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CANopen for Motor ControllerCMMS/CMMD

Manual

CANopenCMMS-STCMMS-ASCMMD-AS

Manual554 352en 1012a[757 730]


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Festo P.BE-CMMS-CO-SW-EN 1012a 3

Original ________________________________________________________ de

Edition____________________________________________________en 1012a

Designation____________________________________ P.BE-CMMS-CO-SW-EN

Order no. ___________________________________________________554 352

(Festo AG & Co KG., D-73726 Esslingen, Germany, 2011)

Internet: http://www.festo.com

E-mail: [email protected]

The reproduction of this document and disclosure to third parties and the utilisation or

communication of its contents without explicit authorization is prohibited. Offenders willbe held liable for compensation of damages. All rights reserved, in particular the right to

carry out patent, utility model or ornamental design registrations.

http://www.festo.com/http://www.festo.com/


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4 Festo P.BE-CMMS-CO-SW-EN 1012a

Index of revisions

Author: Festo AG & Co. KG

Name of manual: CANopen for Motor Controller CMMS/CMMD

File name:File saved at:

Consec. no. Description Index of revisions Date of amendment

001 Creation 0708NH 26.07.2007

002 Revision 1012a 17.02.2011

Trademarks

CANopen® and CiA® are registered brand names of the respective brand holders in certain

countries.


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CONTENTS


CONTENTS

1. General remarks ..................................................................................................... 8

1.1

Intended use ......................................................................................................... 8

1.2 Safety instructions ................................................................................................ 8

1.3 Target group.......................................................................................................... 9

1.4 Service .................................................................................................................. 9

1.5 Important user instructions ................................................................................... 9

2. CANopen................................................................................................................ 12

2.1 Overview ............................................................................................................. 12

2.2 Cabling and Plug Assignment .............................................................................. 13

2.2.1 Pin allocations ..................................................................................... 13

2.2.2 Cabling Note ........................................................................................ 14

2.3 Activation of CANopen......................................................................................... 15

3. Access Procedure.................................................................................................. 17

3.1 Introduction......................................................................................................... 17

3.2 SDO Access ......................................................................................................... 18

3.2.1 SDO Sequences for Reading and Writing ............................................. 19

3.2.2 SDO Error Messages ............................................................................ 20

3.2.3 Simulation of SDO Access via RS232 ................................................... 21

3.3 PDO Message ...................................................................................................... 22

3.3.1 Description of the Objects ................................................................... 23

3.3.2 Objects for PDO Parameter Setting...................................................... 26

3.3.3 Activation of PDOs ............................................................................... 30

3.4 SYNC-Message .................................................................................................... 30

3.5 EMERGENCY-Message......................................................................................... 31

3.5.1 Structure of the EMERGENCY-Message................................................ 31


3.6 Heartbeat / Bootup (Error Control Protocol)........................................................ 45

3.6.1 Structure of the Heartbeat Message.................................................... 45

3.6.2 Structure of the Bootup Message ........................................................ 46


3.7 Network Management (NMT Service) .................................................................. 47

3.8 Nodeguarding (Error Control Protocol) ................................................................ 49

3.8.1 Overview.............................................................................................. 49

3.8.2

Structure of the Nodeguarding Messages............................................ 49


3.9 Table of Identifiers .............................................................................................. 51


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CONTENTS


4. Setting Parameters............................................................................................... 52

4.1 Load and Save Parameter Sets............................................................................ 52

4.1.1 Overview.............................................................................................. 52


4.2 Conversion Factors (Factor Group) ...................................................................... 55 4.2.1 Overview.............................................................................................. 55


4.3 Output stage parameter ...................................................................................... 67

4.3.1 Overview.............................................................................................. 67


4.4 Current Regulator and Motor Adjustment............................................................ 69

4.4.1 Overview.............................................................................................. 69


4.5 Speed regulator................................................................................................... 75

4.5.1 Overview.............................................................................................. 75


4.6 Position Controller (Position Control Function).................................................... 77

4.6.1 Overview.............................................................................................. 77


4.7 Setpoint value limitation ..................................................................................... 85

4.7.1 Description of the objects.................................................................... 85

4.8 Digital inputs and outputs................................................................................... 87

4.8.1 Overview.............................................................................................. 87


4.9 Limit switch ......................................................................................................... 89

4.9.1 Overview.............................................................................................. 89


4.10 Sampling of positions.......................................................................................... 90

4.10.1 Overview.............................................................................................. 90

4.10.2

Description of the Objects ................................................................... 90

4.11 Device Information .............................................................................................. 91


4.12 Error management............................................................................................... 95

4.12.1 Overview.............................................................................................. 95



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CONTENTS


5. Device Control....................................................................................................... 97

5.1 Status Diagram (State Machine).......................................................................... 97

5.1.1 Overview.............................................................................................. 97

5.1.2 Status diagram of the motor controller (State Machine)...................... 98

5.1.3 controlword (control word) ................................................................ 102 5.1.4 Read-out of the motor controller status............................................. 105

5.1.5 statusword (Status words)................................................................. 106

6. Operating modes ................................................................................................ 111

6.1 Setting the operating mode............................................................................... 111

6.1.1 Overview............................................................................................ 111

6.1.2 Description of the Objects ................................................................. 111

6.2 Operating mode homing (Homing Mode) .......................................................... 113

6.2.1 Overview............................................................................................ 113 6.2.2 Description of the Objects ................................................................. 114

6.2.3 Reference Travel Processes ............................................................... 117

6.2.4 Control of Reference Travel................................................................ 121

6.3 Positioning Operating Mode (Profile Position Mode)......................................... 122

6.3.1 Overview............................................................................................ 122


6.3.3 Functional description ....................................................................... 127

6.4 Interpolated Position Mode............................................................................... 129

6.4.1 Overview............................................................................................ 129


6.4.3 Functional description ....................................................................... 135

6.5 Speed adjustment operating mode (Profile Velocity Mode) .............................. 137

6.5.1 Overview............................................................................................ 137


6.6 Torque regulation operating mode (Profile Torque Mode) ................................ 144

6.6.1 Overview............................................................................................ 144

6.6.2

Description of the Objects ................................................................. 145

7. Index ................................................................................................................... 149


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1. General remarks


1. General remarks

1.1 Intended use

This manual describes how the motor controller of the CMMS/CMMD series can beintegrated into a CANopen network environment. It describes setting of the physical

parameters, activation of CANopen protocol, integration into the CAN network and

communication with the motor controller. It is directed at people who are already familiar

with this motor controller series.

It contains safety instructions which must be followed.

The complete set of information can be found in the documentationfor the motor controller in question:

- Description P.BE-CMM...-HW-...:

Mechanics – electrical engineering – function range overview

Note

Always observe the safety-related instructions listed in the productmanual for the motor controller being used.

1.2 Safety instructionsWhen commissioning and programming positioning systems, you must always observe

the safety regulations in this manual as well as those in the operating instructions for the

other components used.

The user must make sure that nobody is within the sphere of influence of the connected

actuators or axis system. Access to the potential danger area must be prevented by

suitable measures such as barriers and warning signs.

Warning

Axes can move with high force and at high speed. Collisions canlead to serious injury to human beings and damage to components.

Make sure that nobody can reach into the sphere of influence of theaxes or other connected actuators and that no items are within thepositioning range while the system is connected to energy sources.


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1. General remarks


Warning

Faults in the parametrisation can cause injury to human beings anddamage to property.

Enable the controller only if the axis system has been correctly

installed and parametrised.

1.3 Target groupThis manual is intended exclusively for technicians trained in control and automation

technology, who have experience in installing, commissioning, programming and

diagnosing positioning systems.

1.4 Service

Please consult your local Festo Service or write to the following e-mail address if you haveany technical problems:

[email protected]

1.5 Important user instructions

Danger categories

This description contains instructions on the possible dangers which can occur if the

product is not used correctly. These instructions are marked (Warning, Caution, etc),printed on a shaded background and marked additionally with a pictogram.

A distinction is made between the following danger warnings:

Warning

... Means that failure to observe this instruction may result in

serious personal injury or damage to property.

Caution

... Means that failure to observe this instruction may result in

personal injury or damage to property.

Note

... Means that failure to observe this instruction may result indamage to property.

mailto:[email protected]:[email protected]


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1. General remarks


The following pictogram marks passages in the text which describe activities with

electrostatically sensitive devices:

Electrostatically sensitive devices: Incorrect handling can result in

damage to components.

Identification of specific information

The following pictograms designate texts that contain special information.

Pictograms

Information:

Recommendations, tips and references to other sources ofinformation

Accessories:

information on necessary or useful accessories for the Festoproduct.

Environment:

information on environmentally friendly use of Festo products.

Text designations

• Bullet points indicate activities that may be carried out in any order.

1. Numerals denote activities which must be carried out in the numerical order specified.

- Arrowheads indicate general lists.

About the Version

This description refers to versions corresponding to Table 1.1


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1. General remarks


You can find the specifications on the version status as follows:

- Hardware version and firmware version in the Festo Configuration Tool (FCT) with

active device connection under "Controller"

Controller Firmware Comment

CMMS-ST-... From Version 1.3.0.1.14 Standard motor controller for stepper motors

CMMS-AS-... From Version 1.3.0.1.16 Standard motor controller for servo motors

CMMD-AS-... From Version 1.4.0.3.2 Standard double motor controller for servo motors

Table 1.1 Controller and firmware versions

For older versions:

Use the related older version of this document, if applicable.

Note

With newer firmware versions, check whether there is a newerversion of this description available:www.festo.com

http://../www.festo.comhttp://../www.festo.com


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2. CANopen


2. CANopen

2.1 Overview

CANopen is a standard worked out by the "CAN in Automation" association. A number ofdevice manufacturers are organised in this association. This standard has largely replaced

the current manufacturer-specific CAN protocols. As a result, the end user has a

manufacturer-independent communication interface.

The following manuals, among others, can be obtained from this association:

CiA Draft Standard 201-207:

These documents cover the general principles and embedding of CANopen into the OSI

layered architecture. The relevant points of this book are presented in this CANopen

manual, so procurement of DS201 ... 207 is generally not necessary.

CiA Draft Standard 301:

This book describes the fundamental design of the object directory of a CANopen device

and access to it. The statements of DS201 ... 207 are also made concrete. The elements of

the object directory needed for the CMMS/CMMD motor controller families and the

related access methods are described in this manual. Procurement of DS301 is

recommended but not absolutely necessary.

CiA Draft Standard 402:

This book covers concrete implementation of CANopen in drive regulators. Although all

implemented objects are also briefly documented and described in this CANopen manual,the user should have this book available.

Source of supply:

CAN in Automation (CiA) International Headquarters

Am Weichselgarten 26

D-91058 Erlangen

Tel.: 09131-601091

Fax: 09131-601092

www.can-cia.de

The CANopen implementation of the motor controller is based on the following

standards:

[1] CiA Draft Standard 301, Version 4.02, 13. February 2002

[2] CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002

http://www.can-cia.de/http://www.can-cia.de/


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2. CANopen


2.2 Cabling and Plug Assignment

2.2.1 Pin allocations

For the CMMS/CMMD family of devices, the CAN interface is already integrated into themotor controller and thus is always available.

The CAN bus connection is designed as a 9-pole DSUB plug (on the controller side) in

accordance with standards.

1 CAN-L

2 CAN-GND

3 CAN-Shield

4 CAN-H

5 CAN-GND

Fig. 2.1 CAN plug connector for CMMS/CMMD

Note

CAN bus cabling

When cabling the motor controller via the CAN bus, you shouldalways comply with the following information and remarks toobtain a stable, malfunction-free system. If cabling is improperlydone, malfunctions can occur on the CAN bus during operation.These can cause the motor controller to shut off with an error forsafety reasons.

14

2

3

5


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2. CANopen


2.2.2 Cabling Note

The CAN bus offers a simple, interference resistant method of networking all the

components of a system together. But the prerequisite for this is that all subsequent

cabling instructions are observed.

Fig. 2.2 Cabling example

- The individual nodes of the network are connected point-to-point to each other, so theCAN cable is looped from controller to controller (see Fig. 2.2 ).

- At both ends of the CAN cable, there must be an end resistor of exactly 120 Ω +/- 5 %.

This is often already installed in CAN cards or PLCs and, if so, this must be taken into

account. The end resistor is activated via DIP switch 12 (see Fig. 2.3 ).

- For wiring, screened cable with exactly two twisted pairs of wires must be used.

A twisted pair of wires is used for connection of CAN-H and CAN-L.The wires of the other pair are used together for CAN-GND.

For all nodes, the screening of the cable is guided to the CAN-Shield connections.

A table with the technical data of usable cables is located at the end of this chapter.

- The use of intermediate plugs is not recommended for CAN bus cabling.

If this is unavoidable, then metallic plug housings should be used to connect the cable

screening.

- To keep the disturbance coupling as low as possible, motor cable should not be laid

parallel to signal lines.

Motor cable carried out in accordance with specifications.

The motor cables must be correctly screened and earthed.

- For more information on constructing interference-free CAN bus cabling, refer to the

Controller Area Network protocol specification, Version 2.0 from Robert Bosch GmbH,

1991.

- Technical data, CAN bus cable:

2 pairs of 2 twisted leads, d ≥ 0.22 mm2

Screened

Loop resistance < 0.2 Ω/m

Impedance 100-120 Ω


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2. CANopen


2.3 Activation of CANopenThe CAN interface is activated with the protocol CANopen, and the node number and baud

rate are adjusted one time via the DIP switches of the motor controller.

1 DIP switches 1-7: Node number

2 DIP switches 9-10: BitrateDIP switch 11: Activation

DIP switch 12: Terminating resistor

Fig. 2.3 DIP switches

EXAMPLENode number:DIP switches ON/OFF Significance

1 ON

2 ON

3 OFF

4 ON

5 ON

6 OFF

7 ON

DIP switch 1 is the lowest-value bit

1011011 = 91

Baud rate:

DIP switches ON/OFF Significance

9 ON

10 OFF

DIP switch 9 is the lowest-value bit

00=125 kBit/s

01=250 kBit/s (example)

10=500 kBit/s

11=1000 kBit/s

1

2


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2. CANopen


A total of 2 different parameters must be set:

- Base node number

A node number, which may occur only once in the network, must be assigned to each

participant for unambiguous identification. The device is addressed via this node

number.- Bitrate

This parameter determines the bitrate in kbit/s used on the CAN bus. Note that high

baud rates require a low maximum cable length.

All devices present in a CANopen network send a bootup messageover the bus containing the node number of the transmitter.

Finally, the CANopen protocol in the motor controller can be activated. Observe that the

named parameters can only change if the CAN-bus is deactivated.

Note that the parameter setting of the CANopen function remainsintact after a reset if the parameter set of the motor controller wassaved.

CAN address for CMMD-AS

The two axes have a separate CAN address.

The address of axis 1 is set at the DIP switches. Axis 2 is always assigned the subsequent

address:

CAN address axis 2 = CAN address axis 1 + 1


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3. Access Procedure


3. Access Procedure

3.1 Introduction

CANopen makes available a simple and standardised possibility to access the parametersof the motor controller (e.g. the maximum motor current). To achieve this, a unique

number (index and subindex) is assigned to each parameter (CAN object). The totality of

all adjustable parameters is designated an object directory.

Essentially two methods are available for accessing CAN objects via the CAN bus: a

confirmed access type, in which the motor controller acknowledges each parameter

access (via so-called SDOs), and an unconfirmed access type, in which no

acknowledgement is made (via so-called PDOs).

Assignment of control

SDO PDO (transmit PDO)

Confirmation from the

controller

Confirmation from the

controller

Control CMMS/CMMD

Control CMMS/CMMD

Data from controller

PDO (receive PDO)

Control CMMS/

CMMD

Fig. 3.1 Access Procedure

As a rule, the motor controller is parametrised and also controlled via SDO access. In

addition, other types of messages (so-called communication objects), which are sent

either by the motor controller or the higher-level controller, are defined for special

application cases:

SDO Service Data Object Are used for normal parameter setting of themotor controller.

PDO Process Data Object Fast exchange of process data (e.g. actual speed)possible.

SYNC Synchronization

Message

Synchronisation of multiple CAN nodes

EMCY Emergency Message Transmission of error messages.


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3. Access Procedure


NMT Network Management Network service: All CAN nodes can be worked onsimultaneously, for example.

HEARTBEAT Error Control Protocol Monitoring of the communications participantsthrough regular messages.

Every message sent on the CAN bus contains a type of address which is used to determine

the bus participant for which the message is meant. This number is designated the

identifier. The lower the identifier, the greater the priority of the message. Identifiers are

established for the above-named communication objects. The following sketch shows the

basic design of a CANopen message:

Number of data bytes (here 8)

Data bytes 0 … 7

601h Len D0 D1 D2 D3 D4 D5 D6 D7

Identifier

3.2 SDO AccessThe Service Data Objects (SDO) permit access to the object directory of the motor

controller. This access is especially simple and clear. It is therefore recommended to build

up the application at first only with SDOs and only later to convert to the faster but also

more complicated Process Data Objects (PDOs).

SDO access always starts from the higher-level controller (Host). This either sends the

motor controller a write command to modify a parameter in the object directory, or a read

command (READ) to read out a parameter. For each command, the host receives an

answer that either contains the read-out value or – in the case of a write command –

serves as an acknowledgement.

For the motor controller to recognise that the command is meant for it, the host must send

the command with a specific identifier. This consists of the base 600h + node number of

the motor controller involved. The motor controller answers accordingly with the identifier580h + node number.

The design of the commands or answers depends on the data type of the object to be read

or written, since either 1, 2 or 4 data bytes must be sent or received. The following data

types are supported:

UINT8 8 bit value without algebraic sign 0 … 255

INT8 8 bit value with algebraic sign -128 … 127

UINT16 16 bit value without algebraic sign 0 … 65535

INT16 16 bit value with algebraic sign -32768 … 32767

UINT32 32 bit value without algebraic sign 0 … (232-1)

INT32 32 bit value with algebraic sign -(231 ) … (231-1)


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3. Access Procedure


3.2.1 SDO Sequences for Reading and Writing

To read out or describe objects of these number types, the following listed sequences are

used. The commands for writing a value into the motor controller begin with a different

identifier, depending on the data type. The answer identifier, in contrast, is always the

same. Read commands always start with the same identifier, and the motor controlleranswers differently, depending on the data type returned. All numbers are kept in

hexadecimal form.

Read commands Write commands

Low byte of the main index (hex)

High byte of the main index (hex)

UINT8 / INT8 Subindex (hex)

Identifier for 8 bit

Command 40h IX0 IX1 SU 2Fh IX0 IX1 SU DO

Answer: 4Fh IX0 IX1 SU D0 60h IX0 IX1 SU

UINT16 / INT16 Identifier for 8 bit Identifier for 16 bit

Command 40h IX0 IX1 SU 2Bh IX0 IX1 SU DO D1

Answer: 4Bh IX0 IX1 SU D0 D1 60h IX0 IX1 SU

UINT32 / INT32 Identifier for 16 bit Identifier for 32 bit

Command 40h IX0 IX1 SU 23h IX0 IX1 SU DO D1 D2 D3

Answer: 43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU

Identifier for 32 bit

EXAMPLE

UINT8 / INT8

Reading obj. 6061_00h

Return data: 01h

Writing obj. 1401_02h

Data: EFh

Command 40h 61h 60h 00h 2Fh 01h 14h 02h EFh

Answer: 4Fh 61h 60h 00h 01h 60h 01h 14h 02h

UINT16 / INT16


Return data: 1234h


Data: 03E8h

Command 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h

Answer: 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h

UINT32 / INT32


Return data: 12345678h


Data: 12345678h

Command 40h 93h 60h 01h 23h 93h 60h 01h 78h 56h 34h 12h

Answer: 43h 93h 60h 01h 78h 56h 34h 12h 60h 93h 60h 01h


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3. Access Procedure


Caution

The acknowledgement from the motor controller must always bewaited for.Only when the motor controller has acknowledged the request may

additional requests be sent.

3.2.2 SDO Error Messages

In case of an error when reading or writing (for example, because the written value is too

large), the motor controller answers with an error message instead of the

acknowledgement:

Command … IX0 IX1 SU … … … …

Answer: 80h IX0 IX1 SU F0 F1 F2 F3

Error identifier Error code (4 byte)

Error codeF3 F2 F1 F0

Significance

06 01 00 00h Access type is not supported.

06 02 00 00h The addressed object does not exist in the object directory

06 04 00 41h The object must not be entered into a PDO

06 04 00 42h The length of the objects entered in the PDO exceeds the PDO length

06 07 00 10h Protocol error: Length of the service parameter does not agree06 07 00 12h Protocol error: Length of the service parameter is too large

06 07 00 13h Protocol error: Length of the service parameter is too small

06 09 00 11h The addressed subindex does not exist

06 01 00 01h Read access to an object that can only be written

06 01 00 02h Write access to an object that can only be read

06 04 00 47h Overflow of an internal variable / general error

06 06 00 00h Access faulty due to a hardware problem *1)

05 03 00 00h Protocol error: Toggle bit was not changed05 04 00 01h Protocol error: Client / server command specifier invalid or unknown

06 09 00 30h The data exceed the range of values of the object

06 09 00 31h The data are too large for the object

06 09 00 32h The data are too small for the object

06 09 00 36h Upper limit is less than lower limit

08 00 00 20h Data cannot be transmitted or stored *1)

08 00 00 21h Data cannot be transmitted or stored, since the motor controller is working locally

08 00 00 22h Data cannot be transmitted or stored, since the motor controller for this is not in the correct

state *3)

08 00 00 23h There is no object dictionary available *2)


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3. Access Procedure


*1) Returned in accordance with DS301 in case of incorrect access to store_parameters /

restore_parameters.

*2) This error is returned, for example, when another bus system controls the motor controller or the

parameter access is not permitted.

*3) "Status" here should be understood in general: It may be a problem of the incorrect operating

mode or a technology module that is not available or the like.

3.2.3 Simulation of SDO Access via RS232

The firmware of the motor controller offers the possibility to simulate SDO access via the

RS232 interface. In this way, after being written, objects in the test phase can be read and

checked via the CAN bus over the RS232 interface. Application creation is simplified

through use of the start-up software Festo Configuration Tool (FCT) with the related plug-

in.

The syntax of the commands is:

Read commands Write commands

Main index (hex)

UINT8 / INT8 Subindex (hex)

Command ? XXXX SU = XXXX SU: WW

Answer: = XXXX SU: WW = XXXX SU: WW

UINT16 / INT16 8 bit data (hex)

Command ? XXXX SU = XXXX SU: WWWW

Answer: = XXXX SU: WWWW = XXXX SU: WWWW

UINT32 / INT32 16 bit data (hex)

Command ? XXXX SU = XXXX SU: WWWWWWWW

Answer: = XXXX SU: WWWWWWWW = XXXX SU: WWWWWWWW

32 bit data (hex)

Note that the commands are entered as characters without any blanks.

Caution

Never use these test commands in applications!

Access via RS232 only serves test purposes and is not suitable forreal-time-capable communication.

In addition, the syntax of the test commands can be changed at anytime.


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3. Access Procedure


3.3 PDO MessageWith Process Data Objects (PDOs), data can be transmitted in an event-driven manner.

The PDO thereby transmits one or more previously established parameters. Other than

with an SDO, there is no acknowledgement when a PDO is transmitted. After PDOactivation, all recipients must therefore be able to process any arriving PDOs at any time.

This normally means a significant software effort in the host computer. This disadvantage

is offset by the advantage that the host computer does not need to cyclically query

parameters transmitted by a PDO, which leads to a strong reduction in CAN bus capacity

utilisation.

EXAMPLEThe host computer would like to know when the motor controller hascompleted a positioning from A to B.

When SDOs are used, it must constantly, such as every millisecond, querythe statusword object, with which it uses up the bus capacity.

When a PDO is used, the motor controller is parametrised at the start ofthe application in such a way that, with every change in the statusword object, a PDO containing the statusword object is deposited.

Instead of constantly querying, the host computer thus automaticallyreceives a corresponding message as soon as the event occurs.

A distinction is made between the following types of PDOs:

Transmit-PDO................... Controller Host Motor controller sends PDO when a

certain event occursReceive-PDO ....................Host Controller Motor controller evaluates PDO when a

certain event occurs

The motor controller has two transmit and two receive PDOs.

Almost all objects of the object directory can be entered (mapped) into the PDOs; that is,

the PDO contains all data, e.g. the actual speed, the actual position, or the like. The motor

controller must first be told which data have to be transmitted, since the PDO only

contains reference data and no information about the type of parameter. In the example

below, the actual position is transmitted in the data bytes 0 … 3 of the PDO and the actualspeed in the bytes 4 … 7.

Number of data bytes (here 8)

Start actual speed (D4 … D7)

181h Len D0 D1 D2 D3 D4 D5 D6 D7

Identifier Start actual position (D0 ... D3)

In this way, almost any desired data telegrams can be defined. The following chapters

describe the settings necessary for this.


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3. Access Procedure


3.3.1 Description of the Objects

Identifier of the PDO cob_id_used_by_pdo

In the object cob_id_used_by_pdo, the identifier in which therespective PDO is sent or received is entered. If bit 31 is set, therespective PDO is deactivated. This is the default setting for all

PDOs.

The COB-ID may only be changed if the PDO is deactivated, that is,

bit 31 is set. Therefore, the following process must be followed to

change the COB-ID:

- Reading the COB-ID

- Writing the read COB-ID + 80000000h

- Writing the new COB-ID + 80000000h

- Writing the newCOB-ID, the PDO is active again.

The set bit 30 shows when the identifier is read that the object

cannot be queried by a remote frame. This bit is ignored during

writing and is always set during reading.

Number of objects

to be transmitted

number_of_mapped_objects

This object specifies how many objects should be mapped into the

corresponding PDO. The following limitations must be observed:

A maximum of 4 objects can be mapped per PDO.

A PDO may have a maximum of 64 bits (8 bytes).

Objects to be

transmitted

first_mapped_object … fourth_mapped_object

For each object contained in the PDO, the motor controller must be

told the corresponding index, subindex and length. The stated

length must agree with the stated length in the object dictionary.

Parts of an object cannot be mapped.

The mapping information has the following format:

Main index of the object to be mapped (hex)

Subindex of the object to be mapped (hex)

xxx_mapped_object Index

(16 bits)

Sub-index

(8 bits)

Length

(8 bits)

Length of the object


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3. Access Procedure


To simplify the mapping, the following procedure is established:

1. The number of mapped objects is set to 0.

2. The parameters first_mapped_object … fourth_mapped_object

may be written (The overall length of all objects is not relevantin this time).

3. The number of mapped objects is set to a value between 1 ... 4.

The length of all these objects must now not exceed 64 bits.

Type of

transmission

transmission_type und inhibit_time

Which event results in sending (transmit PDO) or evaluation

(receive PDO) of a message can be determined for each PDO:

Value Significance Permitted with

00h – F0h SYNC-Message

The numerical value specifies how many SYNC-

Messages are ignored between transmissions

before the PDO is

• sent (T-PDO) or

• evaluated (R-PDO).

TPDOs

RPDOs

FEh Cyclical

The transfer PDO is cyclically updated and sent by

the motor controller. The time period is set by the

object inhibit_time.

Receive PDOs, in contrast, are evaluated

immediately after reception.

TPDOs

(RPDOs)

FFh Change

The transfer PDO is sent when at least 1 bit has

changed in the data of the PDO.

With inhibit_time, the minimum interval between

sending two PDOs can also be established in100μs steps.

TPDOs

The use of all other values is not permitted.

Masking transmit_mask_high und transmit_mask_low

If "change" is selected as the transmission_type, the TPDO is

always sent when at least 1 bit of the TPDO changes. But frequently

it is necessary that the TPDO should only be sent when certain bits

have changed. Therefore, the TPDO can be equipped with a mask:

Only the bits of the TPDO that are set to "1" in the mask are usedto evaluate whether the PDO has changed. Since this function is

manufacturer-specific, all bits of the masks are set as default value.


25/156

3. Access Procedure


EXAMPLEThe following objects should be transmitted in one PDO:

Name of the object Index_Subindex Significance

statusword 6041h _00h Controller regulation

modes_of_operation_display 6061h _00h Operating mode

digital_inputs 60FDh _00h Digital inputs

The first transmit PDO (TPDO 1) should be used, which should always besent whenever one of the digital inputs changes, but at a maximum ofevery 10 ms. As identifier for this PDO, 187h should be used.

1.) Deactivating PDO

If the PDO is active, it must first be deactivated.

Reading out of the identifier: 40000181h = cob_id_used_by_pdo

Setting of bit 31 (deactivate): cob_id_used_by_pdo = C0000181h

2.) Deleting number of objects

Set the number of objects to zeroin order to be able to change theobject mapping. number_of_mapped_objects = 0

3.) Setting parameters for objects that are to be mapped

The above-listed objects must becombined into a 32 bit value:

Index =6041h Subin. = 00h Length = 10h first_mapped_object = 60410010h

Index =6061h Subin. = 00h Length = 08h second_mapped_object = 60610008h

Index =60FDh Subin. = 00h Length = 20h third_mapped_object = 60FD0020h

4.) Setting parameters for number of objects

The PDO should contain 3 objects number_of_mapped_objects = 3h

5.) Setting parameters for transmission type

The PDO should be sent whenchanges (to the digital inputs)are sent.

transmission_type = FFh

To ensure that only changes to thedigital inputs result intransmission, the PDO is masked sothat only the 16 bits of theobject 60FDh "come through".

transmit_mask_high = 00FFFF00h

transmit_mask_low = 00000000h

The PDO should be sent no more

than every 10 ms (100×100 μs).inhibit_time = 64h

6.) Setting identifier parameters

The PDO should be sent with identifier 187h.

Writing new identifier: cob_id_used_by_pdo = C0000187h

Activating by deletion of bit 31: cob_id_used_by_pdo = 40000187h

Note that parameter setting of the PDOs may generally only bechanged when the network status (NMT) is not operational.

See also chapter 3.3.3


26/156

3. Access Procedure


3.3.2 Objects for PDO Parameter Setting

The motor controllers of the CMMS/CMMD series contain a total of two transmit and two

receive PDOs. The individual objects for setting parameters for these PDOs are the same

for all TPDOs and all RPDOs in each case. For that reason, only the parameter descriptionof the first TPDO is explicitly listed. The meaning can also be used for the other PDOs,

which are listed in table form in the following:

Index 1800h

Name transmit_pdo_parameter_tpdo1

Object Code RECORD

No. of Elements 3

Sub-Index 01h

Description cob_id_used_by_pdo_tpdo1

Data Type UINT32

Access rw

PDO Mapping no

Units -

Value Range 181h ... 1FFh, Bit 30 and 31 may be set

Default Value C0000181h

Sub-Index 02h

Description transmission_type_tpdo1

Data Type UINT8

Access rw

PDO Mapping no

Units -

Value Range 0 ... 8Ch, FEh, FFh

Default Value FFh

Sub-Index 03h

Description inhibit_time_tpdo1

Data Type UINT16

Access rw

PDO Mapping no

Units 100 μs (i.e. 10 = 1ms)

Value Range --

Default Value 0


27/156

3. Access Procedure


Index 1A00h

Name transmit_pdo_mapping_tpdo1

Object Code RECORD

No. of Elements 4

Sub-Index 00h

Description number_of_mapped_objects_tpdo1

Data Type UINT8

Access rw

PDO Mapping no

Units --

Value Range 0 ... 4

Default Value see table

Sub-Index 01h

Description first_mapped_object_tpdo1

Data Type UINT32

Access rw

PDO Mapping no

Units --Value Range --


Sub-Index 02h

Description second_mapped_object_tpdo1

Data Type UINT32

Access rw

PDO Mapping no

Units --

Value Range --



28/156

3. Access Procedure


Sub-Index 03h

Description third_mapped_object_tpdo1

Data Type UINT32

Access rw

PDO Mapping no

Units --

Value Range --


Sub-Index 04h

Description fourth_mapped_object_tpdo1

Data Type UINT32

Access rw

PDO Mapping no

Units --

Value Range --


Observe that the object groups transmit_pdo_parameter_xxx andtransmit_pdo_mapping_xxx can only be written when the PDO is

deactivated (bit 31 in cob_id_used_by_pdo_xxx set)

1. Transmit-PDO

Index Comment Type Acc. Default Value

1800h_00h number of entries UINT8 ro 03h

1800h_01h COB-ID used by PDO UINT32 rw C0000181h

1800h_02h transmission type UINT8 rw FFh

1800h_03

h inhibit time (100 μs) UINT16 rw 0000

h

1A00h_00h number of mapped objects UINT8 rw 01h

1A00h_01h first mapped object UINT32 rw 60410010h

1A00h_02h second mapped object UINT32 rw 00000000h

1A00h_03h third mapped object UINT32 rw 00000000h

1A00h_04h fourth mapped object UINT32 rw 00000000h


29/156

3. Access Procedure


2. Transmit-PDO





1801h_03h inhibit time (100 μs) UINT16 rw 0000h

1A01h_00h number of mapped objects UINT8 rw 02h

1A01h_01h first mapped object UINT32 rw 60410010h

1A01h_02h second mapped object UINT32 rw 60610008h

1A01h_03h third mapped object UINT32 rw 00000000h

1A01h_04h fourth mapped object UINT32 rw 00000000h

tpdo_1_transmit_mask



2014h_01h tpdo_1_transmit_mask_low UINT32 rw FFFFFFFFh

2014h_02h tpdo_1_transmit_mask_high UINT32 rw FFFFFFFFh

tpdo_2_transmit_maskIndex Comment Type Acc. Default Value


2015h_01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh

2015h_02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh

1. Receive-PDO





1600h_00h number of mapped objects UINT8 rw 01h

1600h_01h first mapped object UINT32 rw 60400010h

1600h_02h Second mapped object UINT32 rw 00000000h

1600h_03h third mapped object UINT32 rw 00000000h

1600h_04h fourth mapped object UINT32 rw 00000000h


30/156

3. Access Procedure


2. Receive-PDO





1601h_00h number of mapped objects UINT8 rw 02h

1601h_01h first mapped object UINT32 rw 60400010h

1601h_02h Second mapped object UINT32 rw 60600008h

1601h_03h third mapped object UINT32 rw 00000000h

1601h_04h fourth mapped object UINT32 rw 00000000h

3.3.3 Activation of PDOs

For the motor controller to send or receive PDOs, the following points must be met:

- The object number_of_mapped_objects must not equal zero.

- In the object cob_id_used_for_pdos, bit 31 must be deleted.

- The communication status of the motor controller must be operational

(see chapter 3.7 Network Management: NMT Service)

For parameters to be set for PDOs, the following points must be met:

- The communication status of the motor controller must not be operational.

3.4 SYNC-MessageSeveral devices of a system can be synchronised with each other. To do this, one of the

devices (usually the higher-order controller) periodically sends out synchronisation

messages. All connected controllers receive these messages and use them for treatment

of the PDOs (see chapter 0 ).

Identifier: 80h

80h 0

Data length

The identifier on which the motor controller receives the SYNC message is setpermanently to 80h. The identifier can be read via the object cob_id_sync.


31/156

3. Access Procedure


Index 1005h

Name cob_id_sync

Object Code VAR

Data Type UINT32

Access rw

PDO Mapping no

Units --

Value Range 80000080h, 00000080h

Default Value 00000080h

3.5 EMERGENCY-MessageThe motor controller monitors the function of its major assemblies. These include the

power supply, output stage, angle encoder evaluation and technology connections.

In addition, the motor (temperature, angle encoder) and limit switch are checked.

Incorrect parameter setting can also result in error messages (division by zero, etc.).

When an error occurs, the error number is shown in the motor controller's display.

If several error messages occur simultaneously, the message with the highest priority

(lowest number) is always shown in the display.

3.5.1 Structure of the EMERGENCY-Message

When an error occurs, the motor controller transmits an EMERGENCY message.The identifier of this message is put together from the identifier 80h and node number of

the affected motor controller.

The EMERGENCY message consists of eight data bytes, whereby the first two bytes

contain an error_code, which is listed in the following table. An additional error code is in

the third byte (object 1001h ). The remaining five bytes contain zeros.

error_codeIdentifier: 80h +

node number error_register (Obj. 1001h )

81h 8 E0 E1 R0 0 0 0 0 0

Data length


32/156

3. Access Procedure


The following error codes can occur:

Error message

errorcode(hex)

Display Message Causes Measures Errorreaction 1)

2311 E311 I²t error

controller

(I²t at 100 %)

I²t monitoring of the

controller has been

triggered.

Check power dimensioning of

drive package.

PS off 2)

2312 E310 I²t error motor

(I²t at 100 %)

I²t monitoring of the

controller has been

triggered.

Motor/mechanics blocked or

hard to move?

Warn 2)

2320 E060 Overload

current,

intermediate

circuit /

output stage

Motor defective?

Short-circuit in cable?

Output stage

defective?

Check motor, cable and

controller.

PS off

2380 E190 I²t at 80 % Common error:

80 % of the maximum

I²t workload from the

controller or motor

has been achieved.

Motor/mechanics blocked or

hard to move?

Warn 2)

3210 E070 Overvoltagein the

intermediate

circuit

Voltage energyrecovery through

motor application.

Braking of larges

masses.

Check the connection to thebraking resistor.

Check design (application).

PS off

3220 E020 Undervoltage

intermediate

circuit

Intermediate voltage

drops below the

parametrised

threshold.

Quick discharge due to

switched-off mains supply.

Check power supply.

Couple intermediate circuits if

technically permissible.Check intermediate circuit

voltage (measure).

Check undervoltage monitor

(threshold value).

PS off 2)

3280 E320 Only

CMMS-AS/

CMMD-AS:

Error,

IC pre-charge

Intermediate circuit

could not be charged

(UZK < 150V)

Check mains voltage.


33/156

3. Access Procedure


Error message

errorcode(hex)


3285 E328 Only

CMMS-AS/

CMMD-AS:

Error,

controller

enable

without IC

Power failure with

granted controller

enable

Check mains voltage.

4210 E040 Excess/low

temperature

of power

electronics

Device is overheated.

Device overloaded.

Temperature display

plausible?

Check installation conditions

(cooling: via the housing

surface, the integrated heat

sink and back wall)

PS off 2)

4280 E181 Output stage

temperature

5 °C below

maximum

CMMS-ST:

The output stage

temperature is greater

than 80 °C

CMMS-AS/CMMD-AS:

The output stage

temperature is greater

than 90 °C

Check installation conditions

(cooling: via the housing

surface, the integrated heat

sink and back wall)

PS off 2)

4310 E030 Temperature

monitoring,

motor

Motor too hot?

Suitable sensor?

Broken cable?

Sensor defective?

Check parametrisation (current

regulator, current limit values)

If the error remains even when

the sensor is bridged: Device

defective.

PS off

4310 E031 Temperature

monitoring,

motor

Error, dig. motor

temperature sensor.

Check parametrisation (current

regulator, current limit values)

If the error remains even when

the sensor is bridged:

Device defective.

PS off 2)

4380 E180 Motor

temperature

5 °C below

maximum

The motor

temperature is less

than 5 °C under the

parametrised

maximum

temperature

Check parameters

(current regulator, current

limits)

Ignore 2)


34/156

3. Access Procedure


Error message

errorcode(hex)


5114 E050 5 V supply

fault

Monitoring of the

internal power supply

has recognised

undervoltage.

Either an internal

defect or an overload

The fault cannot be rectified

automatically.

Send motor controller to the

manufacturer.

PS off

5115 E051 Error, 24V

power supply

(out of range)

16V < U24V < 32V =

OK, otherwise NOK

PS off

5116 E052 Error, 12 V

electronic

power supply

11V < U12V < 13V =

OK, otherwise NOK

Separate device from the

entire peripheral equipment

and check whether the error isstill present after reset. If yes,

there is an internal defect and

a repair by the manufacturer is

necessary

PS off

5210 E210 Error, offset

current

measurement

The controller

performs offset

compensation of the

current measurement.

Tolerances that are

too large result in an

error.

If the error occurs repeatedly,

the hardware is defective.

Send motor controller to the

manufacturer.

PS off

5581 E261 Checksum

error

Checksum error of a

parameter set

Load factory settings. If the

error remains, the hardware

may be defective.

PS off

6081 E251 Hardware

fault

Motor controller and

firmware are not

compatible

Update the firmware. PS off

6180 E010 Stackoverflow

Incorrect firmware?Sporadic high

calculation load due

to cycle time that is

too short and special

calculation-intensive

processes (save

parameter set, etc.)

Load an enabled firmware.

Reduce calculation load.

Contact the technical support

team.

PS off

6183 E163 Unexpected

status /programming

error

The software has

taken an unexpectedstatus.

In case of repetition, load

firmware again. If the erroroccurs repeatedly, the

hardware is defective.

PS off


35/156

3. Access Procedure


Error message

errorcode(hex)


6187 E162 Initialization

error

Error in initializing the

default parameters.

In case of repetition, load

firmware again. If the error

occurs repeatedly, the

hardware is defective.

PS off

6191 E429 Error in

position

record

Common error:

1. An attempt is being

made to start an

unknown or

deactivated position

record.

2. The set acceleration

is too small for the

permissible maximum

speed. (Danger of a

calculation overflow in

the trajectory

calculation)

Check parametrisation and

sequence control, correct if

necessary.

PS off

6192 E419 Error, jump

destinationroute

program

Jump to a position

record outside thepermitted range

Check parametrisation PS off

6193 E418 Error, record

continuation,

unknown

command

Unknown command

found during record

continuation


6195 E702 General

arithmetic

error

The FHPP factor group

cannot be calculated

correctly.

Check the factor group PS off

6197 E149 Error, motor

identification

Error in automatic

determination of the

motor parameters.

Ensure sufficient intermediate

circuit voltage.

Encoder cable connected to

the right motor?

Motor blocked, e.g. holding

brake does not release?

PS off


36/156

3. Access Procedure


Error message

errorcode(hex)


6199 E351 Time out for

quick stop

The parametrised time

for quick stop has

been exceeded


6380 E703 Operating

mode error

Unallowed change of

the operating mode.

For example, torque

control for CMMS-ST

in the controlled mode

or parametrisation

mode under FHPP,

change of the

operating mode with

enabled output stage.

Check your application. It may

be that not every change is

permissible.

PS off 2)

7380 E082 Encoder

supply fault

4V < U_Encoder < 6V =

OK, otherwise NOK

- Test with another encoder

- Test with another encoder

cable

- Test with another controller

PS off

7386 E086 Only

CMMS-AS/

CMMD-AS:

SINCOS-

RS485

communi-

cation error

Communication to

serial angle encoders

faulty

(EnDat−encoder,

HIPERFACE−encoder,

BiSS−encoder).

Angle encoder

connected?

Angle encoder cable

defective?

Angle encoderdefective?

Check configuration of angle

encoder interface: procedure

corresponding to a) to c):

a) Serial encoder parametrised

but not connected?

Incorrect serial protocol

selected?

b) Encoder signals faulty?

c) Test with another encoder.

PS off


37/156

3. Access Procedure


Error message

errorcode(hex)


7388 E088 Only

CMMS-AS/

CMMD-AS:

Internal angle

encoder error

Alarm bit set in the

EnDat encoder.

Possible causes:

Encoder- or manufacturer-

specific, e.g. a declining

illumination intensity for

optical encoders or excessive

speed. If the error occurs

permanently:

Test with another (error-free)

encoder (also replace the

connecting cable).Encoder presumably

permanently defective.

PS off

7500 E220 PROFIBUS

faulty

initialization

Extension module

defective?

Please contact Technical

Support.

PS off 2)

7500 E222 PROFIBUS

Communi-

cation fault

Faulty initialization of

the Profibus

technology module.

Technology module

defective?

Check slave address set

Check bus termination

Check wiring

PS off 2)

7510 E790 RS232

communi-

cation error

Overflow during

reception of RS232

commands

Check wiring.

Check of the transmitted data.

PS off 2)

7582 E642 DeviceNet

communi-

cation error

Input buffer

overflowed

Too many messages

received within a short

period.

Reduce the scan rate. PS off 2)

7582 E643 DeviceNet

communi-

cation error

Transmission buffer

overflowed

Not sufficient free

space on the CAN bus

for sending messages.

Increase the baud rate, reduce

the number of nodes or reduce

the scan rate.

PS off 2)


38/156

3. Access Procedure


Error message

errorcode(hex)


7582 E644 DeviceNet

communi-

cation error

IO-message could not

be sent

Check that the network is

connected correctly and has no

faults.

PS off 2)

7582 E645 DeviceNet

communi-

cation error

Bus off Check that the network is

connected correctly and has no

faults.

PS off 2)

7582 E646 DeviceNet

communi-

cation error

Overflow in the CAN

controller

Increase the baud rate, reduce

the number of nodes or reduce

the scan rate.

PS off 2)

7582 E651 DeviceNet

communi-

cation error

Timeout of the I/O

connection

No I/O message

received within the

expected time.


Support.

PS off 2)

7583 E651 DeviceNet

initialisation

error

Node number on hand

twice

Check the configuration PS off 2)

7584 E641 DeviceNet

general error

No 24 V bus voltage In addition to the motor

controller, connect the

DeviceNet module to 24 VDC.

PS off 2)

7584 E650 DeviceNet

general error

Common error:

Communication is

activated although no

technology module is

plugged in.

The DeviceNet

technology module is

attempting to readunknown CO.

Unknown

DeviceNet error.

PS off 2)

7680 E290 SD card

not available

Tried to access

missing SD card.

Check:

- whether SD card is plugged in

correctly

- whether SD card is formatted

- whether compatible SD card

is plugged in.

Warn 2)


39/156

3. Access Procedure


Error message

errorcode(hex)


7681 E291 SD card

initialization

error

Error on initialization /

communication not

possible

Plug card back in.

Check card (file format FAT).

If necessary, format card.

PS off 2)

7682 E292 SD card

parameter set

error

Checksum wrong /

File not available /

File format wrong /

Error saving the

parameter file on the

SD card

Check content (data) of the SD

card.

PS off 2)

8000 E052 Error, driver

power supply

Error in the plausibility

check of the driver

power supply

(reliable halt)

Separate device from the

entire peripheral equipment

and check if the fault is still

present after reset. If yes,

there is an internal defect and

a repair by the manufacturer is

required.

PS off


power supply

The driver supply is

still active despite the

"Safe Halt".

The internal logic might

malfunction due to high-

frequency switchingoperations at the input for the

safe halt.

Check activation; the error

must not recur.

If the error occurs repeatedly

when the safe halt is activated:

check firmware (released

version?).

If all above possibilities havebeen excluded, the hardware

of the motor controller is

defective.

PS off


40/156

3. Access Procedure


Error message

errorcode(hex)



power supply

The driver supply is

activated again, even

though the

"Safe Halt" is still

requested.

The internal logic might

malfunction due to high-

frequency switching

operations at the input for the

safe halt.

Check activation; the error

must not recur.


when the safe halt is activated:

check firmware

(released version?).

If all above possibilities have

been excluded, the hardware

of the motor controller is

defective.

PS off


power supply

The driver supply does

not go on again, even

though the

"Safe Halt" signal isno longer active.


when safe halt is being

deactivated, the hardware of

the motor controller isdefective.

PS off

8087 E453 Error

plausibility

DIN4 (output

stage enable)

Error in the plausibility

check of the output

stage enable


Support.

PS off

8100 E760 Only

CMMD-AS:

Error SSIO

communi-

cation

(axis 1 –

axis 2)

Common error:

1. Checksum error

during transfer of the

SSIO protocol

2. Timeout during

transmission

Check wiring.

Check whether the screening

of the motor cables is correctly

set up (EMC problem).

If the SSIO communication is

not necessarily needed

(e.g. no fieldbus module is

used, and the axes are

controlled separately over

I/Os, so this error may be

ignored.)

PS off 2)


41/156

3. Access Procedure


Error message

errorcode(hex)


8100 E761 Only

CMMD-AS:

Error SSIO

communi-

cation (axis 2)

SSIO partner has

error 760

The error is triggered when the

other axis has reported an

SSIO communication error.

For example, if axis 2 reports

the error 76-0, the axis 1 of the

error 76-1 is triggered.

Measures and description of

the error response as with

error 76-0.

PS off 2)

8181 E122 CANcommuni-

cation error

Common error:

1. Error when sending

a message

(e.g. no bus

connected)

2. Timeout during

reception of the SYNC

messages in the

interpolated position

mode

Check wiring:

Cable specifications complied

with, broken cable, maximum

cable length exceeded,

terminating resistors correct,

cable screening earthed, all

signals displayed?

Replace device on a test basis.

If another device works

correctly with the same wiring,

send device to the

manufacturer for testing.

Check start sequence of the

application.

PS off 2)

8488 E424 Homing

required

No positioning

possible without

homing. Homing run

must be carried out

Reset optional parametrisation

"Homing required".

Carry out a new homing run

after acknowledgement of an

angle encoder error.

Warn 2)

8611 E170 Contouring

error limit

value

exceeded

Comparison threshold

for the limit value of

the contouring error

exceeded.

Enlarge error window.

Acceleration parameter too

large.

PS off 2)

8612 E400 Error SW limit

switch

reached

Negative SW limit

switch reached.

Check target data.

Check positioning area.

Warn 2)


switch

reached

Positive SW limit

switch reached.

Check target data.


Warn 2)


42/156

3. Access Procedure


Error message

errorcode(hex)



switch

reached

Target position lies

behind the negative

SW limit switch

Check target data.


Warn 2)


switch

reached

Target position lies

behind the positive

SW limit switch.

Check target data.


Warn 2)

8612 E430 Fault in limit

switch

Negative hardware

limit switch reached.

Check parameters, wiring and

proximity switches.

Warn 2)


switch

Positive hardware

limit switch reached.


proximity switches.

Warn 2)


switch

Both hardware limit

switches are active

simultaneously.


proximity switches.

Warn 2)

8681 E421 Positioning:

Error in

precalculation

The positioning target

cannot be reached

through the

positioning or edge

condition options.

Check parametrisation of the

position records in question.

PS off 2)

8A81 E111 Error during

homing

Homing was

interrupted,

e.g. by withdrawal of

controller release or

through limit

switches.

Check homing sequence.

Check arrangement of the

switches.

Possibly lock stop input during

homing, if undesirable.

PS off Switch off power section

Qstop Fast stop

Warn Warning

1)

Ignore Ignore

2) Changeable with FCT


43/156


44/156

3. Access Procedure


Index 1003h

Name pre_defined_error_field

Object Code ARRAY

No. of Elements 4

Data Type UINT32

Sub-Index 01h

Description standard_error_field_0

Access ro

PDO Mapping no

Units --

Value Range --

Default Value --

Sub-Index 02h


Access ro

PDO Mapping no

Units --

Value Range --

Default Value --

Sub-Index 03h


Access ro

PDO Mapping no

Units --

Value Range --

Default Value --

Sub-Index 04h


Access ro

PDO Mapping no

Units --

Value Range --

Default Value --


45/156

3. Access Procedure


Object 1014h_00h: cob-id_emergency_object

Sub-Index 00h

Description cob-id_emergency_object

Data Type UINT32

Access rw

PDO Mapping no

Units --

Value Range --

Default Value 80h + Node-ID

3.6 Heartbeat / Bootup (Error Control Protocol)

3.6.1 Structure of the Heartbeat Message

The so-called Heartbeat protocol is implemented to monitor communication between

slave (drive) and master: Here, the drive sends messages cyclically to the master.

The master can check whether these messages occur cyclically and introduce appropriate

measures if they do not. The Heartbeat telegram is transmitted with the identifier700h + node number . It contains only 1 byte of user data, the NMT status of the motor

controller (see chapter 3.7: Network Management: NMT Service).

NMT statusIdentifier: 700h +

node number

701h 1 N

Data length

N Significance

04h Stopped

05h Operational

7Fh Pre-Operational


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3. Access Procedure


3.6.2 Structure of the Bootup Message

After the power supply is switched on or after a reset, the motor controller reports via a

Bootup message that the initialisation phase is ended. The motor controller is then in the

NMT status preoperational (see chapter 3.7: Network Management: NMT Service)Bootup message identifierIdentifier: 700h +

node number

701h 1 0

Data length

The Bootup message is structured almost identically to the Heartbeat message.

Only a zero is sent instead of the NMT status.


Object 1017h: producer_heartbeat_time

The time between two Heartbeat telegrams can be established via the objectproducer_heartbeat_time.

Index 1017h

Name producer_heartbeat_time

Object Code VAR

Data Type UINT16

Access rw

PDO Mapping no

Units ms

Value Range 0 ... 65536

Default Value 0

The producer_heartbeat_time can be stored in the parameter record. If the motor

controller starts with producer_heartbeat_time not equal to zero, the bootup message is

the first heartbeat.

The motor controller can only be used as a so-called heartbeat producer. The object 1016h

(consumer_heartbeat_time) is therefore implemented only for compatibility reasons and

always returns 0.


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3. Access Procedure


3.7 Network Management (NMT Service)All CANopen devices can be triggered via the Network Management. The identifier with

the highest priority (000h ) is reserved for this.

By means of NMT, commands can be sent to one or all controllers. Each commandconsists of two bytes, whereby the first byte contains the command specifier (cs) and the

second byte the node ID (ni) of the addressed controller. Through the node ID zero, all

nodes in the network can be addressed simultaneously. It is thus possible, for example,

that a reset is triggered in all devices simultaneously. The controller does not

acknowledge the NMT commands. Successful completion can only be determined

indirectly (e.g. through the switch-on message after a reset).

Structure of the NMT Message:

Command specifierIdentifier: 000h

Node ID

000h 2 CS NI

Data length

For the NMT status of the CANopen node, statuses are established in a status diagram.Changes in statuses can be triggered via the CS byte in the NMT message. These are

largely oriented on the target status.

Reset Application

Reset

Communication

Initialising

Pre-Operational

(7Fh)

Operational

(05h)

Stopped

(04h)

1

2

5 7

6 8

3 4

16

15

11

13

12

10

9

14

Initialisation

Fig. 3.2 NMT state machine


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3. Access Procedure


The NMT status of the motor controller can be influenced via the following commands:

CS Significance Transitions Target status

01h Start Remote Node 3, 6 Operational (05h )

02h Stop Remote Node 5, 8 Stopped (04h )

80h Enter Pre-Operational 4, 7 Pre-Operational (7Fh )

81h Reset Application 12, 13, 14 Reset Application *1)

82h Reset Communication 9, 10, 11 Reset Communication *1)

*1) The final target status is pre-operational (7Fh ), since the transitions 15, 16 and 2 are automatically

performed by the motor controller.

All other status transitions are performed automatically by the motor controller,

e.g. because the initialisation is completed.

In the NI parameter, the node number of the motor controller must be specified or zero if

all nodes in the network are to be addressed (broadcast). Depending on the NMT status,

certain communication objects cannot be used: So, for example, it is absolutely necessary

to place the NMT status to Operational, so that the motor controller sends PDOs.

Name Significance SDO PDO NMT

Reset Application No Communication. All CAN objects are reset to their

reset values (application parameter set)- - -

Reset Communication No communication

The CAN controller is newly initialised. - - -

Initialising Status after hardware reset. Resetting of the CAN node,

Sending of the bootup message- - -

Pre-Operational Communication via SDOs possible

PDOs not active (no sending / evaluating) X - X

Operational Communication via SDOs possible

All PDOs active (sending / evaluating) X X X

Stopped No communication except for heartbeating - - X

NMT telegrams must not be sent in a burst (immediately one afteranother)!At least twice the position controller cycle time must lie betweentwo consecutive NMT messages on the bus (also for differentnodes!) for the motor controller to process the NMT messagescorrectly.

The communication status must be set to operational for the motorcontroller to transmit and receive PDOs.


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3. Access Procedure


3.8 Nodeguarding (Error Control Protocol)

3.8.1 Overview

The so-called Nodeguarding protocol can also be used to monitor communicationbetween slave (drive) and master. In contrast to the Heartbeat protocol, master and slave

monitor each other:

The master cyclically asks the drive about its NMT status. In every response of the

controller, a certain bit is inverted (toggled). If these responses are not made or the

controller always responds with the same toggle bit, the master can react accordingly.

Likewise, the drive monitors the regular arrival of the master's nodeguarding requests:

If messages are not received for a certain time period, the controller triggers error 12-4.

Since both heartbeat and nodeguarding telegrams are sent with the identifier 700h + node

number , both protocols can be active at the same time. If both protocols are activatedsimultaneously, only the heartbeat protocol is active.

3.8.2 Structure of the Nodeguarding Messages

The master's request must be sent as a so-called remote frame with the identifier 700h +node number . In the case of a remote frame, a special bit is also set in the telegram, the

remote bit. Remote frames have no data.

Identifier:700h

+

node number

701h R 0

The response of the controller is built up analogously to the heartbeat message. It

contains only 1 byte of user data, the toggle bit and the NMT status of the controller.

Toggle bit / NMT statusIdentifier:700h

+

node number

701h 1 T/N

Data length

The first data byte ( T/N ) is constructed in the following way:

bit Value Name Significance

7 80h toggle_bit Changes with every telegram

0 ... 6 7Fh nmt_state 04h Stopped

05h Operational

7Fh Pre-Operational

Remote bit (Remote frames have no data)


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3. Access Procedure


The monitoring time for the master's requests can be parametrised. Monitoring begins

with the first received remote request of the master. From this time on, the remote

requests must arrive before the monitoring time has passed, since otherwise error 12-4 is

triggered.

The toggle bit is reset through the NMT command Reset Communication. It is therefore

deleted in the first response of the controller.


Object 100Ch: guard_time

To activate the nodeguarding monitoring, the maximum time between two remote

requests of the master is parametrised. This time is established in the controller from theproduct of

guard_time (

100Ch ) and

life_time_factor (

100Dh ). It is therefore recommended

to write the life_time_factor with 1 and then specify the time directly via the guard_time

in milliseconds.

Index 100Ch

Name guard_time

Object Code VAR

Data Type UINT16

Access rw

PDO Mapping noUnits ms

Value Range 0 ... 65535

Default Value 0

Object 100Dh: life_time_factor

The life_time_factor should be written with 1 in order to specify the guard_time directly.

Index 100Dh

Name life_time_factor

Object Code VAR

Data Type UINT8

Access rw

PDO Mapping no

Units --

Value Range 0, 1

Default Value 0


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3.9 Table of IdentifiersThe following table gives an overview of the identifiers used:

Object type Identifier (hexadecimal) Comment

SDO (Host an Controller) 600h+node number

SDO (Controller an Host) 580h+node number

TPDO1 181h

TPDO2 281h

RPDO1 201h

RPDO2 301h

Standard values.

Can be changed if needed.

SYNC 080h

EMCY 080h +node numberHEARTBEAT 700h+node number

BOOTUP 700h+node number

NMT 000h


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4. Setting Parameters


4. Setting ParametersBefore the motor controller can carry out the desired task (torque regulation, speed

adjustment, positioning), numerous parameters of the motor controller must be adapted

to the motor used and the specific application. The sequence in the subsequent chaptersshould be followed thereby. After setting of the parameters, device control and use of the

various operating modes are explained.

The 7-segment display of the motor controller shows an "A"(Attention) if the motor controller has not been parametrisedappropriately yet.

Besides the parameters described in depth here, the object directory of the motor

controller contains other parameters that have to be implemented in accordance with

CANopen. But they normally do not contain any information that can sensibly be used in

designing an application with the CMMS/CMMD family. If needed, specification of such

objects can be read in [1] and [2] (see page 12 ).

4.1

festo can open cmms

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