CANopen communication profile for servo amplifiers of the AX2000/2500 series

137 Pages·2007·1.62 MB·English

by  Reinhold Hess

CANopen communication profile
for servo amplifiers of the
AX2000/2500 series
FieldbusInterface
Edition07/2007
Keepthemanualasaproductcomponent
duringthelifespanoftheservoamplifier.
Passthemanualtofutureusers/owners
oftheservoamplifier.
Previous editions
Edition Comments
01/1999 Firstedition,validfromsoftwareversion1.57
03/2001 ExpandedObjectDictionary,validfromfirmwareversion4.20
08/2001 Minorcorrections,indexexpanded,objectdictionaryexpanded,validfromfirmwareversion4.80
09/2002 newdesign,TPDO34added,minorcorrections
07/2007 newdesign,expandedObjectDictionary,validfromfirmwareversion6.57
Technicalchangestoimprovetheperformanceoftheequipmentmaybemadewithoutpriornotice!
PrintedintheFederalRepublicofGermany
Allrightsreserved.Nopartofthisworkmaybereproducedinanyform(byprinting,photocopyingmicrofilmoranyothermethod)
orprocessed,copiedordistributedbyelectronicmeans,withoutthewrittenpermissionofBECKHOFF.
BECKHOFF 07/2007 Contents
Page
1 General
1.1 Aboutthismanual ....................................................................... 7
1.2 UseasdirectedoftheCANopeninterface..................................................... 7
1.3 Symbolsused........................................................................... 8
1.4 Abbreviationsused....................................................................... 8
1.5 BasicfeaturesimplementedbyCANopen..................................................... 9
1.6 ResponsetoBUSOFFcommunicationfaults................................................... 9
1.7 Systemrequirements..................................................................... 9
1.8 Transmissionrateandprocedure............................................................ 9
2 Installation / Setup
2.1 Assembly,Installation ................................................................... 10
2.1.1 Settingthestationaddressandtransmissionrate......................................... 10
2.2 CANopeninterface...................................................................... 11
2.3 CAN-buscable......................................................................... 11
2.4 GuidetoSetup......................................................................... 12
2.5 ImportantconfigurationparametersforCANbusoperation....................................... 13
3 CANopen communication profile
3.1 GeneraldescriptionofCAN............................................................... 15
3.2 ConstructionoftheCOBIdentifier.......................................................... 16
3.3 Definitionoftheuseddatatypes ........................................................... 16
3.3.1 Basicdatatypes................................................................... 17
3.3.1.1 UnsignedInteger............................................................... 17
3.3.1.2 SignedInteger................................................................. 17
3.3.2 Mixeddatatypes .................................................................. 17
3.3.3 Extendeddatatypes ............................................................... 18
3.3.3.1 OctetString................................................................... 18
3.3.3.2 VisibleString.................................................................. 18
3.4 CommunicationObjects.................................................................. 18
3.4.1 NetworkManagementObjects(NMT).................................................. 19
3.4.2 SynchronizationObject(SYNC)....................................................... 19
3.4.3 Time-StampObject(TIME) .......................................................... 19
3.4.4 EmergencyObject(EMCY) .......................................................... 19
3.4.4.1 ApplicationoftheEmergencyObject ............................................... 20
3.4.4.2 CompositionoftheEmergencyObject .............................................. 20
3.4.5 ServiceDataObjects(SDO) ......................................................... 21
3.4.5.1 CompositionoftheServiceDataObject............................................. 21
3.4.5.2 InitiateSDODownloadProtocol ................................................... 22
3.4.5.3 DownloadSDOSegmentProtocol ................................................. 22
3.4.5.4 InitiateSDOUploadProtocol ..................................................... 22
3.4.5.5 UploadSDOSegmentProtocol.................................................... 22
3.4.5.6 AbortSDOProtocol............................................................. 23
3.4.6 ProcessDataObject(PDO).......................................................... 23
3.4.6.1 Transmissionmodes............................................................ 24
3.4.6.2 Triggermodes................................................................. 25
3.4.7 Nodeguard....................................................................... 25
CANopen for AX2000/2500 3
Contents 07/2007 BECKHOFF
Page
4 CANopen Drive Profile
4.1 EmergencyMessages................................................................... 27
4.2 Generaldefinitions...................................................................... 29
4.2.1 GeneralObjects................................................................... 29
4.2.1.1 Object1000h:DeviceType(DS301)................................................ 29
4.2.1.2 Object1001h:Errorregister(DS301)............................................... 29
4.2.1.3 Object1002h:ManufacturerStatusRegister(DS301) .................................. 30
4.2.1.4 Object1003h:Pre-DefinedErrorField(DS301) ....................................... 31
4.2.1.5 Object1004h:NumberofsupportedPDOs(DS301).................................... 32
4.2.1.6 Object1005h:COB-IDoftheSYNCMessage(DS301)................................. 33
4.2.1.7 Object1006h:CommunicationCyclePeriod(DS301)................................... 33
4.2.1.8 Object1007h:Synchronouswindowlength(DS301) ................................... 34
4.2.1.9 Object1008h:ManufacturerDeviceName(DS301).................................... 34
4.2.1.10 Object100Ah:ManufacturerSoftwareVersion(DS301)................................. 34
4.2.1.11 Object100Bh:Node-ID(DS301)................................................... 35
4.2.1.12 Object100Ch:GuardTime(DS301)................................................ 35
4.2.1.13 Object100Dh:LifetimeFactor(DS301) ............................................. 35
4.2.1.14 Object100Eh:COB-IDNodeguarding(DS301) ....................................... 36
4.2.1.15 Object100Fh:NumberofthesupportedObjects(DS301) ............................... 36
4.2.1.16 Object1010h:StoreParameters(DS301)............................................ 37
4.2.1.17 Object1012h:COB-IDforTime-StampMessage(DS301)............................... 38
4.2.1.18 Object1013h:HighResolutionTime-Stamp(inpreparation)(DS301)...................... 38
4.2.1.19 Object1014h:COB-IDforEmergencyMessage(DS301) ............................... 38
4.2.1.20 Object1018h:IdentityObject(DS301).............................................. 39
4.3 PDOMapping.......................................................................... 40
4.3.1 Receive-PDOs(RPDO)............................................................. 41
4.3.1.1 DescriptionofpredefinedReceive-PDOs ............................................ 41
4.3.1.1.1 PDOcontrolword(1)(DS402) ................................................ 41
4.3.1.1.2 PDOReceiveASCIIChannel(21)............................................. 42
4.3.1.1.3 PDOCurrent/SpeedSetpoint(22)............................................. 42
4.3.1.1.4 PDOSetpoint2(32)........................................................ 42
4.3.1.1.5 PDOTrajectory(33)........................................................ 43
4.3.1.1.6 PDOMotionBlock(34)...................................................... 43
4.3.1.1.7 PDOStartMotionBlock(35) ................................................. 44
4.3.1.1.8 PDOFreeDefinition(37to40)................................................ 44
4.3.1.1.9 PDOmasterpositionforCANslaves(41) ....................................... 44
4.3.1.2 ObjectDecription............................................................... 45
4.3.1.2.1 Object1400-1403h:1st-4thReceive-PDOcommunicationparameter(DS301)...........45
4.3.1.2.2 Object1600-1603h:1st-4thReceive-PDOmappingparameter(DS301)................ 45
4.3.1.2.3 Object2600-2603h:1st-4thReceivePDOselect.................................. 45
4.3.1.2.4 Object2721h:ConfigurationofReceive-PDO33.................................. 45
4.3.2 Transmit-PDOs(TPDO)............................................................. 46
4.3.2.1 DescriptionofthepredefinedTransmit-PDOs......................................... 46
4.3.2.1.1 PDOStatusWord(1)(DS402)................................................ 46
4.3.2.1.2 PDOTransmitASCIIChannel(21) ............................................ 47
4.3.2.1.3 PDOActualPosition(22).................................................... 47
4.3.2.1.4 PDOEnhancedStatus(23) .................................................. 47
4.3.2.1.5 PDOActualPosition2(32) .................................................. 47
4.3.2.1.6 PDOIncrementalActualPosition(33).......................................... 48
4.3.2.1.7 PDOPositionTreshold(34).................................................. 48
4.3.2.1.8 PDOFreeDefinition(37to40)................................................ 48
4.3.2.1.9 PDOInternalMasterPositionSetpoint(41)...................................... 48
4.3.2.2 ObjectDescription.............................................................. 49
4.3.2.2.1 Object1800-1803h:1st-4thTransmit-PDOcommuncationparam.(DS301).............49
4.3.2.2.2 Object1A00-1A03h:1st-4thTransmit-PDOmappingparameter(DS301)............... 49
4.3.2.2.3 Object2A00-2A03h:1st-4thTransmit-PDOselect(DS301).......................... 49
4.3.2.2.4 Object2014-2017h:1st-4thMask1to4forTransmit-PDO.......................... 50
4 CANopen for AX2000/2500
BECKHOFF 07/2007 Contents
Page
4.4 DeviceControl(dc) ..................................................................... 50
4.4.1 StatusMachine(DS402) ............................................................ 51
4.4.1.1 StatesoftheStatusMachine ..................................................... 51
4.4.1.2 Transitionsofthestatusmachine.................................................. 52
4.4.2 Objectdescription ................................................................. 53
4.4.2.1 Object6040h:Controlword(DS402)................................................ 53
4.4.2.2 Object6041h:Statusword(DS402)................................................. 54
4.4.2.3 Object6060h:modes_of_operation(DS402) ......................................... 56
4.4.2.4 Object6061h:modes_of_operation_display(DS402)................................... 57
4.5 FactorGroups(fg)(DS402)............................................................... 57
4.5.1 GeneralInformation................................................................ 57
4.5.1.1 Factors ...................................................................... 57
4.5.1.2 Relationshipbetweenphysicalandinternalunits ...................................... 57
4.5.2 ObjectDescription................................................................. 58
4.5.2.1 Object608Bh:velocity_notation_index(DS402)....................................... 58
4.5.2.2 Object608Ch:velocity_dimension_index(DS402)..................................... 58
4.5.2.3 Object6093h:position_factor(DS402).............................................. 59
4.5.2.4 Object6094h:velocity_encoder_factor(DS402)....................................... 60
4.5.2.5 Object6097h:acceleration_factor(DS402) .......................................... 62
4.6 Manufacturer-specificCurrentandSpeed-Mode............................................... 63
4.6.1 Object2060h:Digitalcurrentorspeedsetpoint........................................... 63
4.6.2 Objekt2061h:Currentlimitation....................................................... 63
4.7 Setupdataformanufacturer-specificJogging/Homingmode...................................... 64
4.7.1 Object2024h:Setupoperationforpositionmode(AX2xxx).................................. 64
4.8 Positioningdataforpositionmode(AX2xxx).................................................. 66
4.8.1 Object2020h:Positioncontroller...................................................... 66
4.8.2 Object2022h:Positiondataforpositionmode............................................ 69
4.9 Object2050h:Auxiliaryvariablefordigitalinputs............................................... 75
4.10 Latchfunction.......................................................................... 76
4.10.1 Object2026h:Latchenable.......................................................... 76
4.10.2 Object2082h:32/24-bitLatchpositive.................................................. 76
4.10.3 Object2083h:32/24-bitLatchnegative................................................. 77
4.10.4 Object2084h:16-bitLatchpositive .................................................... 77
4.10.5 Object2085h:16-bitLatchnegative.................................................... 78
4.10.6 Object2087h:LatchPositionsDigitalInput1............................................. 79
4.11 Manufacturerspecificvalues.............................................................. 80
4.11.1 Object2070h:Actualvalues ......................................................... 80
4.11.2 Objekt6077h:Torqueactualvalue .................................................... 87
4.11.3 Objekt60C2h:Interpolationtimeperiod................................................. 87
4.12 Freelyavailable,mappablePLCvariables,Objects2030h/2090h................................. 88
4.12.1 Object2030h:DP-Ram-Variables9-16(writeonly)........................................ 88
4.12.2 Object2090h:DP-Ram-Variables1-8(readonly)......................................... 88
4.13 DummyVariables,Objects2031h/2071h.................................................... 89
4.13.1 Object2031h:Dummyvariablesformapping(WO)........................................ 89
4.13.2 Object2071h:Dummyvariablesformapping(RO)........................................ 90
4.14 ProfileVelocityMode(pv)(DS402) ......................................................... 91
4.14.1 GeneralInformation................................................................ 91
4.14.2 Objectsthataredefinesinthissection.................................................. 91
4.14.3 Objectsthataredefinesinothersections ............................................... 91
4.14.4 ObjectDescription................................................................. 91
4.14.4.1 Object606Ch:velocity_actual_value*(DS402)........................................ 91
4.14.4.2 Object60FFh:target_velocity(DS402).............................................. 92
4.15 PositionControlFunction(pc)(DS402)...................................................... 92
4.15.1 GeneralInformation................................................................ 92
4.15.2 Objectsthataredefinedinthissection ................................................. 92
4.15.3 Objectsthataredefinedinothersections ............................................... 92
4.15.4 ObjectDecription.................................................................. 93
4.15.4.1 Object6063h:position_actual_value*(DS402)........................................ 93
4.15.4.2 Object6064h:position_actual_value(DS402) ........................................ 93
CANopen for AX2000/2500 5
Contents 07/2007 BECKHOFF
Page
4.16 HomingMode(hm)(DS402) .............................................................. 94
4.16.1 GeneralInformation................................................................ 94
4.16.2 Objectsthataredefinedinthissection ................................................. 94
4.16.3 Objectsthataredefinedinothersections ............................................... 94
4.16.4 ObjectDescription................................................................. 94
4.16.4.1 Object607Ch:home_offset(DS402) ............................................... 94
4.16.4.2 Object6098h:homing_method(DS402)............................................. 95
4.16.4.2.1 Descriptionofthehomingmethods ............................................ 96
4.16.4.3 Object6099h:homing_speeds(DS402)............................................. 96
4.16.4.4 Object609Ah:homing_acceleration(DS402)......................................... 96
4.16.5 HomingModeSequenceS........................................................... 97
4.17 ProfilePositionMode(pp) ................................................................ 97
4.17.1 GeneralInformation................................................................ 97
4.17.2 Objectsthataredefinedinthissection ................................................. 97
4.17.3 Objectsthataredefinedinothersections ............................................... 98
4.17.4 ObjectDescription................................................................. 98
4.17.4.1 Object607Ah:target_position(DS402).............................................. 98
4.17.4.2 Object607Bh:position_range_limit(DS402).......................................... 99
4.17.4.3 Object6081h:profile_velocity(DS402).............................................. 99
4.17.4.4 Object6083h:profile_acceleration(DS402)......................................... 100
4.17.4.5 Object6084h:profile_adeceleration(DS402)........................................ 100
4.17.4.6 Object6086h:motion_profile_type(DS402)......................................... 101
4.17.5 FunctionalDescription............................................................. 101
5 The Object Channel
5.1 ObjectDescription ..................................................................... 105
5.1.1 Object>3500hManufacturerSpecificObjectChannel.................................... 105
6 Appendix
6.1 Setupexamples....................................................................... 115
6.1.1 Basictestingoftheconnectioncontrol<->AX2xxx........................................ 115
6.1.2 ExampleofoperatingtheStatusMachine.............................................. 116
6.1.3 ExampleofPDOusage............................................................ 117
6.1.4 ExampleofHoming............................................................... 119
6.1.5 ExampleofMotionBlockProcessing.................................................. 120
6.1.6 ExampleofProfilePositioningModeusage............................................. 121
6.1.7 ASCIICommunication............................................................. 123
6.1.8 TestforSYNC-telegrams........................................................... 124
6.1.9 SYNC-Object.................................................................... 124
6.1.10 Emergency-Object................................................................ 124
6.2 SpecialApplications.................................................................... 125
6.2.1 ExternalTrajectory................................................................ 125
6.2.1.1 Positioncontrollerintheservoamplifier ............................................ 125
6.2.1.2 Positioncontrollerinthecontrolsystem ............................................ 128
6.3 DescriptionoftheObjectDictionary........................................................ 129
6.4 NewconfigurationofAX2000/2500 ........................................................ 135
6.5 Index ............................................................................... 136
6 CANopen for AX2000/2500
BECKHOFF 07/2007 General
1 General
1.1 About this manual
Thismanualdescribesthesetup,rangeoffunctionsandsoftwareprotocoloftheAX2000/2500
servoamplifierswiththeCANopencommunicationprofile.Itformspartofthecompletedocumenta-
tionfortheAX2000/2500familyofservoamplifiers.
Theinstallationandsetupoftheservoamplifier,aswellasallstandardfunctions,aredescribedin
thecorrespondingproductmanuals.
Otherpartsofthecompletedocumentationforthedigitalservoamplifierseries:
Title Publisher
ProductManualAX2000/2500 BECKHOFF
Online-Helpwithobjectreference BECKHOFF
Additionaldocumentation:
Title Publisher
CANApplication (CAL)forIndustrialApplications CiAe.V.
DraftStandards301(fromVersion4.0),401 CiAe.V.
CANSpecificationVersion2.0 CiAe.V.
ISO11898...ControllerAreaNetwork(CAN)forhigh-speedcommunication
Thismanualisintendedforthefollowingqualifiedpersonnel:
Wiring: Professionallyqualifiedelectricaltechnicians
Programming: Softwaredevelopers, project-planners
Trainingandfamiliarizationcoursesareavailableonrequest.
Specificexamplesforindividualchapterscanbefoundintheapplicationssection((cid:2)6.1and6.2)of
thismanual.
1.2 Use as directed of the CANopen interface
Pleaseobservethechapter“Permitteduse”intheproductmanualfortheservoamplifier.
TheinterfaceisacomponentpartoftheAX2000/2500seriesofdigitalservoamplifiers.
TheCANopeninterfaceservesonlyfortheconnectionoftheservoamplifiertoamastervia
theCAN-bus.
Theservoamplifiersarecomponentsthatarebuiltintoelectricalapparatusormachinery,andcan
onlybesetupandoperatedasintegralcomponentsofsuchapparatusormachinery.
Wecanonlyguaranteetheconformityoftheservoamplifierwiththefollowingstandardsfor
industrialareaswhenthecomponentsthatwespecifyareused,andtheinstallation
regulationsarefollowed:
ECEMCDirective
ECLow-VoltageDirective
CANopen for AX2000/2500 7
General 07/2007 BECKHOFF
1.3 Symbols used
dangertopersonnel generalwarning
fromelectricity generalinstructions
anditseffects mechanicalhazard
(cid:2) see...(cross-reference) (cid:2) specialemphasis
1.4 Abbreviations used
Theabbreviationsusedinthismanualareexplainedinthetablebelow.
Abbrev. Meaning
BTB/RTO Readytooperate(standby)
COB CommunicationObject
COB-ID CommunicationObjectIdentifier
EEPROM Electricallyerasable/programmablememory
EMC Electromagneticcompatibility
ISO InternationalStandardizationOrganization
km 1000m
LED Light-emittingdiode
MB Megabyte
NSTOP LimitswitchforCCW(left)rotation
PC PersonalComputer
PDO ProcessDataObject
PSTOP LimitswitchforCW(right)rotation
RAM Volatilememory
ROD Incrementalpositionencoder
RXPDO ReceivePDO
SDO ServiceDataObject
TXPDO TransmitPDO
8 CANopen for AX2000/2500
BECKHOFF 07/2007 General
1.5 Basic features implemented by CANopen
WhenworkingwiththepositioncontrollerthatisintegratedinAX2000/2500digitalservoamplifiers,
thefollowingfunctionsareavailable:
Setupandgeneralfunctions:
— homing,setreferencepoint
— jogging,withavariablespeed
— provisionofadigitalsetpointforspeedandtorquecontrol
Positioningfunctions:
— executionofamotiontaskfromthemotionblockmemoryoftheservoamplifier
— executionofadirectmotiontask
— absolutetrajectory
Datatransferfunctions:
— transmitamotiontasktothemotionblockmemoryoftheservoamplifier
Amotiontaskconsistsofthefollowingelements:
»positionsetpoint(absolutetask)orpathsetpoint(relativetask)
»speedsetpoint
»accelerationtime,brakingtime,rate-of-change/joltlimiting(inpreparation)
»typeofmotiontask(absolute/relative)
»numberofafollowingtask(withorwithoutpause)
— readamotiontaskfromthemotionblockmemoryoftheservoamplifier
— readactualvalues
— readtheerrorregister
— readthestatusregister
— read/writecontrolparameters
1.6 Response to BUSOFF communication faults
ThecommunicationfaultBUSOFFisdirectlymonitoredandsignaledbyLevel2(CANcontroller).
Thismessagemayhavevariouscauses.
Afewexamples:
— telegramsaretransmitted,althoughthereisnootherCANnodeconnected
— CANnodeshavedifferenttransmissionrates
— thebuscableisfaulty
— faultycableterminationcausesreflectionsonthecable.
ABUSOFFisonlysignaledbytheAX2000/2500ifanotherCANnodeisconnectedandatleastone
Objectwassuccessfullytransmittedtostartoffwith.TheBUSOFFconditionissignaledbytheerror
messageF23.Iftheoutputstageisenabledfortheexecutionofamotiontaskatthemomentwhen
thisfaultoccurs,thenthedriveisbrakedtoastop,usingtheemergencystopramp,andtheoutput
stageisdisabled.
1.7 System requirements
— servoamplifierAX2000/2500
— masterstationwithaCAN-businterface(e.g.PCwithCANinterface)
1.8 Transmission rate and procedure
— busconnectionandbusmedium:CAN-standardISO11898(CANhigh-speed)
— transmissionrate:max.1Mbit/s
possiblesettingsfortheservoamplifier:
10,20,50,100,125,250,333,500(default),666,800,1000kbit/s
CANopen for AX2000/2500 9
Installation / Setup 07/2007 BECKHOFF
2 Installation / Setup
2.1 Assembly, Installation
AssembletheservoamplifierasdescribedintheproductmanualsforAX2000/2500.Observe
allsafetyinstructionsintheinstallationinstructionsthatbelongtotheservoamplifier.
Followallthenotesonmountingposition,ambientconditions,wiring,andfusing.
Onlyinstallandwireuptheequipmentinade-energizedcondition, i.e.neitherthe
mains/linesupplyvoltagenorthe24Vauxiliaryvoltagenortheoperatingvoltageofany
otherconnectedequipmentmaybeswitchedon. Takecarethatthecontrolcabinetissafely
disconnected(lockout,warningsignsetc.).Theindividualvoltagesareswitchedonforthe
firsttimeduringsetup.
Neverdisconnecttheelectricalconnectionstotheservoamplifierwhileitislive.Thiscould
destroytheelectronics.Residualchargesinthecapacitorscanstillhavedangerouslevels
severalminutesafterswitchingoffthesupplypower.MeasurethevoltageintheDC-link
circuitandwaituntilthevoltagehasfallenbelow40V.Evenwhenthemotorisnotrunning,
powerandcontrolcablescanstillbelive.
2.1.1 Setting the station address and transmission rate
Duringsetupitmakessensetousethekeypadontheservoamplifier'sfrontpaneltopresetthesta-
tionaddresseandtheBaudrateforcommunication(seesetupinstructionsintheproductmanual).
Settingthestationaddress
Thestationaddresscanbesetinthreedifferentways:
(cid:2) byusingthepushbuttonsonthefrontpanel
(seeinstallationinstructionsforAX2000/2500)
(cid:2) InthesetupsoftwareDRIVE.EXE,onthescreenpage“Basicsettings”
(cid:2) UsingtheASCIIcommandsequence:ADDRnn(cid:2)SAVE(cid:2)COLDSTART(nn=address)
Afterchangingthestationaddressand/orbaudrateyoumustturnthe24Vauxiliarysupply
fortheservoamplifieroffandonagainforreset.
Theaddressrangecanbeexpandedfrom1...63to1...127byusingtheASCII-ObjectMDRV.
Settingthetransmissionrate
TheCANtransmissionratecanbesetinthreedifferentways:
(cid:2) byusingthepushbuttonsonthefrontpanel
(seeproductmanualforAX2000/2500)
(cid:2) InthesetupsoftwareDRIVE.EXE,onthescreenpage“Basicsettings”
(cid:2) UsingtheASCIIcommandsequence:CBAUDbb(cid:2)SAVE(cid:2)COLDSTART
(bb=transmissionrateinkbit/s)
Possibletransmissionratesare:20,50,100,125,250,333,500(default),666,800,1000kbit/s.
10 CANopen for AX2000/2500