220.0

1016hex, 1017hex

– Low


nual CANopen

r-to-Peer objectse that the Node ID of the subscriber concerned must be between 1 and 31 and for the deactivated SDO ch

Object Function code COB-ID

EMERGENCY 0001 80hex + Node-ID 81hex – FFhex 129 – 255

TxPDO1 0011 180hex + Node-ID 181hex – 1FFhex 385 – 511

RxPDO1 0100 200hex + Node-ID 201hex – 27Fhex 513 – 639

TxPDO2 0101 280hex + Node-ID 281hex – 2FFhex 641 –767





RxPDO4 1010 500hex + Node-ID 501hex – 5FFhex 1281 – 1407

TxSDO1 1011 580hex + Node-ID 581hex – 59Fhex 1409 – 1439

RxSDO1 1100 600hex + Node-ID 601hex – 61Fhex 1537 – 1567

TxSDO2 1011 5A0hex + Node-ID 5A1hex – 5BFhex 1441 – 1471


TxSDO3 1011 5C0hex + Node-ID 5C1hex – 5DFhex 1473 – 1503


TxSDO4 1011 5E0hex + Node-ID 5E1hex – 5FFhex 1505 – 1535


ERROR CONTROL 1110 700hex + Node-ID 701hex – 77Fhex 1793 – 1919

ID 4 30


6.2In sassDynFor(DBnetoptGe••••

DeaDeavaluthisthu

ActIf aCOchaComIf thvoltA00checommeprin

cond SDO channel and connect less than 64 us:as been started with bus address 1, only SDO O1 has COB-ID 601hex and TxSDO1 has COB-ID

eters, change d Server SDO parameter / COB-ID Client->Server to d the parameter 1201/2 2nd Server SDO parameter alue 800005C1hex. T state "Reset Communication" and a subsequent perational", the Rx- and the Tx direction of the SDO COB-ID is defined as 641hex for RxSDO and 5C1hex

SDO channel is immediately active after the next

ed as standard by another subscriber with the Node nnel 1, none of the subscribers may contain a Node 5.


nual CANopen

.1.2 Dynamic Distributionpecial application cases, it may be necessary to deviate from the default ignment of the COB-ID for certain communication objects and use the amic Distribution service. this procedure, the COB-IDs are dynamically distributed by a distributor T) that provides a process map of all bus subscribers logged into the

work at any time. The procedure offers various possibilities for the imization of a complex CAN network with different subscribers and tasks. nerally the following objects can be changed:PDO 1 – 4 (both transmission directions)SDO 2 – 4 (both transmission directions)SYNCEMERGENCY

ctivate Predefined Connection Setctivate the Predefined Connection Set mechanism by changing the default es for the function codes in the respective communication parameters. In

way, you suppress the addition of the Node ID to the function codes and s connect the formation of the resulting COB-ID.

ivate Dynamic Distribution drive controller is in pre-operational mode, the controller can overwrite the B-ID. To then activate the new COB-ID, the PDO must be reinitialized by a nge in the NMT state "Start" and SDO by one in the NMT state "Reset munication".

e changes should also remain effective after shutdown of the supply age, you have to save them in the respective drive controllers, i.e. set [0] Start to 1: active (= save values). At the next start, the drive controller cks whether the values are set to the default in the associated munication parameters. If this is the case, the Predefined Connection Set

chanism is effective. If no standard values are determined, the DBT ciple applies.

ExampleYou want to activate the sesubscribers via the CAN bAfter the drive controller hchannel 1 is active, RxSD581hex.Via the configuration paramIndex/Subindex 1201/1 2n

the value 80000641hex an/ COB-ID Server-> to the vWhen changing to the NMchange to the state "Pre-ochannel are activated. Thefor TxSDO. By saving the values, this restart.To prevent the IDs being usID 65 (41hex) for SDO chaID larger than or equal to 6

ID 4 31


6.Thetran

•

•

•

•

•

•

•

BrosimSDbe

ata Object - PDOerally transfer fast cyclic data such as target acceleration specifications and are generally used ime. They also enable simultaneous access to

hich communication elements are sent and an be freely selected.igned as standard by the Predefined Connection

o objects are addressed but content is directly d data content is saved in the object directory of

ngth of 8 byte.They are generally transmitted via so-els (PDO channels) with a high priority. the priority of PDO messages is defined via the ishes - as viewed by the respective bus subscriber (= RxPDO) and Transmit-PDOs (= TxPDO).he communication is in the NMT-state "Operational".


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3 Communication objects following communication objects are of significant importance for the data sfer as part of CANopen:

Service Data Objects (SDO) ... allow access to the object directory and thus enable a device configuration.

Process Data Objects (PDO) ... transfer real time data such as reference/actual values, control commands or status information in an event-oriented, time-oriented or cyclic manner on request (RTR).

Network Management Objects (NMT) ... control the state machines of the bus subscriber and monitor them.

Synchronization Objects (SYNC)... as a rule achieve a temporal resolution. Messages can – with regard to a SYNC object – be received or sent.

Time Stamp Objects (TIME STAMP) ... are used to transfer the current time (local time, no defined time zone). The CA6 communication module does not support this object.

Emergency Objects (EMCY)... are triggered for device-internal errors and sent twice, i.e. when the error concerned occurs and is absent. The messages contain the cause of error.

Monitoring objects (ERROR CONTROL)... check the CAN network. NODE and LIFE GUARDING messages are amongst other things included with the monitoring objects.

adcast objects include NMT, SYNC and TIME STAMP that are sent ultaneously by the controller to all subscribers. O, PDO, EMCY and ERROR CONTROL are Peer-to-Peer objects and can exchanged in both directions.

6.3.1 Process DProcess Data Objects genpositions, travel speeds orfor data exchange in real tseveral drive parameters.Wreceived in which PDOs cHowever these are preassSet.For a PDO transmission, ntransmitted. The associateeach bus subscriber.

PDOs have a maximum lecalled process data channThe assignment as well asCOB-ID.CANopen distingu- between Receive-PDOs PDOs are only sent when t

ID 4 32


6.3Forobjtran(eleThemaEacto bcorThebe maele

6.3ThehowtrigPDcom

•

•

on Type defines the number of SYNCs before PDO tted. For example, a RxPDO can be accepted for

s are transferred synchronously to a SYNC object nal event has previously occurred.

are transmitted synchronously for a certain number

ission Requests) transmission type only when requested by other

hronous PDO transmission

AsynchronousPDO transmission


nual CANopen

.1.1 PDO mapping a PDO mapping, the communication parameters are mapped from the ect directory of a CAN bus subscriber on PDOs and associated smission channels. According to this, which communication objects ments) are transmitted via a PDO channel are defined. CA6 communication module allows the simultaneous operation of a

ximum of four independent PDO channels for each transmission direction. h of these PDO channels includes a PDO with a maximum of six elements e transmitted in a defined order. The assignment of the associated COB-ID responds to the principle "Predefined Connection Sets". STOBER drive controllers support a flexible assignment of the elements to

transmitted to the individual PDO. If you reconfigure the predefined PDO pping according to your requirements, note that the entire length of the ments to be transmitted may not exceed 8 byte per channel.

.1.2 Transmission type Transmission Type designates the PDO transmission type and specifies the transmission of a PDO message – with regard to a SYNC object – is

gered or how received PDO messages are treated. Os can generally be transmitted as five different types whereby binations are partly possible.

AsynchronousAsynchronous PDO messages are not related to SYNC objects, i.e. they are not transmitted synchronously to a SYNC object. A RxPDO is applied immediately after its receipt, in the same way a TxPDO is sent immediately after its triggering (by an Event Timer or a Send Request).

SynchronousSynchronous PDO messages are not handled with temporal references to SYNC objects, i.e. periodically or synchronously to a SYNC object. A

configured Transmissimessages are transmievery fifth SYNC.

• AcyclicAcyclic PDO messagebut only when an inter

• CyclicCyclic PDO messagesof SYNC objects.

• RTR (Remote TransmPDOs are sent for thissubscribers.

Synchronous and async

SynchronousPDO transmission

ID 4 33


Syn

Thein ttran

e defines the minimum time that must be waited l PDO messages in a channel. It must be defined el.

re interval when a bus subscriber sends a TxPDO

lies for asynchronous Transmission Types. A ts for each TxPDO channel. The timer is deactivated zero.

ata Object - SDOsed to transmit data that is not time-critical and guration of each bus subscriber.SDOs directly bject list of a subscriber and are thus used for the directory entries. A SDO transmission always sages: a task with a RxSDO message. It selects a

an index and subindex. The object directory of the ist of all accessible parameters that are searched for to the task sent. The drive controller then confirms

O message.1

24


nual CANopen

chronous-cyclic and synchronous-acyclic PDO transmission

respective PDO transmission type is defined by the entry of a certain value he relevant Transmission Type parameters. Each channel and each smission direction has its own transmission type parameter.

6.3.1.3 Inhibit TimeThe transmission delay timwhen sending two identicaseparately for each chann

6.3.1.4 Event TimeThe Event Time defines theven if no data exists.. The Event Timer only appseparate Event Timer exiswhen the value entered is

6.3.2 Service DService data objects are ugenerally enable the confiaccess the entries in the oparameterization of objectconsist of at least two mesAs a rule a controller startscommunication object via drive controller includes a land processed according with a corresponding TxSD

Synchronous-cyclicPDO transmission

Asynchronous-cyclicPDO transmission

Value Cycl.

Acycl. Synch. Asynch.

0 – Yes Yes –RxPDOs are accepted with the next SYNC, TxPDOs are sent with the next SYNC

– 240 Yes – Yes –

Value = number of SYNCs before a RxPDO is received and accepted and a TxPDO is sent

1 – 253 Reserved

254 – – – YesRxPDOs are accepted when received and a TxPDO is then sent

255 – – – Yes Reserved

ID 4 34


ThetranTheNodThepardefThechaThecha

In pbet

•

•

ransfer, the data is transferred according to the Intel format

allest value byte is saved at the start address and Endian" or Motorola format where the highest value

d Request e controller initiates the write process of a by an "Initiate Domain Download Request". The

ed by an "Initiate Domain Download Response" of

A


nual CANopen

6th generation of drive controllers offers four independent channels for the smission of Service Data Objects. first SDO channel is always active. The associated COB-ID "600hex + e ID" and "580hex + Node ID" cannot be changed. COB-ID of the remaining channels can be reselected by appropriate

ameterization or the channels can be deactivated. They are deactivated by ault. drive controller enables the operation of up to four axes – exactly one SDO nnel can be used for each axis. axes are not addressed via the index and subindex but for each SDO nnel via parameter A11.

rinciple any length can be accepted via SDO data. CANopen distinguishes ween two SDO transmission types here:

Expedited Transfer ... for the data transfer of up to 4 bytes in a single message.

Segmented Transfer ... for the data transfer of over 4 bytes where it is distributed on several messages, i.e. segmented.

6.3.2.1 Expedited TFor an Expedited Transfer("Little-Endian"), i.e. the smfirst transmitted (see "Big-component is first sent).

Initiate Domain DownloaWith this message type, thcommunication parameterrequest is positively confirmthe drive controller.

Devicedisplay

11.0 A11.1 A11.2 A11.3 A11.4

SDOchannel 1

SDOchannel 2

SDOchannel 3

SDOchannel 4

Parameterize axis 1

Parameterize axis 2

Parameterize axis 3

Parameterize axis 4

Preselection via parameterfor editing axisA11

ID 4 35


InitForcomreqdriv

AbWitreq

6.3TheinititranSeg

rotocol

pecifier 1 = Initiate download requestspecifier 3 = Initiate download response

Number of bytes in "Data" that do not contain useful data. If e = 0 , s= 1, then n = valid, otherwise n = 0• 0 = Normal transfer• 1 = Expedited transfer• 0 = is not displayed• 1 = is displayed= Index + Subindex• If e= 0, s = 0, then

d = reserved• If e= 0, s = 1, then

d = number of bytes to be transferred• If e= 1, s = 1, then

d = 4-nx = 0


nual CANopen

iate Domain Upload Request this message type, the controller initiates the read process of a munication parameter by an "Initiate Domain Upload Request". The

uest is positively confirmed by an "Initiate Domain Upload Response" of the e controller.

ort Domain Transferh this message type, the drive controller answers a download or upload uest with an error.

.2.2 Segmented Transfer data is split into segments for a Segmented Transfer. In a so-called initial ate message ("Initiate SDO Download"), the total number of bytes to be sferred is accepted; the remaining segments then follow ("Download SDO ment") each with 7 bytes.

Initiate SDO Download P

ccs Client command sscs Server command n Number of byte

e Transfer type

s Size indicator

m Multiplexord Data

x Unused

ID 4 36


Do ocol

ccsscsn

sedac

t

x

pecifier 2 = Initiate upload requestspecifier 2 = Initiate upload response

Number of bytes in "Data" that do not contain useful data. If e = 0 , s= 1, then n = valid, otherwise n = 0• 0 = Normal transfer• 1 = Expedited transfer• 0 = is not displayed• 1 = is displayed= Index + Subindex• If e= 0, s = 0, then

d = reserved• If e= 0, s = 1, then

d = number of bytes to be transferred• If e= 1, s = 1, then

d = 4-nx = 0


nual CANopen

wnload SDO Segment Protocol Initiate SDO Upload Prot

Client command specifier 0 = Download segment requestServer command specifier 1 = Download segment responseNumber of byte Number of bytes in "Segment data" that

do not contain useful data.n = 0: No information about unused data

g-ta

Segment data 7 bytes useful data

Continue • 0 = Further segments follow• 1 = Last segment

Toggle Bit t = 0 for segment 1; must change for each segment.Identical values for request and response.

Unused x = 0

ccs Client command sscs Server command n Number of byte

e Transfer type

s Size indicator

m Multiplexord Data

x Unused

ID 4 37


Up6 bytes of data; content 01, 02, 03 ... 10hex

ytes of data; content 01, 02, 03 ... 10hex

ccsscsn

sedac

t

x

x 10 00 00 00 (ccs=1, e=0=normal, s=1 -> data=no of bytes)

x 00 00 00 00 02 03 04 05 06 07 (ccs=0, t=0, n=0, c=0 -> all

data bytes are used) 00 00 00 00 00 00 09 0A 0B 0C 0D 0E (ccs=0, t=1, n=0, c=0 -> all

data bytes are used) 00 00 00 00 00 00 10 00 00 00 00 00 (ccs=0, t=0, n=5, c=1 -> 5 data

bytes are unused) 00 00 00 00 00 00

x 00 00 00 00 (ccs=2, rest=0)x 10 00 00 00 (scs=2, x=0, e=0, s=1 -> data

contains no of bytes to be uploaded)

00 00 00 00 00 00 (ccs=3, t=0) 02 03 04 05 06 07 (scs=0, t=0, n=0, c=0 -> all

data bytes are used) 00 00 00 00 00 00 (ccs=3, t=1) 09 0A 0B 0C 0D 0E (scs=0, t=1, n=0, c=0 -> all

data bytes are used) 00 00 00 00 00 00 (ccs=3, t=0) 10 00 00 00 00 00 (scs=0, t=0, n=5, c=1 -> 5 data

bytes are unused)


nual CANopen

load SDO Segment Protocol Examples Segment download with 1

Segment upload with 16 b

Client command specifier 3 = Upload segment requestServer command specifier 0 = Upload segment responseNumber of byte Number of bytes in "Segment data" that

do not contain useful data.n = 0: No information about unused data

g-ta

Segment data 7 bytes useful data

Continue • 0 = Further segments follow• 1 = Last segment

Toggle Bit t = 0 for segment 1; must change for each segment.Identical values for request and response.

Unused x = 0

Client: IDDReq: 21 idx

Server: IDDRes: 60 idxClient: DSegReq: 00 01

Server: DSegRes: 20 00Client: DSegReq: 10 08

Server: DSegRes: 30 00Client: DSegReq: 0b 0F

Server: DSegRes: 20 00

Client: IDUReq: 40 idxServer: IDURes: 41 idx

Client: USegReq: 60 00Server: USegRes: 00 01

Client: USegReq: 70 00Server: USegRes: 10 08

Client: USegReq: 60 00Server: USegRes: 0b 0F

ID 4 38


6.3If thExperro

Er(h05

05

05

05

06

06

06

06

06

06

06

06

06

06

06

06

06

06

06

06

value is less than minimum value

ror

ot be transmitted or saved in the application

ot be transmitted or saved due to local controller

ot be transmitted or saved due to device state

eneration of the object directory failed or no object vailable


nual CANopen

.2.3 SDO – Error codese response of an SDO service is negative – regardless of whether it is an edited or Segmented Transfer, the drive controller outputs in the case of an r via the "Abort SDO Transfer Protocol" one of the following error codes.

ror code ex)

Meaning

03 0000 Toggle bit unchanged

04 0000 SDO protocol – Timeout expired

04 0001 Invalid command received

04 0005 Memory insufficient

01 0000 Object access is not supported

01 0001 Attempt to read a "Write only parameter"

01 0002 Attempt to write a "Read only parameter"

02 0000 Object is not included in the object directory

04 0041 Object cannot be mapped to PDO

04 0042 Number or length of the objects being transmitted exceeds the PDO length

04 0043 General parameter incompatibility

04 0047 General internal device incompatibility

06 0000 Access denied – Hardware error

07 0010 Incorrect data type or incorrect length of the service parameter

07 0012 Wrong data type or length of the service parameter is too large

07 0013 Wrong data type or length of the service parameter is too small

09 0011 Subindex does not exist

09 0030 Invalid parameter value (only for read only)

09 0031 Parameter value too large

09 0032 Parameter value too small

0609 0036 Maximum

0800 0000 General er

0800 0020 Data cann

0800 0021 Data cann

0800 0022 Data cann

0800 0023 Dynamic gdirectory a

Error code (hex)

Meaning

ID 4 39


6.3NetandEacMaID.

s

onfiguration of the drive controller starts, the saved alues are loaded.

ommunication parameters are set to start values.

AN bus activation is initialized.

rive controller is ready for parameterization for the reparation of actual operation.

AN bus is active, all associated services are in peration.

lmost all communication activities are stopped.

CAN messageply voltage. –

independently after rnal action.

–

T_Start_Remote_.

ID = 0, Byte 1 = 1, Byte 2 = 0

T_Enter_Pre_ceived.

ID = 0, Byte 1 = 128, Byte 2 = 0

T_Stop_Remote_.

ID = 0, Byte 1 = 2, Byte 2 = 0

T_Reset_Node ID = 0, Byte 1 = 129, Byte 2 = 0

T_Reset_n received.

ID = 0,Byte 1 = 130, Byte 2 = 0


nual CANopen

.3 Network Management Object - NMTwork management objects are responsible for initialization, configuration error handling in the CAN network. h subscriber of a CANopen network has a NMT state machine (Network

nagement State Machine) that can be in different states as well as the Node

Possible states

Possible state transition

StateReset application C

v

Reset communication C

Initializing C

Pre-operational dp

Operational Co

Stopped A

No.(1) Switch on sup

(2a), (2b), (2c)

Switch forwardending the inte

(3a), (3b) Command NMNode received

(4a), (4b) Command NMOperational re

(5a), (5b) Command NMNode received

(6) Command NMreceived.

(7) Command NMCommunicatio

ID 4 40


Howin t

Thetheis dTo

ActTheNM

trol Objects - ERROR MT states of the individual bus subscribers, R CONTROL services that are based on the

essages: Node/Life Guarding and Heartbeat.uard Time and Heartbeat is not permitted, because ve the same COB-ID. able one of them. ERROR CONTROL messages rror_Control" with the associated Node ID.

uarding used as the mutual communication control of the ller. ernal operating state (operational, pre-operational) ected via the CAN bus by Remote Request. For a

te Frame is sent that only contains the ID of the data.e responded to by the respective drive controllers Frames. ecks whether its own state matches that of the drive e controllers detect whether the controller is active:

end any Remote Frames within a certain time, the communication error and initiates the

r only Heartbeat can be enabled.

e time interval within which the controller sends e controller.

CO0

Ob

SD

PD

NM

SY

EM


nual CANopen

the NMT command is made up of the byte specified in the table is shown he following example using command "NMT_Start_Remote_Node":

COB-ID identifies the NMT command. In the "Command specifier" byte, respective command is entered and which bus subscribers are addressed efined in the "Node" byte. If the value is 0, all subscribers are addressed. address an individual subscriber, its Node ID must be entered.

ivity of the communication objects following table shows which communication objects are active in which T state.

6.3.4 Error ConTo be able to monitor the NCANopen offers two ERROperiodic transmission of mThe simultaneous use of Gthe two control services haYou can disable both or enhave the identifier "NMT_E

6.3.4.1 Node/Life GThe Node/Life Guarding iscontroller and drive controA controller queries the intof all drive controllers connRemote Request, a Remorequired message and no These Remote-Frames arusing corresponding Data The controller therefore chcontroller. In return the drivif the controller does not sdrive controller assumes acorresponding faults.Only Node/Life Guarding o

Guard TimeThe Guard Time defines thRemote Frames to the driv

B-ID Command specifier Node1 0

ject Reset App., Reset Com.,Initializing

Pre-operational

Operational Stopped

O – Active Active –

O – – Active –

T – Active Active Active

NC – Active Active –

ERGENCY – Active Active Active

ID 4 41


LifeTheFrasta

Life... itimresIf eaut

Pro

time) the master as a controller sends the query mit telegram (RTR) to each drive controller d. query (Indication) and sends 1 byte of data as the byte has a toggle function. It must change its state ontain the state of the NMT state machine. telegram (Confirmation) and can checkthe drive

to respond or its response is faulty this triggers the nt on the controller. ller monitors the regular queries of the controller. If is time period, the drive controller triggers the event


nual CANopen

Time Factor Life Time Factor specifies how high the number of remaining Remote mes of the controller must be before the drive controllers change to the fault te.

Times the product of the Life Time Factor and Guard Time, i.e. the monitoring e within which the controller sends Remote Frames and the drive controller ponds to each of them with a Data Frame. ither the Life Time Factor or the Guard Time is set to zero, the Life Time is omatically deactivated.

cedure Node/Life Guarding

At regular intervals (Guard(Request) as remote trans(NMTslave) to be monitoreEach slave recognizes theresponse. Bit no. 7 of this each time. Bit nos. 0 to 6 cThe controller receives thecontroller.If the drive controller fails event Node Guarding EveIn reverse, the drive controthey are not received for thLife Guarding Event.

ID 4 42


6.3Theadvthe

Pro

To indownTheconTimTheteleEve

ization Object - SYNC

he high priority SYNC messages that are received essages are used for the synchronization of all bus eral inputs to be read in parallel or axes to be . y do not contain any data.

y Objects - EMCYe device errors, i.e. EMCY message contains a code ror - according to communication profile CiA 301.If ctive, the state of the bus subscriber is permanently hanges to the "Fault" or "Fault response active" is sent once with one of the error codes described s this state, an additional EMCY message is t "No error".As a result of the process described, the

or the fault by the controller is omitted as it is each fault event with the cause and its elimination.

e "Temperature Motor TMS (E43)" fault message

EMCY error message.

nchronization of the CANopen communication is e controller for simultaneous use of the CAN and .


nual CANopen

.4.2 Heartbeat Heartbeat control service is an alternative to the Node/Life Guarding. The antage of this service is that no remote frames must be sent. This reduces bus load of the CAN network.

cedure Heartbeat

be able to detect communication failures, a CAN bus subscriber ependently transmits cyclic messages (heartbeat protocols) that indicate its operating state. drive controller therefore acts as a producer and the controller as a sumer. During transmission, a defined time interval (Producer Heartbeat e) must be maintained within which a message must be received. Consumer expects regular telegrams from the Producer. When the grams are not received within the set time, it triggers the event Heartbeat nt.

6.3.5 Synchron

A SYNC object transmits tby all subscribers. SYNC msubscribers and cause sevsynchronized, for exampleSYNC messages generall

6.3.6 EmergencEmergency objects indicatthat clearly identifies an erthe emergency service is aobserved. If a subscriber cstate, the EMCY messagebelow.If a subscriber leavetransmitted with the contencyclic device state query fautomatically informed of

EMCY objects – StructurThe following example of ashows the structure of an

InformationNote that no sypossible with thIGB Motion bus

ID 4 43


If thme

Theas speconthe

DeaIf this ddat

codings

Error register hex: designation

E82 Event typedez: designation

0: No_Err 30: Inactive

H2: Current 31: Short/ground

2: Current 32: Short/ground internal

2: Current 33: Overcurrent

1: Generic 34: Hardware fault

ET 1: Generic 35: Watchdog

4: Voltage 36: Overvoltage

1: Generic 37: Motor encoder

8: Tempera 38: Temperature – device sensor

8: Tempera 39: Temperaturedevice i2t

1: Generic 40: Invalid data

8: Tempera 41: Temperature – motor sensor

8: Tempera 42: Temperature –breaking resistor i2T


nual CANopen

e fault is eliminated, this state is acknowledged with a corresponding ssage.

codings of the "Error Code" message in the first and second byte as well the "Error Register" message in the third byte correspond to the cifications of the CiA/DS-301 and CiA DSP402 profiles.The fourth byte tains the value of the STOBER parameter E82 Event type and the fifth byte value of the parameter E43 Event cause.

ctivate EMCY servicee A83 Bus address parameter contains the value 0, sending EMCY objects eactivated as Identifier 128 could disrupt the synchronization of the process a (SYNC object, also Identifier 128).

EMCY objects – Possible

Error code hex: designation0: NO_ERROR

2110: SHORT_CIRCUIT_EART

2230: INTERN_SHORT_EARTH

2310: CONT_OVERCURRENT

5200: DEVICE_HW_CONTROL

6010: SOFTWARE_RES

3110: MAINS_OVERVOLTAGE

7303: RESOLVER_1_FAULT

4210: TEMPERATUR_DEVICE

4280: TEMPERATUR_DEV_I2T

6320: PARAMETER_ERROR

4310: TEMPERATUR_DRIVE

7110: BRAKE_CHOPPER

ID 4 44


FFSP

43TE

31MA

83EX

10GE

86POCO

75CO

85PO

86FO

52DE

84VE

60SO

73RE

Erhe

8: Tempera 59: Temperature – device i2t fault

_1: Generic 60 – 67: Application

event 1 – 7

_1: Generic 68: External fault 2

1: Generic 69: Motor connection

1: Generic 70: Parameter-consistency

1: Generic 72: Brake test – timeout

1: Generic 73: Breake test – timeout Ax2

1: Generic 74: Brake test – timeout Ax3

1: Generic 75: Brake test – timeout Ax4

1: Generic 76: Position encoder

1: Generic 77: Master encoder

1: Generic 78: Cycl. reference values




nual CANopen

09: MANUFACTORER_EC_09

1: Generic 44: External fault

80: MPERATUR_DRIVE_I2T

8: Tempera 45: Overtemperature – motor i2t

20: INS_UNDERVOLTAGE

4: Voltage 46: Undervoltage

11: CESS_TORQUE

11: Generic 47: M-Max Limit

00: NERIC_ERROR

1: Generic 48: Release monitoring

00: SITIONING_NTROLLER

1: Generic 51: VM limit switch

00: MMUNICATION

10: Communi 52: Communication

00: SITION_CONTROL

1: Generic 53: Limit switch

11: LLOWING_ERROR

1: Generic 54: Following error

00: VICE_HW_CONTROL

1: Generic 55: Option board

00: LO_SPEED_CONTROL

1: Generic 56: Overspeed

10: FTWARE_RESET

1: Generic 57: Second activation

04: SOLVER_2_FAULT

1: Generic 58: Encoder simulation

ror code x: designation



4280: TEMPERATUR_DEV_I2T

FF00 – FF07: MANUFACTURER_SPEC00 – 07

FF0A: MANUFACTURER_SPEC0A

7120: MOTOR

6320: PARAMETER_ERROR

7110: BRAKE_CHOPPER

7110: BRAKE_CHOPPER

7110: BRAKE_CHOPPER

7110: BRAKE_CHOPPER



8700: SYNC_CONTROLLER

Error code hex: designation

ID 4 45


73RE

10GE

71MO

10GE

Erhe


nual CANopen

04: SOLVER_2_FAULT

1: Generic 79: Motor – position monitor

00: NERIC_ERROR

1: Generic 80: Impermissible action

20: TOR

1: Generic 81: Motor – assignment

00: NERIC_ERROR

1: Generic x: All remaining

ror code x: designation



ID 4 46

Object directory - References7Ma

77.TheindCAto t

Ind(h10

10

10

10

10

10

10

10

10

10

nufacturer ware version

E52[3]

rd time A203 100C * 100D = Guard time in ms time factor A204

re parametersported, highest -index supported

— 1

re parametersported, save all ameters

A00[0] ASCII "save" initiates save

B-ID emergency A207 Default: 80hex + Node-ID

ibit time ergency

A208 Time in 100 µs

ducer heartbeat A210 Time in 1 ms

ntity object, hest sub-index ported

— 4

ntity object: dor ID

— B9 = No. for STOBER

ntity object: duct code

— Nominal output in 0.1 kW

ntity object: ision number

— Software build number

ntity object: ial number

E52

e ParameterSTOBER

Comment


nual CANopen

Object directory - References1 Communication objects - CiA DS 301 following table contains the communication objects of the object directory

ex range 1000 – 1FFF (hex), communication profile (CiA DS 301 V4.02 – Nopen application layer and communication profile) as well as its mapping he corresponding STOBER-specific parameters.

ex ex)

Subindex(hex)

Name ParameterSTOBER

Comment

00 0 Device type 00020192

01 0 Error register E82

02 0 Manufacturer status register

E48 0 – 7

03 0 Predefined error field, highest sub-index supported

1

03 1hex - Ahex

Predefined error field, standard error field

05 0hex COB-ID SYNC-message

A200 1 – 2047

06 0hex Communication cycle period

A201 0 – 32 000 000

07 0hex Synchronous window length

A202

08 0 Manufacturer device name

E50

09 0hex Manufacturer hardware version

E52[1]

100A 0 Masoft

100C 0 Gua

100D 0 Life

1010 0 Stosupsub

1010 1 Stosuppar

1014 0 CO

1015 0 Inhem

1017 0 Protime

1018 0 IdeHigsup

1018 1 IdeVen

1018 2 IdePro

1018 3 IdeRev

1018 4 IdeSer

Index (hex)

Subindex(hex)

Nam

ID 4 47


12

12

12

12

12

12

12

12

12

Ind(h

server SDO ameter, COB-ID ver -> Client (tx)

A219[1] 5C0hex + Node-ID

server SDO ameter, Node-ID nt

A219[2] 0

server SDO ameter, highest -index supported

— 2

server SDO ameter, COB-ID nt -> Server (rx)

A220[0] 660hex + Node-ID

server SDO ameter, COB-ID ver -> Client (tx)

A220[1] 5E0hex + Node-ID

server SDO ameter, Node-ID nt

A220[2] 0

receive PDO ameter, highest -index supported

— 2

receive PDO ameter, COB-ID d by PDO


receive PDO ameter, smission type

A221[1] 1 - 240, 254

e ParameterSTOBER

Comment


nual CANopen

00 0 1st server SDO parameter, highest sub-index supported

— 2

00 1 1st server SDO parameter, COB-ID Client -> Server (rx)

— 600hex + Node-ID

00 2 1st server SDO parameter, COB-ID Server -> Client (tx)

— 580hex + Node-ID

01 0 2nd server SDO parameter, Highest sub-index supported

— 2

01 1 2nd server SDO parameter, COB-ID Client -> Server (rx)


01 2 2nd server SDO parameter, COB-ID Server -> Client (tx)

A218[1] 5A0hex + Node-ID

01 3 2nd server SDO parameter, Node-ID Client

A218[2] 0

02 0 3rd server SDO parameter, highest sub-index supported

— 2

02 1 3rd server SDO parameter, COB-ID Client -> Server (rx)


ex ex)

Subindex(hex)


Comment

1202 2 3rd parSer

1202 3 3rd parClie

1203 0 4th parsub

1203 1 4th parClie

1203 2 4th parSer

1203 3 4th parClie

1400 0 1st parsub

1400 1 1st paruse

1400 2 1st partran

Index (hex)

Subindex(hex)

Nam

ID 4 48


14

14

14

14

14

14

14

14

14

Ind(h

receive PDO pping, highest -index supported

— 6

receive PDO pping, mapping ct

A225[0] - A225[5]


—


A226[0] - A226[5]


— 6


A227[0] - A227[5]


— 6


A228[0] - A228[5]

transmit PDO ameter, highest -index supported

— 5

e ParameterSTOBER

Comment


nual CANopen

01 0 2nd receive PDO parameter, COB-ID used by PDO

2

01 1 2nd receive PDO parameter, COB-ID used by PDO


01 2 2nd receive PDO parameter, transmission type

A222[1] 1 - 240, 254

02 0 3rd receive PDO parameter, highest sub-index supported

— 2

02 1 3rd receive PDO parameter, COB-ID used by PDO


02 2 3rd receive PDO parameter, transmission type

A223[1] 1 - 240, 254

03 0 4th receive PDO parameter, highest sub-index supported

— 2

03 1 4th receive PDO parameter, COB-ID used by PDO


03 2 4th receive PDO parameter, transmission type

A224[1] 1 - 240, 254

ex ex)

Subindex(hex)


Comment

1600 0 1st masub

1600 1 - 6 1st maobje

1601 0 2nd

masub

1601 1 - 6 2nd

maobje

1602 0 3rd masub

1602 1 - 6 3rd maobje

1603 0 4th masub

1603 1 - 6 4th maobje

1800 0 1st parsub

Index (hex)

Subindex(hex)

Nam

ID 4 49


18

18

18

18

18

18

18

18

18

Ind(h


— 5

transmit PDO ameter, COB-ID d by PDO


transmit PDO ameter, smission type

A231[1] 1 - 240, 254

transmit PDO ameter, inhibit

A231[2] Time in n * 100 µs

transmit PDO ameter, event r

A231[3] Time in ms


— 5

transmit PDO ameter, COB-ID d by PDO


transmit PDO ameter, smission type

A232[1] 1 - 240, 254

transmit PDO ameter, inhibit

A232[2] Time in n * 100 µs

e ParameterSTOBER

Comment


nual CANopen

00 1 1st transmit PDO parameter, COB-ID used by PDO


00 2 1st transmit PDO parameter, transmission type

A229[1] 1 - 240, 254

00 3 1st transmit PDO parameter, inhibit time

A229[2] Time in n * 100 µs

00 5 1st transmit PDO parameter, event timer

A229[3] Time in ms

01 0 2nd transmit PDO parameter, highest sub-index supported

— 5

01 1 2nd transmit PDO parameter, COB-ID used by PDO


01 2 2nd transmit PDO parameter, transmission type

A230[1] 1 - 240, 254

01 3 2nd transmit PDO parameter, inhibit time

A230[2] Time in n * 100 µs

01 5 2nd transmit PDO parameter, event timer

A230[3] Time in ms

ex ex)

Subindex(hex)


Comment

1802 0 3rd parsub

1802 1 3rd paruse

1802 2 3rd partran

1802 3 3rd partime

1802 5 3rd partime

1803 0 4th parsub

1803 1 4th paruse

1803 2 4th partran

1803 3 4th partime

Index (hex)

Subindex(hex)

Nam

ID 4 50


ation objects - CiA DS 402 s the communication objects of the object directory

(hex), parameters from standardized profiles (CiA trol device profile) as well as their mapping to the

pecific parameters. eters are used in the STOBER applications "CiA e", "CiA 402 Controller Based Mode HiRes Motion" Mode".

18

1A

1A

1A

1A

1A

1A

1A

1A

Ind(h

e Parameter STOBER

Comment

r code A514

trol word A515

tus word A516

ck stop option e

A536

lt reaction option e

A540

des of operation A541

des of operation lay

A542

ition actual value A545

lowing error dow

A546

lowing error time A547

ocity actual value A553

get torque A558

x torque A559


nual CANopen

7.2 CommunicThe following table containindex range 6000 – 67FF 402 Drives and motion concorresponding STOBER-sThe communication param402 Controller Based Modand "CiA 402 Drive Based

03 5 4th transmit PDO parameter, event timer

A232[3] Time in ms

00 0 1st transmit PDO mapping, highest sub-index supported

— 6

00 1 - 6 1st transmit PDO mapping, mapping object

A233[0] - A233[5]

01 0 2nd transmit PDO mapping, highest sub-index supported

— 6

01 1 - 6 2nd transmit PDO mapping, mapping object

A234[0] - A234[5]

02 0 3rd transmit PDO mapping, Highest sub-index supported

— 6

02 1 - 6 3rd transmit PDO mapping, mapping object

A235[0] A235[5]

03 0 4th transmit PDO mapping, highest sub-index supported

— 6

03 1 - 6 4th transmit PDO mapping, mapping object

A236[0] - A236[5]

ex ex)

Subindex(hex)


Comment

Index(hex)

Subindex(hex)

Nam

603F 0 Erro

6040 0 Con

6041 0 Sta

605A 0 Quicod

605E 0 Faucod

6060 0 Mo

6061 0 Modisp

6064 0 Pos

6065 0 Folwin

6066 0 Folout

606C 0 Vel

6071 0 Tar

6072 0 Ma

ID 4 51


60

60

60

60

60

60

60

60

60

Ind(h

arity A571 Bit 7 position polarity is used for the reference and actual values of position, speed and torque/force

x profile velocity A572

ck stop eleration

A578

r ratio, Highest -index supported

– 2

r ratio, motor olutions

A584[0]

r ratio, shaft olutions

A584[1]

d constant, hest sub-index ported

– 2

d constant, feed A585[0]

d constant, shaft olutions

A585[1]

ing method A586

ing speeds, est sub-index ported

– 2

e Parameter STOBER

Comment


nual CANopen

77 0 Torque actual value A564

7A 0 Target position A567

7B 0 Position range limit, highest sub-index supported

– 2

7B 1 Position range limit, min. position range limit

A568[0] Not used

7B 2 Position range limit, max. position range limit

A568[1] Used as circular length

7C 0 Home offset A569

7D 0 Software position limit, highest sub-index supported

7D 1 Software position limit, min. position range limit

A570[0]

7D 2 Software position limit, max. position range limit

A570[1]

exex)

Subindex(hex)

Name Parameter STOBER

Comment

607E 0 Pol

607F 0 Ma

6085 0 Quidec

6091 0 Geasub

6091 1 Gearev

6091 2 Gearev

6092 0 FeeHigsup

6092 1 Fee

6092 2 Feerev

6098 0 Hom

6099 0 Homhighsup

Index(hex)

Subindex(hex)

Nam

ID 4 52


60

60

60

60

60

60

60

60

60

60

60

60

60

60

Ind(h

rpolation data ord, 2nd set-point

A601[1] Not used

rpolation time iod, highest sub-x supported

– 2

rpolation time iod, interpolation period value

A602[0]

rpolation time iod, interpolation index

A602[1]

rpolation data figuration, est sub-index ported

– 5

rpolation data figuration, x.buffer size

A603[0] Not used

rpolation data figuration, actual fer size

A603[1] Not used

rpolation data figuration, buffer anisation

A603[2] Not used

rpolation data figuration, buffer ition

A603[3] Not used

e Parameter STOBER

Comment


nual CANopen

99 1 Homing speeds, speed during search for switch

A587[0]

99 2 Homing speeds, speed during search for zero

A587[1]

9A 0 Homing acceleration A588

B1 0 Velocity offset A592

B2 0 Torque offset A593

B8 0 Touch probe function

A594

B9 0 Touch probe status A595

BA 0 Touch probe pos1 pos value

A596

BB 0 Touch probe pos1 neg value

A597

BC 0 Touch probe pos2 pos value

A598

BD 0 Touch probe pos2 neg value

A599

C0 0 Interpolation sub mode select

A600

C1 0 Interpolation data record, highest sub-index supported

– 2

C1 1 Interpolation data record, 1st set-point

A601[0] Not used

exex)

Subindex(hex)


Comment

60C1 2 Interec

60C2 0 Inteperinde

60C2 1 Intepertime

60C2 2 Intepertime

60C4 0 Inteconhighsup

60C4 1 Inteconma

60C4 2 Inteconbuf

60C4 3 Inteconorg

60C4 4 Inteconpos

Index(hex)

Subindex(hex)

Nam

ID 4 53


ation objects - STOBER-rameterss the communication objects of the object directory (hex), manufacturer-specific parameters as well as sponding STOBER-specific parameters.

60

60

60

60

60

60

60

60

60

60

60

65

Ind(h

STOBER parameter rangeA00 – A511

B00 – B511

C00 – C511

D00 – D511

E00 – E511

F00 – F511

G00 – G511

H00 – H511

I00 – I511

J00 – J511

K00 – K511

L00 – L511

M00 – M511

N00 – N511

O00 – O511

P00 – P511

Q00 – Q511

R00 – R511

S00 – S511

T00 – T511


nual CANopen

7.3 Communicspecific pa

The following table containindex range 2000 – 5FFF their mapping to the corre

C4 5 Interpolation data configuration, size of data record

A603[4] Not used

C5 0 Max. acceleration A604

C6 0 Max. deceleration A605

E3 0 Supported homing methods, highest sub-index supported

19

E3 1 - 13 Supported homing methods, 1st - 19th supported homing method

A619[0] - A619[19]

E4 0 Additional position actual value, highest sub-index supported

1

E4 1 Additional position actual value, 1st additional position actual value

A620

F4 0 Following error actual value

A632

FD 0 Digital inputs A636

FE 0 Digital outputs, highest sub-index supported

FE 1 Digital outputs, physical outputs

A637

02 0 Supported drive modes

exex)

Subindex(hex)


Comment

Index (hex)2000 – 21FF

2200 – 23FF

2400 – 25FF

2600 – 27FF

2800 – 29FF

2A00 – 2BFF

2C00 – 2DFF

2E00 – 2FFF

3000 – 31FF

3200 – 33FF

3400 – 35FF

3600 – 37FF

3800 – 39FF

3A00 – 3BFF

3C00 – 3DFF

3E00 – 3FFF

4000 – 41FF

4200 – 43FF

4400 – 45FF

4600 – 47FF

ID 4 54


To hexThealwpar

ExaYou

CalStaLinTheIndSub

48

4A

4C

4E

50

52

54

Ind


nual CANopen

calculate the index, the decimal line number of a parameter is added adecimal to the respective start index. subindex corresponds to the element number of the parameter that is ays 0 for normal parameters (only significant for array and record ameters).

mple want to reach parameter A154.2.

culationrt index of parameter group A: 2000hexe of the parameter: 154dez = 9Ahex index and subindex arise as follows:

ex: 2000hex + 9Ahex = 209Ahexindex: 2

00 – 49FF U00 – U511

00 – 4BFF V00 – V511

00 – 4DFF W00 – W511

00 – 4FFF X00 – X511

00 – 51FF Y00 – Y511

00 – 53FF Z00 – Z511

00 – 5FFF Reserved

ex (hex) STOBER parameter range

G

ID 4 55

Tefor

Glfor cou

SeGe

Seint

Singapore

Italy

Japan

le

2,

STOBER Singapore 50 Tagore Lane #05-06B Entrepreneur Centre Singapore 787494 Fon +65 65112912Fax +65 65112969 E-Mail: [email protected] www.stober.sg

STÖBER TRASMISSIONI S. r. l.Via Italo Calvino, 7 Palazzina D20017 Rho (MI)Fon +39 02 93909-570 Fax +39 02 93909-325E-Mail: [email protected]

STOBER JapanP.O. Box 113-002, 6 chome15-8, Hon-komagomeBunkyo-kuTokyoFon +81 3 5395-6788Fax +81 3 5395-6799 E-Mail: [email protected]

ST

lobal presence


chnical offices advice and marketing in Germany

obal presence advice and marketing in about 25 ntries

rvice network rmany

rvice network ernational

Austria

Switzerland

Great Britain

France

USA

China

STÖBER ANTRIEBSTECHNIKGmbHHauptstraße 41a4663 LaakirchenFon +43 7613 7600-0Fax +43 7613 7600-2525E-Mail: [email protected]

STÖBER SCHWEIZ AGRugghölzli 25453 RemetschwilFon +41 56 496 96 50 Fax +41 56 496 96 55E-Mail: [email protected]

STOBER DRIVES Ltd.Centrix House Upper Keys Business VillageKeys Park Road Hednesford, CannockSTAFFORDSHIRE WS12 2HAFon +44 1543 458 858Fax +44 1543 448 688E-Mail: [email protected]

STÖBER S.a.r.l.131, Chemin du Bac à TrailLes Portes du Rhône69300 Caluire et CuireFon +33 4 78989180 Fax +33 4 78985901E-Mail: [email protected]

STOBER DRIVES INC.1781 Downing DriveMaysville, KY 41056Fon +1 606 7595090 Fax +1 606 7595045E-Mail: [email protected]

STOBER CHINAGerman Centre BeijingUnit 2010, Landmark Tower8 North Dongsanhuan RoadChaoyang District100004 BeijingFon +86 10 65907391Fax +86 10 65907393 E-Mail: [email protected]

OBER subsidiaries

o. KG
STÖBER ANTRIEBSTECHNIK GmbH & C
Kieselbronner Str. 1275177 PFORZHEIMGERMANYTel. +49 7231 582-0Fax +49 7231 582-1000E-Mail: [email protected]

24h Service Hotline +49 180 5 786 323

Technische Änderungen vorbehaltenErrors and changes excepted

ID 442637.00

442637.00

manual - stÖber · manual canopen 3 communication module ca6 with the ca6 communication module,...

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