lexium canopen user manual 3500571300

CANopenCANopen communication profilefor servo amplifiers

eng Version 1.0

Document Set

Document Set

Reference torelateddocument

Complete documentation for the Lexium series of digital servo amplifiers:

Additional documentation:

Title Publisher

Unilink commissioning software manual Schneider

LEXIUM instructions for mounting, installation and commissioning Schneider

Title Publisher

CAN Application Layer (CAL) for Industrial Applications CiA e.V.

Draft standards 102, 201 ..207, 301 CiA e.V.

CAN Specification Version 2.0 PhilipsSemiconductors

ISO 11898 ...Controller area network (CAN) for high-speedcommunication

-

Transmission technical profile / Profil 21 DRIVECOM

Transmission technical profile / Servo 22 DRIVECOM

April 2002 3

Document Set

4 April 2002

Table of Contents

About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Chapter 1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Abbreviations used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Using the CANopen interface in accordance with its intended use. . . . . . . . . . . 15Power characteristics of the CANopen communication profile . . . . . . . . . . . . . . 16Representation of numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Adaptation of the bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18BUSOFF communication error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Chapter 2 Installation / Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . .23At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Installation, connection and setting the station address . . . . . . . . . . . . . . . . . . . 24Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Chapter 3 Configuration of LEXIUM CANopen on Premium PLC with TSXCPP 100 card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Communication configuration via PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Chapter 4 CANopen communication profile . . . . . . . . . . . . . . . . . . . . . . . 39At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

4.1 General information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41General description of CAN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4.2 Structure of a communication object (COB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Description of the COB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4.3 Construction of the COB identifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43The COB identifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.4 Definition of the data types used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Basic data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4.5 Communication objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48Network management (NMT) objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Synchronization Object (SYNC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Time stamp object (TIME). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

5

Emergency object (EMCY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Service data object (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Process data object (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Chapter 5 CANopen communication profile . . . . . . . . . . . . . . . . . . . . . . . 61At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.1 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Description of "Emergency" messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.2 General definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62SDO : Device type (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64SDO : Error register (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65SDO : Manufacturer status register (DS301) . . . . . . . . . . . . . . . . . . . . . . 66SDO : Predefined error field (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68SDO : Number of supported PDOs (DS301) . . . . . . . . . . . . . . . . . . . . . . 70SDO : COB-ID of the SYNC Message (DS301) . . . . . . . . . . . . . . . . . . . . 72SDO : Communication Cycle Period (DS301) . . . . . . . . . . . . . . . . . . . . . 73SDO : Synchronous Window Length (DS301) . . . . . . . . . . . . . . . . . . . . . 74SDO : Manufacturer Device Name (DS301) . . . . . . . . . . . . . . . . . . . . . . . 75SDO : Manufacturer Software Version (DS301). . . . . . . . . . . . . . . . . . . . 76SDO : Node-ID (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77SDO : Guard Time (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78SDO : Lifetime Factor (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79SDO : COB-ID Node Guarding (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . 80SDO : Number of supported SDOs (DS301) . . . . . . . . . . . . . . . . . . . . . . 81SDO : Store Parameters (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82SDO : COB-ID for Time Stamp Messages (DS301) . . . . . . . . . . . . . . . . . 84SDO : High-Resolution Time Stamp (in preparation) (DS301) . . . . . . . . . 85SDO : COB-ID for Emergency Messages (DS301) . . . . . . . . . . . . . . . . . 86SDO : Identity object (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5.3 PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89Handling PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5.4 Receive-PDO (RPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Overview of the RPDOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92PDO Control word (1) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94PDO Receive ASCII channel (21) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95PDO Current / Speed setpoint (22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96PDO Setpoint 2 (32). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97PDO Trajectory (33). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98PDO Motion block (34). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100PDO Start motion block (35) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101PDO Free Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

1000h1001h1002h1003h1004h1005h1006h1007h1008h100Ah100Bh100Ch100Dh100Eh100Fh1010h1012h1013h1014h1018h

6

5.5 RPDO object description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103SDO to : to receive-PDO communication parameter(DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104SDO to : to receive-PDO mapping parameter (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

SDO to : to receive-PDO selected. . . . . . . . . . . . . . . 106SDO : to Configuration of receive-PDO 33 . . . . . . . . . . . . . . 107

5.6 Transmit-PDO (TPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108Overview of the TPDOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109PDO Status word (1) (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111PDO Transmit ASCII channel (21) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112PDO Actual position (22). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113PDO Enhanced status (23) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114PDO Actual position (2) (32) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114PDO Incremental actual position (33) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115PDO Free Definition (37 to 40) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5.7 TPDO object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121SDO to : to Transmit-PDO communication parameter(DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122SDO to : to Transmit-PDO mapping parameter (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

SDO to : to Transmit-PDO selected . . . . . . . . . . . . 124SDO to : Mask 1 to 4 for transmit-PDOs . . . . . . . . . . . . . . . . . . 125

5.8 Device control (dc) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Device control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.9 Device control (dc) object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131SDO : Control word (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132SDO : Status word (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135SDO : Modes of operation (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . 137SDO : Mode of operation display (DS402) . . . . . . . . . . . . . . . . . . . . . . . 139

5.10 Factor groups (fg) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140Relationship between Physical and Internal Units . . . . . . . . . . . . . . . . . . . . . . 140

5.11 Factor groups object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141SDO : Velocity notation index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . 142SDO : Velocity dimension index (DS402) . . . . . . . . . . . . . . . . . . . . . . . 143SDO : Position factor (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144SDO : Velocity encoder factor (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . 146SDO : Accelerator factor (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

1400h 1403h 1er

4eme

1600h 1603h 1er

4eme

2600h 2603h 1er

4eme

2721h 1er

4eme

1800h 1803h 1er

4eme

1A00h 1A03h 1er

4eme

2A00h 2A03h 1er

4eme

2014h 2017h

6040h6041h6060h6061h

608Bh608Ch6093h6094h6097h

7

5.12 "Current and speed" manufacturer specification . . . . . . . . . . . . . . . . . . . . . . . . 151SDO : Digital current or Speed setpoint . . . . . . . . . . . . . . . . . . . . . . . . . 151

5.13 Setup data for manufacturer-specific "Jogging/Homing" mode . . . . . . . . . . . . . 152SDO : homing for the position mode (LEXIUM) . . . . . . . . . . . . . . . . . . . 152

5.14 "Positioning" mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156SDO : Position controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157SDO : Position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

5.15 Latch function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172SDO : Latch enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

5.16 Manufacturer-specific actual values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173SDO : Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

5.17 Profile Velocity Mode (pv) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182SDO : Velocity actual value (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . 183SDO : Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

5.18 Position Control Function (pc) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185SDO : Position actual value* (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . 186SDO : Position actual value (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5.19 Homing Mode (hm) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188SDO : Home offset (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189SDO : Homing method (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190SDO : Homing speed (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193SDO : Homing acceleration (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . 194Homing Mode Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

5.20 Profile Position Mode (pp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197SDO : Target position (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198SDO : Position range limit (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199SDO : Profile velocity (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201SDO : Profile acceleration (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202SDO : Profile deceleration (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203SDO : Motion profile type (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

5.21 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

Chapter 6 Object Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

6.1 Description of the object "Manufacturer-specific Object Channel". . . . . . . . . . . 211SDO : Manufacturer-specific object channel. . . . . . . . . . . . . . . . . . . . . . 211

2060h

2024h

2020h2022h

2026h

2070h

606Ch60FFh

6063h6064h

607Ch6098h6099h609Ah

607Ah607Bh6081h6083h6084h6086h

3500h

8

Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Appendix A Installation examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229Configuration parameters for CAN bus operation . . . . . . . . . . . . . . . . . . . . . . . 230Basic testing of the connection to the amplifier controls . . . . . . . . . . . . . . . . . . 232Example of operating the Status Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233Example of PDO usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235Example of homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239Example of motion block processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242Example of using the Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 244ASCII Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249Test for Sync telegrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250Sync object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251Emergency Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

Appendix B Special Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253External trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Appendix C Description of the object dictionary . . . . . . . . . . . . . . . . . . . . 261At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261The object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262New configuration of LEXIUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

9

About the Book

At a Glance

Document Scope This manual describes the commissioning, range of functions and software protocolof the LEXIUM 0 servo amplifier with the CANopen COMMUNICATION PROFILE.It forms part of the complete documentation for the Lexium series of digital servoamplifiers.The installation and commissioning of the servo amplifier, as well as all standardfunctions, are described in the corresponding installation manualsThis manual is to be used by qualified personnel, with the following requirements:

CAUTION

Wiring: Professionally qualified electrical technicians.Programming: Software developers, project-planners for systemswith CAN-buses.

Failure to follow this precaution can result in injury or equipmentdamage.

CAUTION

Meaning: general warning - general instructions - mechanical hazard


April 2002 11

About the Book

Validity Note

Revision History

RelatedDocuments

Product RelatedWarnings

User Comments We welcome your comments about this document. You can reach us by e-mail [email protected]

DANGER

Meaning: danger to personnel from electricity and its effects

Failure to follow this precaution will result in death, serious injury,or equipment damage.

Rev. No. Changes

1 Initial version. Voir lesgraphiques qui sont àtraduire ou pas dans tout ledoc. Ne pas traduirecertains garphiques dans :d-sa-0016513 et d-sa-0016515

12 April 2002

April 2002

1
General
At a Glance

Aim of thisChapter

This Chapter describes the commissioning, range of functions and software protocolof the LEXIUM 0 servo amplifier with the CANopen communication profile.It also explains servo amplifier installation and commissioning, as well as allstandard functions.

What's in thisChapter?

This chapter contains the following topics:

Topic Page

Abbreviations used 14

Using the CANopen interface in accordance with its intended use 15

Power characteristics of the CANopen communication profile 16

Representation of numbers 17

Adaptation of the bus 18

BUSOFF communication error 21

13

General

Abbreviations used

Table of symbols The abbreviations used in this manual are explained in the table below:

Abbrev. Meaning

BTB/RTO Ready to operate

COB-ID Communication Object Identifier

EEPROM Electrically erasable/programmable memory

EMC Electromagnetic compatibility

ISO International Standardization Organization

LED Light-emitting diode

MB Megabyte

NSTOP Limit switch for CCW (left) rotation

PC Personal Computer with 80x86 processor

PDO Process Data Object

PSTOP Limit switch for CW (right) rotation

RAM Volatile memory

RES Resolver

ROD Incremental Position Indicator

RPDO Receive PDO

SDO Service Data Object

PLC Programmable logic controller

SW/SETP Setpoint value

TPDO Transmit PDO

14 April 2002

General

Using the CANopen interface in accordance with its intended use

At a Glance Please observe the chapter "Permitted use" in the commissioning manual for theservo amplifier.The interface is a component part of the LEXIUM series of digital servo amplifiers.The CANopen interface serves only for the connection of the servo amplifier to amaster station via a CAN-bus link.The servo amplifiers are components that are built into electrical apparatus ormachinery, and can only be commissioned and operated as integral components ofsuch apparatus or machinery.

CAUTION

We can only guarantee conformity of the servo amplifiers with thefollowing standards for industrial areas when the components that wespecify are used, and the installation regulations are followed:EC EMC Directive 89/336/EECEC Low Voltage Directive 73/23/EEC


April 2002 15

General

Power characteristics of the CANopen communication profile

At a Glance When working with the position controller integrated in the LEXIUM drive, thefollowing functions are available: setup and general functions:

homing, sets reference point, jogging, with a variable speed, provision of a digital setpoint for speed and torque control.

positioning functions: execution of a motion task from the motion block memory of the servo

amplifier, execution of a direct motion task, absolute trajectory.

data transfer functions:> transmit a motion task to the motion block memory of the servo amplifier.A motion task consists of the following elements: position setpoint (absolute task) or path setpoint (relative task), speed setpoint, acceleration time, braking time, rate-of-change/jolt limiting (in preparation), type of motion task (absolute/relative), number of a following task (with or without pause),> read a motion task from the motion block memory of the servo amplifier,> read actual values,> read the error register,> read the status register,> read/write control parameters.

Systemrequirements

Detail: LEXIUM servo amplifier, master station with a CAN-bus interface: (e.g. PC with CAN interface).

Transmissionrate andprocedure

Detail: bus connection and bus medium: CAN-standard ISO 11898 (CAN high-speed), transmission rate: max. 1 Mbit/s

possible settings for the servo amplifier:10, 20, 50, 100, 125, 250, 333, 500 (default), 666, 800, 1000 kBit/s.

16 April 2002

General

Representation of numbers

Application on aPC

The parameter number and value must be entered in the "Intel" format (leastsignificant, then most significant).

Application on the Premium PLC:"LEXIUM" objects are automatically retrieved in the PLC applications in %MWobjects, using the most significant - least significant format.

INTEGER 16 Address n+0 bit 7 ... 0 (LSB)

Address n+1 bit 15 ... 8 (MSB)

INTEGER 32 Address n+0 bit 7 ... 0 (LSB)

Address n+1 bit 15 ... 8

Address n+2 bit 23 ... 16

Address n+3 bit 31 ... 24 (MSB)

Key n Address (absolute)

LSB Least Significant Bit

MSB Most Significant Bit

Negative numbers are represented as 2’s complement.

April 2002 17

General

Adaptation of the bus

Wiring the CAN-BUS

Wiring the CAN BUS between the PCMCIA TSX CCP 100 and the LEXIUM servoamplifiers.Wiring overview:

TSX CPP 100

TSX CPP ACC1Specific wiring

18 April 2002

General

At a Glance In accordance with ISO 11898, you should use a bus cable with a characteristicimpedance of 120 . The usable cable length for reliable communication is reducedas the transmission rate is increased.The following values that we have measured can be used as a guide. They shouldnot, however, be interpreted as limiting values:

Cable length, dependent on the transmission rate:

Longer transmission distances may be achieved with a lower cable capacitance(max. 30 nF/km) and lower lead resistance (loop, 115 /km).

(Characteristic impedance 150 5 -> termination resistance 150 5 ).

For EMC reasons, the SubD connector housing must fulfill the followingrequirements: metal or metallic housing, provision for connecting the cable shielding in the housing, with a large contact

area (metallic housing).The entire cabling system to be used corresponds to the CAN standard.

Cable data: Characteristic impedance 100......120

Cable capacitance max 60 nF/km.

Lead resistance (loop) 159.8 /km

Transmission rate: kbit/s Max. cable length: m

1000 20

500 70

250 115

Ω

Ω

Ω

Ω

± Ω ± Ω

April 2002 19

General

Diagram:

To

Master

LEXIUM female Sub D 9 pin-connectors ACC1 female Sub D 9 pin-connectors

* Adapter resistance according to wiring impedance R = 120 ohms, 1/4 W

20 April 2002

General

BUSOFF communication error

At a Glance The communication fault BUSOFF is directly monitored and signaled by Level 2(CAN controller).This message may have various causes: telegrams are transmitted, although there is no other CAN node connected, CAN nodes have different transmission rates, the bus cable is faulty, faulty cable termination causes reflections on the cable.

A BUSOFF is only signaled by the LEXIUM if another CAN node is connected andat least one object was successfully transmitted to start off with.The BUSOFF condition is signaled by the error message F23.If the output stage is enabled for the execution of a motion task at the moment whenthis fault occurs, then the drive is braked to a stop, using the emergency stop ramp.The output stage is then disabled.

April 2002 21

General

22 April 2002

April 2002

2
Installation / Commissioning
At a Glance

Aim of thisChapter

This Chapter describes the way in which the equipment should be installed andcommissioned.It also describes the connection technique, station address configuration on theCAN Bus, as well as configuration of the data transmission rate.



Topic Page

Installation, connection and setting the station address 24

Commissioning 26

23

Installation and Commissioning

Installation, connection and setting the station address

Installation

Take care that the switchgear cabinet is safely disconnected (lockout,warning signs, etc.) The individual voltages are switched on for the first timeduring commissioning.

Never disconnect the electrical connections to the servo amplifier while it islive. This could destroy the electronics.

Residual charges in the capacitors can still have dangerous levels severalminutes after switching off the supply power. Measure the voltage in the DC-link circuit and wait until the voltage has fallen below 40V.

Even when the motor is not running, power and control cables can still be live.

assemble the servo amplifier as described in the installation instructions forLEXIUM. Observe all safety instructions in the installation instructions that belongto the servo amplifier. Follow all the notes on mounting position, ambientconditions, wiring, and fusing,

the connections for the motor, controls and power, as well as advice on systemlayout for EMC conformance, can be found in the installation instructions for theservo amplifier.

DANGER

Installation precaution

Only install and wire up the equipment in a de-energized condition.Neither the mains/line supply voltage nor the 24V auxiliary voltage northe operating voltage of any other connected equipment may beswitched on.


24 April 2002


Connectionmethods

See installation instructions for LEXIUM.

Setting thestation address

The station address (instrument address on the CAN-Bus) for the servo amplifiercan be set in three different ways: by using the pushbuttons on the front panel (see installation instructions for

LEXIUM), in the Unilink commissioning software on the screen page "Basic settings", using the ASCII command sequence:

ADDR nn then "SAVE" then "COLDSTART" (nn = address)The address range can be expanded from 1 ... 63 to 1 ... 127 by using the ASCII-Object MDRV.

Setting thetransmissionrate

The CAN transmission rate can be set in three different ways:

by using the pushbuttons on the front panel (see installation instructions forLEXIUM),

in the Unilink commissioning software on the screen page "Basic settings", using the ASCII command sequence:

CBAUD bb then "SAVE" then "COLDSTART" (bb = transmission rate).Possible transmission rates are: 10, 20, 50, 100, 125, 250, 333, 500 (default), 666,800, 1000 kBit/s.

April 2002 25


Commissioning

At a Glance

1, check the installation:check that all the safety instructions in the installation instructions for the servoamplifier and this manual have been observed and implemented.Check the setting for the station address.

2, connect the computer, and run the commissioning software:use the Unilink commissioning software to set the parameters for the servo amplifier.

3, start up the basic functions:start up the basic functions of the servo amplifier and optimize the current and speedcontrollers. This section of the commissioning is described in detail in the QuickStartmanual.

4, save the parameters:when the parameters have been optimized, save them in the servo amplifier.

5, establish CAN communication:the altered parameters will only become effective after a software-reset (warm boot).To do this, change to the screen page "Status" and operate the reset button.Requirement: the software protocol described in chapter 3 must be implemented inthe master.Adjust the transmission rate of the LEXIUM to match the master.

6, test CAN communication:recommendation: request the Emergency Object.

DANGER

Only professional personnel with extensive knowledge of control anddrive technology are allowed to commission the servo amplifier.


26 April 2002


7, commission the position controller:commission the position controller, as described in the QuickStart manual.

DANGER

Caution!Make sure that any unintended movement of the drive cannot endangermachinery or personnel.


April 2002 27


28 April 2002

Configuration of LEXIUM on Premium PLC

3Configuration of LEXIUM CANopen on PremiumPLC with TSX CPP 100 card

Communication configuration via PDO

General points The use of PDOs requires: Premium system configuration using the SyCon tool, configuration of the servo amplifiers with the PL7 program using WRITE_VAR

requests.

The PDOs are exchanged using predefined channels: 2 receiving channels, 2 transmitting channels.The maximum size for data is 8 bytes per channel.A channel may be used by only one PDO.

April 2002 29


Overview:

ProgrammingExample PDO 22

In this example, detailed information will be provided on the operations needed toconfigure a PDO.The PDO used is PDO 22, which is used on the RECEIVE 1 channel.

Predefined configuration: command control speed loop or setpoint

Premium configuration: creation of a LEXIUM node using the SyCon tool:

Communicationchannels areconfigured using theSyCon tool.

Communicationchannels areconfigured by PL7 usingWRITE_VAR, according tothe required PDO type.

LEXIUM mapping onCAN is configured using

the SyCon tool

Receive 1

Receive 2

Transmit 1

Transmit 2

SDO H 2600

SDO H 2601

SDO H 2A00

SDO H 2A01

Exchangeusing %MWaccording to

PL7configuration

8 bytesper channel

per channel8 bytes

LEXIUM DriveMHDA xx

Premium

TSX CPP 100

30 April 2002


node mapping corresponding to mapping shown in Unilink "Basic Setup" select a communication channel (receive 1 or 2, transmit 1 or 2)

receive => communication CPU → LEXIUMtransmit => communication LEXIUM → CPU

The selected channel appears in the PDO configuration window:

Click on PDO name in order to choose the parameter to be changed.Warning: the access type must correspond to the PDO type configured in PL7.

MASTER

master TSX CPP 100

LEXIUM

node-ID 60node LEXIUM 17D

nom du PDO

April 2002 31


In the above example, the configured PDO in PL7 is PDO 22. validate your choices with OK and save the file, open the PL7 CANopen (channel 1) configuration screen and link the saved *.co

file using the command: select database.

Read / write values are configured in the input words above.INPUTS index of first word => %MW1511OUTPUTS index of first word => %MW1561

hilscher

Designation: TSX P 57253 PROCESSOR

1 Mbit/sTransmission speed

32

Inputs

No. of words (%MW)

SyCon tool

Configuration loading mode

Select database

CHANNEL 1

CHANNEL 1:

TSX CPP 100 CAN OPEN PCMCIA CARD

CANopen MAST

Bus start-up

Semi-automatic (bus only)

Automatic

By program 1511Index of first %MW32

Outputs

No. of words (%MW)

1561Index of first %MW

Maintain Reset

A:\ exemple_can.co

1029 wordsSize of configuration

PL7 Sycon

128COB-ID Message SYNC

100 msMessage SYNC period

0Auto-Clear

Bus configuration

Watchdog

Deactivated

Activated

32 April 2002


DRIVE configuration:Program the "WRITE_VAR" that correspond to the required channels: Receive 1 Object H 2600 Receive 2 Object H 2601 Transmit 1 Object H 2A00 Transmit 2 Object H 2A01

(*=================================================*)(*access PDO can open WRITE_VAR index 2600 *) (* CONTROL WORD / DIGITAL CURRENT SPEED*)(*=================================================*)IF %M35 THEN %MW2023:=1; %MW2620:=16#2600;(*index identifier*) %MW2621:=16#0000;(*sub-index identifier*) %MW2622:=22;WRITE_VAR(ADR#1.1.SYS,'SDO’,%MD2620,60,%MW2622:2,%MW2020:4); RESET %M35; SET %M170;END_IF;

In the above example, the configured PDO in the drive is PDO 22.


In this example, detailed information will be provided on the operations needed toconfigure a PDO.The PDO used is PDO 34, which is used on the RECEIVE 2 channel (it can only beused on RECEIVE channels).

Predefined configuration: SI position SI speed type of motion (absolute, relative)

Premium configuration: creation of a LEXIUM node using the SyCon tool:

April 2002 33


node mapping corresponding to mapping shown in Unilink "Basic Setup" select a communication channel (receive 1 or 2, transmit 1 or 2)



MASTER

master TSX CPP 100

LEXIUM

node-ID 60node LEXIUM 17D

La longueur réservée doit correspondreà la configuration faite dans PL7

34 April 2002


Configuration corresponding to PDO 34:

In the above example, the configured PDO in PL7 is PDO 34. validate your choices with OK and save the file, open the PL7 CANopen (channel 1) configuration screen and link the saved *.co

file using the command: select database.

Read / write values are configured in the input words above.INPUTS index of first word => %MW1511OUTPUTS index of first word => %MW1561

DRIVE configuration:

(*=======PDO 34 management on RECEIVE 2==========*)(* PDO 34 management on RECEIVE 2 *)

hilscher

Designation: TSX P 57253 PROCESSOR

1 Mbit/sTransmission speed

32

Inputs

No. of words (%MW)

SyCon tool

Configuration loading mode

Select database

CHANNEL 1

CHANNEL 1:

TSX CPP 100 CAN OPEN PCMCIA CARD

CANopen MAST

Bus start-up

Semi-automatic (bus only)

Automatic

By program 1511Index of first %MW32

Outputs

No. of words (%MW)

1561Index of first %MW

Maintain Reset

A:\ exemple_can.co

1029 wordsSize of configuration

PL7 Sycon

128COB-ID Message SYNC

100 msMessage SYNC period

0Auto-Clear

Bus configuration

Watchdog

Deactivated

Activated

April 2002 35


(* VALIDATE THE DRIVE using implicit DRIVE COM REMINDER exchanges: PDO 34 can only be set if the drive is ENABLED*)(*=================================================*)IF %M258 THEN %MW1501:=16#000F; (* Validate the drive *) RESET %M258; SET %M259; JUMP %L99;END_IF;

(* load pdo 34 if drive ENABLED *)

IF %M259 AND %MW1500=16#0027 THEN %MD2836:=34; (*Select PDO*) %MW2020:4:=0; %MW2023:=1; %MW2834:=16#2601;(*index identifier H2601 corresponds to Receive 2*) %MW2835:=16#0000; (*sub-index identifier always 0*)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2834,60,%MW2836:2,%MW2020:4); %MD2836:=0; RESET %M259; SET %M260; JUMP %L99;END_IF;

(* check if configuration of PDO 34 is correct *)

IF %M260 AND NOT %MW2020:X0 THEN %MW2800:=16#2601; (*index identifier H2601 corresponds to Receive 2*) %MW2801:=16#0000; (*sub-index identifier always 0*) %MW2804:2:=0;READ_VAR(ADR#1.1.SYS,'SDO',%MD2800,60,%MW2804:2,%MW2020:4); RESET %M260; SET %M261; JUMP %L99;END_IF;

IF %M261 AND NOT %MW2020:X0 AND %MW2804=34 (*test the value of PDO *)THEN RESET %M261; SET %M262; JUMP %L99;END_IF;

36 April 2002


In the above example, the configured PDO in the drive is PDO 22.

April 2002 37


38 April 2002

CANopen communication profile

4CANopen communication profile

At a Glance

Aim of thisChapter

This Chapter describes the basic services and format structure of CommunicationObjects of the CANopen communication profile DS 301, which are used in theLEXIUM.It is assumed that the basic operating functions of the CAN communication profileare known, and available as reference documentation.


This chapter contains the following sections:

Section Topic Page

4.1 General information 41

4.2 Structure of a communication object (COB) 42

4.3 Construction of the COB identifier 43

4.4 Definition of the data types used 45

4.5 Communication objects 48

April 2002 39


40 April 2002


4.1 General information

General description of CAN

Presentation The transmission method that is used here is defined in ISO 11898 (Controller AreaNetwork CAN for high-speed communication).The protocol (layer 1: physical layer, layer 2: data link layer) that is implemented inall CAN modules transports data, among other things.

Data transport or data request is made by means of a data telegram (Data Frame)with up to 8 bytes of user data.

Communication objects are labelled by an 11-bit Identifier (ID) that also determinesthe priority of objects.

To decouple the application from the communication, a protocol (layer 7: applicationlayer) was developed.The service elements that are provided by the Application Layer make it possible toimplement an application that is spread across the network. These service elementsare described in the CAN Application Layer (CAL) for Industrial Applications.The communication profile CANopen adapted to the servo amplifier profile isimplemented according to the CAN (CAL) application layer.

COB structure Diagram: structure of a Communication Object (COB)

COB-IDSOM

RTR

CTRL Data Segment CRCACK

EOM

SOM Start Of MessageCOB-ID COB Identifier (11-bit)RTR Remote Transmission RequestCTRL Control Field (e.g.: Data Length Code)Data Segment 0...8 byte (Data-COB)

0 byte (Remote-COB)CRC Cyclic Redundancy CheckACK Acknowledge slotEOM End Of Message

April 2002 41


4.2 Structure of a communication object (COB)

Description of the COB

At a Glance Diagram:

COB-IDSOM

RTR

CTRL Data Segment CRCACK

EOM

SOM Start Of MessageCOB-ID COB Identifier (11-bit)RTR Remote Transmission RequestCTRL Control Field (e.g.: Data Length Code)Data Segment 0...8 byte (Data-COB)

0 byte (Remote-COB)CRC Cyclic Redundancy CheckACK Acknowledge slotEOM End Of Message

42 April 2002


4.3 Construction of the COB identifier

The COB identifier

Construction ofthe COBidentifier

The following diagram shows the layout of the COB Identifier (COB-ID).The function Code defines the interpretation and priority of a particular object.

Diagram:

Frame detail:

ID COB defaultvalues

The following table shows the default values for COB Identifiers after switching onthe servo amplifier.The objects, which are provided with an index (Communication Parameters atIndex), can have a new ID assigned after the initialization phase.The indices in brackets are optional.

Predefined broadcast object (send to all nodes):

Bits 0 ... 6 Module ID (station number, range 1 ... 63; is set up in the operator software orthe servo amplifier, see Setting the station address, p. 25.

Bits 7 ... 10 Function Code (number of the communication object that is defined in theserver)

Note: if an invalid station number (=0 or >63) is set, then by default the module IDwill be set to 1. The ASCII Object MDRV can be used to expand the address rangefrom 63 through to 127.

Module-ID Code410 9 8 7 6 5 3 2 1 0

Object Function code (binary) Resulting COB-IDs Communicationparameters at indexDec. Hex.

NMT 0000 0 ---

SYNC 0001 128

TIME 0010 256 ---

0h

80h 1005h

100h

April 2002 43


Peer to peer objects (node sends to node)

Object Functioncode(binary)

Resulting COB-IDs Communicationparameters atindex

Priority

Dec. Hex.

EMERGENCY 0001 129 .. 255..

---

TPDO 1 0011 385 .. 511..

RPDO 1 0100 513 .. 639..

TPDO 2 0101 641 .. 767..

RPDO 2 0110 769 .. 895..

TPDO 3 0110 897 .. 1023..

RPDO 3 1000 1025 .. 1151..

TPDO 4 1001 1153 .. 1279..

RPDO 4 1010 1281 .. 1407..

SDO (tx*) 1011 1409 .. 1535..

SDO (rx*) 1100 1537 .. 1663..

Nodeguard 1110 1793 .. 1919..

* tx = direction of data transmission: LEXIUM to masterrx = direction of data transmission: master to LEXIUM

81h FFhHigh

Low

181h 1FFh 1800h

201h 27Fh 1400h

281h 2FFh 1801h

301h 37Fh 1401h

381h 3FFh 1802h

401h 47Fh 1402h

481h 4FFh 1803h

501h 57Fh 1403h

581h 5FFh

601h 67Fh

701h 77Fh 100eh

44 April 2002


4.4 Definition of the data types used

Basic data types

At a Glance Every type of data can be described by bit sequences that are grouped into "octets"(bytes).The so-called "Little – Endian" format (a.k.a. Intel format) is used for numerical datatypes.

Unsigned Integer Data in the basic data type UNSIGNEDn define exclusively positive integers.

The value range is from: 0... -1.

The bit sequence b = .... defines the values

UNSIGNEDn(b) = + ... + +

Example: the value 266 = 10Ah is transmitted in the data type UNSIGNED16, in the

form of two octets ( octet = 0Ah, octet = 01h).

Transmission syntax for the data type UNSIGNEDn:

Signed Integer Data in the basic data type INTEGERn define both positive and negative integers.

The value range is from: -1... -1.

The bit sequence b = .... defines the value

2n

b0 bn 1–

bn 1– 2n 1– b1 2

1 b0 20

1st

2nd

Number ofoctets

1 2 3 4 5 6 7 8

UNSIGNED8 b7..b0

UNSIGNED16 b7..b0 b15..b8

UNSIGNED24 b7..b0 b15..b8 b23..b16

UNSIGNED32 b7..b0 b15..b8 b23..b16 b31..b24

UNSIGNED40 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32

UNSIGNED48 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32 b47..b40

UNSIGNED56 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32 b47..b40 b55..b48

UNSIGNED64 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32 b47..b40 b55..b48 b63..b56

2–n 1–

2n 1–

b0 bn 1–

April 2002 45


INTEGERn(b) = ( x ) +... + ( x )+ ( x ) with = 0Negative numbers are represented as 2’s complement, which means:INTEGERn(b) = - INTEGERn(b) - 1 with = 1Example: the value -266 = FEF6h is transmitted in the data type INTEGER16, in the

form of two octets ( octet = F6h, octet = FEh).

Transmission syntax for the data type INTEGERn:

Mixed data types Mixed data types combine basic data types (INTEGERn, UNSIGNEDn, REAL).There are two types of data: STRUCT: this data type is composed of elements with different data types, ARRAY: this data type is composed of elements with different data types,

Extended datatypes

Extended data types are derived from basic data types and mixed data types.There are two types of data: OCTET_STRING is defined with the data type ARRAY.

Where length = length of OCTET_STRING.

The data type VISIBLE_STRING can be defined with the data type UNSIGNED8or the data type ARRAY. Permissible values are 00h and the range from 20hto7Eh. The data are interpreted as 7 bit ASCII code (as per ISO 646-1973(E)).

bn 2– 2n 2– b1 2

1 b0 20 bn 1–

1er

2nd

Number ofoctets

1 2 3 4 5 6 7 8

INTEGER8 b7..b0

INTEGER16 b7..b0 b15..b8

INTEGER24 b7..b0 b15..b8 b23..b16

INTEGER32 b7..b0 b15..b8 b23..b16 b31..b24

INTEGER40 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32

INTEGER48 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32 b47..b40

INTEGER56 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32 b47..b40 b55..b48

INTEGER64 b7..b0 b15..b8 b23..b16 b31..b24 b39..b32 b47..b40 b55..b48 b63..b56

ARRAY[length] OF UNSIGNED8 OCTET8STRINGlength

UNSIGNED8 VISIBLE_CHAR

ARRAY[length] OF VISIBLE_CHAR VISIBLE_STRINGlength

46 April 2002


Where length = length of VISIBLE_STRING.

April 2002 47


4.5 Communication objects

At a Glance

Aim of thisSection Communication objects are described with the help of service elements (compliant

and non-compliant ) as well as protocols.All services require faultless operation of the "data link" and "physical layer".

What's in thisSection?

This section contains the following topics:

Topic Page

Network management (NMT) objects 49

Synchronization Object (SYNC) 50

Time stamp object (TIME) 50

Emergency object (EMCY) 50

Service data object (SDO) 52

Process data object (PDO) 57

48 April 2002


Network management (NMT) objects

At a Glance Description of the NMT message:

The drive supports the following network management functions: cs = 129, reset node:

cold-start of the drive, deletes all parameters saved in the RAM and loads the values stored in the

EEPROM or the default values. cs = 1, start remote node:

starts the CAN node,Note: the PDOs of the drive are enabled for operation.From this moment, transmit-PDOs will be transmitted under event control, andcyclical process data operation can commence.

cs = 2, stop remote node: stops the CAN node

Note: the drive no longer responds to any received PDOs or transmits anyPDOs.

requestcs NODE

ID

COB-ID = 0

NMT Master

Start RemoteNode

NMT Slave(s)

indicationindicationindication

CS: command specifier

April 2002 49


Synchronization Object (SYNC)

At a Glance This is a periodic broadcast object and provides the basic clock for the bus.The SYNC object has a high priority to ensure constant time intervals.The usage of this protocol is explained in more detail in the Application (SeeExternal trajectory, p. 253) section of this manual.

Time stamp object (TIME)

At a Glance This communication object is not supported by LEXIUM.

Emergency object (EMCY)

At a Glance EMCY is event-triggered and generated by an internal fault/error situation.This object is transmitted afresh for every error, as the error codes are independentmechanisms.They are described in the chapter "CANopen Drive Profile (See CANopencommunication profile, p. 61)"

Application ofemergencyobjects

The reaction in the event of an error or fault depends on the error class.For this reason, the reaction is described with the aid of an error status machine. Theerror conditions "error-free" and "error occurred" are distinguished.Definition of transitions:

0 After initialization, the error-free status is taken up if no errors are detected. Noerror signal is generated in this condition.

1 Le LEXIUM detects an internal error and indicates this in the first three bytes of theemergency telegram ("error code" in Bytes 0,1 and "error register" in Byte 2).Byte 3 of the manufacturer-specific error field is used to indicate the error category.

2 One error has been reset, but not all. The EMCY telegram contains "Error code"

and the error register indicates the remaining errors that are present.

3 An new error has occurred. The LEXIUM remains in the error status and transmits anEMCY object with the corresponding error code. The new error is entered in bytes 0and 1.

4All errors have been reset. The EMCY telegram contains the error code . The

error register does not indicate any other errors.

0000h

0000h

50 April 2002


Composition ofthe EmergencyObject

The emergency object is composed of 8 bytes, divided as follows:

If an emergency object is generated, the error condition is then signaled to the statusmachine (error free / error occurred) by the generation of a second emergencyobject.Only the first four bytes are relevant in this case (Emergency Error code, Errorregister, Category).

Bytes 0 and 1 contain the "Error Reset" code and byte 2 indicates if apossible further error is present.

If the error register contains , the error status is error-free.Byte 3 contains the category.The interpretations of the error numbers (error code) and the error categories aredescribed in the section "Emergency Messages (See Emergency Messages,p. 66)".

The error register is defined through object "Error register".

Error-Free

0

1 4

3

2

Error-Occurred

Byte 0 1 2 3 4 5 6 7

Content Error code(section 4.1)

Error Register Category Reserved

0000h

00h

1001h

April 2002 51


Service data object (SDO)

At a Glance This SDO is used to implement access to the Object Dictionary. The SDOs arerequired for parametrerization and for status polling. Access to an individual objectis made with a multiplexer via the index and sub-index of the Object Dictionary.The following communication protocols are supported by the LEXIUM. initiate SDO download protocol, download SDO segment protocol, initiate SDO upload protocol, upload SDO segment protocol, abort SDO transfer protocol.

Composition ofthe Service DataObject

An SDO consists of the following components:

control byte (byte1):the control byte determines whether the SDO has write or read access to theentry in the Object Dictionary. A description of the complete Object Dictionary forthe LEXIUM can be found in "Description of the Object Dictionary (SeeDescription of the object dictionary, p. 261)".Data exchange with the LEXIUM is governed by the CMS multiplexed domainprotocols standard, as described in the CAN standard DS 202.

To read data, the control byte must be written in the manner shown below:

So, with four bytes in the user data field, a value of 0010 0011 (binary) or willbe transmitted in the control byte.

Note: the system must always wait for the SDO response telegram before it isallowed to transmit a new telegram.

Byte 1 2 3 4 5 6 7 8

Content r/w Index Sub-index User data

r/w: read/write

Bit 7 6 5 4 3 2 1 0

Content ccs*=1 X n* e* s*

* ccs: client command specifier (ccs = 1 initiates download request)

*n: only valid pour e=s=1

X: free data

23h

52 April 2002


The servo amplifier sends back a corresponding response byte:

If reading is successful, the amplifier responds with scs = 3; if an error occurs (forinstance, in the index field k), the amplifier responds with scs = 4.The decoding of the error can be found in Section III.4.5.6.

To write data, the control byte must be written in the manner shown below:

index (byte 2 and 3):the index is the main entry in the Object Dictionary, and divides the parameters

into groups. (Example: is position data for the Position mode).As for all CAN data, the index is stored with the bytes in reverse order.

Example: index means byte 2 = , byte 3 = . sub-index (byte 4):

the sub-index divides the parameters within a group of parameters. data field (bytes 5....8):

these components are used for the exchange of user data.In read-request telegrams, bytes 5....8 are set to 0.They have no content in a write confirmation from the LEXIUM if the transfer wassuccessful, but if the write operation was faulty they contain an error code (see"Abort SDO Transfer Protocol" in this section).

Bit 7 6 5 4 3 2 1 0

Content scs*=3 X

* scs: server command specifier (scs = 3 initiates download response)

X: free data

Client Domain Download Server

indicationrequest

Byte 1

7 6 5 4 3 2 1 02 3 4 5 6 7 8

ccs=1 X n e s m d

Byte 1

7 6 5 4 3 2 1 02 3 4 5 6 7 8

scs=3 X m reservedresponseconfirm

2022h

6040h 40h 60h

April 2002 53


Initiate SDOdownloadprotocol

This protocol is used for write access to objects with up to 4 bytes of user data(expedited transfer) or to initiate a segment transfer (normal transfer)."Expedited transfer" is also used for objects that only have the character of acommand (e.g. ASCII = SAVE), and thus do not require any further user data.

Download SDOsegmentprotocol

This protocol is used for write access to objects with more than 4 bytes of user data("normal" transfer). This service is not supported by the LEXIUM at present, sincethere are no objects that make use of more than 4 bytes of user data.

Initiate SDOUpload Protocol

This protocol is used for read access to objects with more than 4 bytes of user data(expedited transfer) or to initiate a segment transfer (normal transfer).

Upload SDOsegmentprotocol

This protocol is used for read access to objects with more than 4 bytes of user data("normal" transfer). This service is not supported by the LEXIUM at present, sincethere are no objects that make use of more than 4 bytes of user data.

Abort SDOtransfer protocol

This protocol breaks off SDO transmission. It also indicates the error that caused thebreak in transmission through an abort code (error code).The error code is in the format of an UNSIGNED32 value.The following table shows possible reasons for an abort SDO:

Abort code Description

0503 Toggle bit was not toggled

0504 Timeout for SDO protocol

0504Client/server command - Invalid or unknown Identifier

0504Unrecognized block size (block mode only)

0504Unrecognized block number (block mode only)

0504CRC error (block mode only)

0504Out of memory

0601 Access to this object is not supported

0601Attempted read access to a write-only object

0601Attempted write access to a read-only object

0000h

0000h

0001h

0002h

0003h

0004h

0005h

0000h

0001h

0002h

54 April 2002


Abort Codes not listed above are reserved.

Communicationprogramming viaSDO

The use of SDOs requires: Premium system configuration using the SyCon tool, sending READ_VAR / WRITE_VAR requests.

0602 Object does not exist in Object Dictionary

0604Object cannot be mapped to a PDO

0604Size and number of mapped objects exceed permissible PDO length

0604General parameter incompatibility

0604General device incompatibility

0606 Access infringement caused by hardware error

0607Data type incompatible, length of service parameter is incompatible

0607Data type incompatible, length of service parameter is too long

0607Data type incompatible, length of service parameter is too short

0609Sub-index does not exist

0609Outside value range for the parameter (only for write access)

0609Parameter value too high

0609Parameter value too low

0609Maximum value is lower than minimum value

0800 General error/fault

0800Data cannot be transmitted or saved

0800Data cannot be transmitted or saved because device is under local control

0800Data cannot be transmitted or saved because of device status

0800Dynamic generation of the Object Dictionary not possible or alreadyavailable

Abort code Description

0000h

0041h

0042h

0043h

0047h

0000h

0010h

0012h

0013h

0011h

0030h

0031h

0032h

0036h

0000h

0020h

0021h

0022h

0023h

April 2002 55


SDOs are exchanged by explicit requests using index and sub-index codes specificto the parameters to be read:

Overview:

READ_VAR / WRITE_VAR :request: programming example for an SDO index H 2060 (digital speed/current) in write

mode:(*=================================================*)(*access SDO can open WRITE_VAR index 2600 *) (*words used from 2380 to 2400*)(*=================================================*)(*digital speed / current*)IF RE %M112 THEN %MW2380:=16#2060; (*programmed index identifier*) %MW2381:=16#0000; (*programmed sub-index identifier*) %MW2023:=4; (*length of transmission table*)

LEXIUM mapping onCAN is configured using

the SyCon tool

READ_VARInd, Ss Ind

WRITE_VARInd, Ss Ind

LEXIUM DriveMHDA xx

Premium

TSX CPP 100

Application management ofREAD_VAR and WRITE_VAR requests

56 April 2002


WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2380,60,%MW2382:20,%MW2020:4); (*60 => address and %MW2382:20 => reception table*) RESET %M112; END_IF;

programming example for an SDO index H 2060 (digital speed/current) in readmode:

(*=================================================*)(*access SDO can open READ_VAR index 2600 *)(*words used from 2410 to 2430*)(*=================================================*)(*digital speed / current*)IF RE %M112 THEN %MW2410:=16#2060; (*programmed index identifier*) %MW2411:=16#0000; (*programmed sub-index identifier*) %MW2023:=4; (*length of transmission table*)READ_VAR(ADR#1.1.SYS,'SDO',%MD2410,60,%MW2412:12,%MW2020:4); (*60 => address and %MW2382:20 => reception table*) RESET %M113; END_IF;

Process data object (PDO)

At a Glance PDOs are used for real-time data communication. PDOs can, for instance, be usedto set up controllers similar to analog drives. Instead of +/-10VDC setpoints andROD feedback, digital speed setpoints and position feedback are attained via PDOsin this case.This communication object uses the unconfirmed communication service (without aprotocol "overhead").PDOs are defined via the Object Dictionary for the Lexium, whereby pre-definedPDOs can be selected (mapping of pre-defined PDOs) or composed by the user(mapping of variables). Mapping is made during the configuration phase, with thehelp of SDOs. The lengths and mapping numbers for the PDOs are defined by thedrive profile DS 402.

The definition of the PDO service and protocol can be found in DS301.Examples of the usage of PDOs can be found in the "Application (See SpecialApplications, p. 253)" section of this documentation.

Basically, two types of PDOs can be distinguished, depending on the direction oftransmission: Transmit-PDOs (TPDOs), (Lexium towards Master).

April 2002 57


The TPDOs transmit data from Lexium to the control system (e.g.: actual valueobjects, instrument status).

Receive-PDOs (RPDOs) (Master towards Lexium).The RPDOs receive data from the control system to the Lexium (e.g.: setpoints).

The Lexium supports two independent PDO channels for each direction oftransmission. The channels are labeled by the channel numbers 1 to 4.There are three parameters each for the configuration of each of the four possiblePDOs, and they can be set up through the corresponding SDOs: selection parameters:

to select the two PDOs in each direction to be used for process data operation

from a number of possible PDOs (SDOs to , to ), mapping parameter:

to determine which data are available (mapped) in the selected PDO, and forentering the mapping of the PDO for the freely configured PDOs (Nos. 37 to 40),

communication parameters:define whether the PDOs operate in synchronized or event-driven mode (SDOs

to , to ).

Furthermore, individual bits of the TPDOs can be masked, so that an automaticgeneration of the transmit-trigger can be controlled by individual bit event in TPDOs.

Transmissionmodes

The following two transmission modes are distinguished: synchronous transmission asynchronous transmissionThe pre-defined SYNC Object is transmitted periodically (bus clock), to synchronizethe drives.Synchronous PDOs are transmitted within a pre-defined time window immediatelyfollowing the SYNC Object.

2600h 2603h 2A00h 2A03h

1400h 1403h 1800h 1803h

58 April 2002


The transmission modes are set up with the aid of the PDO communicationparameters.

Trigger modes Three different trigger modes are distinguished: event driven:

the transmission of the telegrams is triggered by an object-specific event. Thereis also the option of masking individual bits (regardless of the object) so that theautomatic generation of telegrams is restricted, and thus reduce the bus loading

(see SDO 2014h to 2017h (See SDO to : Mask 1 to 4 for transmit-PDOs , p. 125)).

time driven:If event driven signals put a high strain on the bus, you can determine the periodof time after which a PDO can be transmitted again via the inhibit time

(communication parameter, sub-index ). remote request:

a TPDO can be requested through a remote telegram.

Nodeguard The Node Guarding protocol is a functional monitoring for the drive. It requires thatthe drive is accessed at regular intervals by the CANopen master.

XSYNC Object

XSYNC Object

XSYNC Object

XX X XX X

XX

XTime

SynchronousPDOs

AsynchronousPDOs

Synchronouswindow length

X X X

2014h 2017h

03h

April 2002 59


The maximum time interval that is permitted between two Nodeguard telegrams is

given by the product of the "Guard Time (See SDO : Guard Time (DS301),

p. 78)" and the "Life Time Factor (See SDO : Lifetime Factor (DS301),p. 79)".If one of these two values is 0, then the response monitoring is de-activated.

Node guarding is only activated when the output stage is enabled.

If the drive is not accessed within the time defined by SDOs and ,then Warning N04 (response monitoring) appears on the drive.The drive is braked to a stop with the Quickstop ramp, and any other movement isprevented.The time sequence for node guarding is as shown below:

Node guarding is carried out by the Master through RTR telegrams with the COB-

ID, and set for the slave by SDO "COB-ID Node Guarding (See SDO : COB-ID Node Guarding (DS301), p. 80)".

The default value is + slave node address.

100Ch

100Dh

100Ch 100Dh

NMT MasterSPS / PLC

NMT SlaveLEXIUM

COB-ID = ...

remote transmit request

remote transmit request

request

request

confirm

confirm

indication

indication

response

response

7 t 6..0 s

7 t 6..0 s

Gua

rdT

ime

t = toggle bit, changes status with each slave telegrams = status of the NMT slave status machine

100Eh

700h

60 April 2002


5CANopen communication profile

At a Glance

Aim of thisChapter

This chapter describes the different objects required for CANopen communication.



Section Topic Page

5.1 Emergency Messages 60

5.2 General definitions 62

5.3 PDO mapping 89

5.4 Receive-PDO (RPDO) 91

5.5 RPDO object description 103

5.6 Transmit-PDO (TPDO) 108

5.7 TPDO object description 121

5.8 Device control (dc) 127

5.9 Device control (dc) object description 131

5.10 Factor groups (fg) (DS402) 140

5.11 Factor groups object description 141

5.12 "Current and speed" manufacturer specification 151

5.13 Setup data for manufacturer-specific "Jogging/Homing" mode 152

5.14 "Positioning" mode 156

5.15 Latch function 172

5.16 Manufacturer-specific actual values 173

5.17 Profile Velocity Mode (pv) (DS402) 182

5.18 Position Control Function (pc) (DS402) 185

5.19 Homing Mode (hm) (DS402) 188

5.20 Profile Position Mode (pp) 196

5.21 Functional description 205

April 2002 61


5.2 General definitions

At a Glance

Aim of thisSection

This chapter describes objects with a general validity (e.g. SDO DeviceType).



1000h

Topic Page

SDO : Device type (DS301)64

SDO : Error register (DS301)65

SDO : Manufacturer status register (DS301)66

SDO : Predefined error field (DS301)68

SDO : Number of supported PDOs (DS301)70

SDO : COB-ID of the SYNC Message (DS301)72

SDO : Communication Cycle Period (DS301)73

SDO : Synchronous Window Length (DS301)74

SDO : Manufacturer Device Name (DS301)75

SDO : Manufacturer Software Version (DS301)76

SDO : Node-ID (DS301)77

SDO : Guard Time (DS301)78

SDO : Lifetime Factor (DS301)79

SDO : COB-ID Node Guarding (DS301)80

SDO : Number of supported SDOs (DS301)81

SDO : Store Parameters (DS301)82

SDO : COB-ID for Time Stamp Messages (DS301)84

1000h

1001h

1002h

1003h

1004h

1005h

1006h

1007h

1008h

100Ah

100Bh

100Ch

100Dh

100Eh

100Fh

1010h

1012h

62 April 2002


SDO : High-Resolution Time Stamp (in preparation) (DS301)85

SDO : COB-ID for Emergency Messages (DS301)86

SDO : Identity object (DS301)87

Topic Page

1013h

1014h

1018h

April 2002 63


SDO : Device type (DS301)

At a Glance This object describes the device type (servo drive) and device functionality (DS402drive profile):

Number of the device profile: (drive profile)Type: 02 (servo drive)Mode: 0 (manufacturer-specific)

Object description

Value description:

1000h

Index

Name Device type

Object code VAR

Data type UNSIGNED32

Category M

Access Reading

PDO mapping Not possible

Value range UNSIGNED32

Default value No

Additional Information

Type Mode Bits

Device profile number

402

LSB

01516232431

MSB

d

402d

1000h

64 April 2002


SDO : Error register (DS301)

At a Glance If an error bit is set in the manufacturer independent error register, then more

detailed information is made available in SDO .This object is part of the "Error" objects (Emergency messages (See Description of"Emergency" messages, p. 60)).

Object description:

Value description:

The following describes the bit assignment for the error register. A bit that is setindicates an error.

1001h

Index

Name Error register

Object code VAR

Data type UNSIGNED8

Category M

Access Reading



Default value No

Bit Description

0 Generic error

1 Current

2 Voltage

3 Temperature

4 Communication error

5 Device profile specific

6 Reserved

7 Manufacturer-specific

1003h

1001h

April 2002 65


SDO : Manufacturer status register (DS301)

At a Glance This object contains the manufacturer-specific status register, which also containsLEXIUM warnings (ASCII DRVSTST commands).Object description:

Value description:

1002h

Index

Name Manufacturer Status Register

Object code VAR

Data type UNSIGNED8

Category M

Access Write



Default value No

1002h

66 April 2002


The following describes the bit assignment for the error register:

Bit Description

0Warning 1: t threshold exceeded

1 Warning 2: full ballast power reached

2 Warning 3: lag/following error

3 Warning 4: response monitoring activated

4 Warning 5: power supply phase missing

5 Warning 6: software limit-switch 1 has been activated

6 Warning 7: software limit-switch 2 has been activated

7 Warning 8: faulty motion task started

8 Warning 9: no reference point set at start of motion task

9 Warning 11: PSTOP activated

10 Warning 12: NSTOP activated

11 Warning 13: motor default values were loaded

12 Warning 14: expansion board not functioning correctly

13 Warning 15: reserved



16 Motion task active

17 Reference point set

18 Actual position = home position

19 In position

20 Position latch made

21 Reached position 0





26 Finished initialization


28 Speed = 0

29 Safety relay has been activated

30 Output stage enabled

31 Error present

I2

April 2002 67


SDO : Predefined error field (DS301)

At a Glance This object contains the last error event that was reported by an error telegram. Onlythe most recent error is displayed.

The value in sub-index shows the number of recorded errors,

the most recent error is shown in sub-index ,

If the value 0 is written to sub-index , the error is deleted from the error list(caution: error will not be acknowledged!),

the error number has the data type UNSIGNED32 and is composed of a 16-biterror number and a manufacturer-specific information field. The manufacturer-specific information field is not used by LEXIUM. The possible error numbers aredescribed in the chapter "Error Message (See Description of "Emergency"messages, p. 60)".

The data field is composed as follows:

Object description:

Value description:

1003h

MSB LSB

Information field Error number

Index

Name Error field

Object code ARRAY


Category O

Sub-index

Description Number of errors

Category M

Access Read / Write


Value range 0.....254

Default value No

00h

01h

02h

1003h

00h

68 April 2002


Sub-index

Description Standard error field (SeeDescription of "Emergency"messages, p. 60)

Category M

Access Reading



Default value No

01h

April 2002 69


SDO : Number of supported PDOs (DS301)

At a Glance This object is only supported to provide compatibility with older versions of theCANopen standards (DS301).

The structure of the parameter is as follows:

Object description:

Value description:

1004h

Sub-index MSB LSB

0 No. of supported RPDOs No. of supported TPDOs

1 No. of supportedsynchronous RPDOs

No. of supportedsynchronous TPDOs

2 No. of supportedasynchronous RPDOs

No. of supportedasynchronous TPDOs

Index

Name Number of supported PDOs

Object code ARRAY


Category O

Sub-index

Description Number of supported PDOs

Category O

Access Reading


Value range...

Default value

Sub-index

1004h

00h

00h 1FF01FFh

00020002h

01h

70 April 2002


This only shows the assignment when the LEXIUM has started up. Afterwards, thePDOs can be configured through the communication parameters:

to , to .

Description No. of supported synchronousPDOs

Category O

Access Reading


Value range...

Default value

Sub-index

Description No. of supportedasynchronous PDOs

Category O

Access Reading


Value range...

Default value

00h 1FF01FFh

00h

02h

00h 1FF01FFh

00020002h

1400h 1403h 1800h 1803h

April 2002 71


SDO : COB-ID of the SYNC Message (DS301)

At a Glance This object can be used to change the COB-ID for the SYNC message.


Only Bits 0 ... 10, 29 and 30 have any significance:

Object description:

Value description:

1005h

Bit Value Description

31 X ----

30 0 Device not generating SYNCmessages

1 Device generating SYNC messages

29 0 11 Bit ID

1 29 Bit ID

28...11 X Bit 11...28 of 29-bit SYNC COB-ID

10...0 X Bit 0...10 of SYNC COB-ID

Index

Name COB-ID for the SYNCmessage

Object code VAR


Category O

Access Read / Write



Default value

11-bit Identifier

LSB

01128293031

MSB

10

X 0/1 0 00h

1005h

80000080h

72 April 2002


SDO : Communication Cycle Period (DS301)

At a Glance This object can be used to define the period (in µs) for the transmission of the SYNCtelegram.

Object description:

Value description:

1006h

Index

Name Period of the transmissioncycle

Object code VAR


Category O

Access Read / Write



Default value

1006h

00h

April 2002 73


SDO : Synchronous Window Length (DS301)

At a Glance This object defines the length of the time window (in µs) for synchronous PDOs.

Object description:

Value description:

1007h

Index

Name Time window for synchronousmessages

Object code VAR


Category O

Access Read / Write



Default value

1007h

00h

74 April 2002


SDO : Manufacturer Device Name (DS301)

At a Glance The device name consists of four ASCII characters in the form SDxx, whereby xxstands for the current in the output stage (e.g.: SD06).

Object description:

Value description:

1008h

Index

Name Manufacturer device name

Object code VAR

Data type VISIBLE-STRING

Category Optional

Access Constant


Value range No

Default value No

1008h

April 2002 75


SDO : Manufacturer Software Version (DS301)

At a Glance The interface software version consists of four ASCII characters (e.g.: 3.00).

Object description:

Value description:

100Ah

Index

Name Manufacturer SoftwareVersion

Object code VAR

Data type VISIBLE-STRING

Category Optional

Access Constant


Value range No

Default value No

100Ah

76 April 2002


SDO : Node-ID (DS301)

At a Glance The station address of the LEXIUM can be read out through the object "Node-ID".The station address can be altered through the ASCII-object "ADDR".The address range (value range) that has to be set depends on the ASCII-object"MDRV". The station address can be set within the range 1 ... 63 or 1 ... 127.If the expanded address range is used, then the commissioning software canno longer be networked over the CAN-bus.

Object description:

Value description:

100Bh

Index

Name Node-ID

Object code VAR


Category Optional

Access Reading


Value range 1...127 (1...63)

Default value 1

100Bh

April 2002 77


SDO : Guard Time (DS301)

At a Glance The arithmetical product of the SDOs (Guard time) and ("Lifetime"factor) is the response monitoring time.The Guard Time is given in milliseconds.The response monitoring is activated with the first "Nodeguard (See Nodeguard,p. 59)" object.If the value of the object "Guard Time" is set to zero, then the response monitoringis inactive.

Object description:

Value description:

100Ch

Index

Name Guard time

Object code VAR


Category

Access Reading



Default value 0

100Ch 100Dh

100Ch

78 April 2002


SDO : Lifetime Factor (DS301)

At a Glance The arithmetical product of the SDOs (Guard Time) and ("Lifetime"factor) is the response monitoring time.The response monitoring is activated with the first "Nodeguard (See Nodeguard,p. 59)" object.If the value of the object "Guard Time" is set to zero, then the response monitoringis inactive.

Object description:

Value description:

100Dh

Index

Name Lifetime Factor

Object code VAR

Data type UNSIGNED8

Category Mandatory

Access Read / Write


Value range 0...255

Default value 0

100Ch 100Dh

100Dh

April 2002 79


SDO : COB-ID Node Guarding (DS301)

At a Glance This object defines the COB-ID for the Node Guarding protocol.

Object description:

Value description:

100Eh

Index

Name Node guarding identifier

Object code VAR


Category O

Access Read / Write



Default value 700 + node-ID

100Eh

80 April 2002


SDO : Number of supported SDOs (DS301)

At a Glance This object describes the number of SDOs that are supported by the device.

Object description:

Value description:

100Fh

Index

Name Number of supported PDOs

Object code VAR


Category O

Access Reading



Default value

100Fh

01h

April 2002 81


SDO : Store Parameters (DS301)

At a Glance This object can be used to save communication and mapping parameters.

Object description:

Value description:

1010h

Index

Name Store Parameters

Object code ARRAY


Category O

Sub-index

Description Number of entries

Access Reading


Value range 2

Default value 2

Sub-index

Description Save all parameters

Access Read / Write



Default value

Sub-index

Description Save communicationparameters

1010h

0h

01h

00h

02h

82 April 2002


This sub-index must be used to save communication and mapping parameters. Awriting access with the signature SAVE must be made, thus the values below haveto be written.


Access Read / Write



Default value

MSBLSB

[e] [v] [a] [s]

00h

65h 76h 61h 73h

April 2002 83


SDO : COB-ID for Time Stamp Messages (DS301)

At a Glance This object can be used to define the COB-ID for "Time Stamp" messages.

Object description:

Value description:

1012h

Index

Name COB-ID time stamp message

Object code VAR


Category O

Access Read / Write



Default value

1012h

100h

84 April 2002


SDO : High-Resolution Time Stamp (in preparation) (DS301)

At a Glance This object can be used to read or write a time value.

Object description:

Value description:

1013h

Index

Name High-resolution time stamp

Object code VAR


Category O

Access Read / Write



Default value

1013h

00h

April 2002 85


SDO : COB-ID for Emergency Messages (DS301)

At a Glance This object can be used to define the COB-ID for "Emergency" messages.

Object description:

Value description:

1014h

Index

Name COB-ID emergency message

Object code VAR


Category O

Access Read / Write



Default value+ Node-ID

1014h

80h

86 April 2002


SDO : Identity object (DS301)

At a Glance The Identity object contains general device information.

Object description:

Value description:

*

1018h

Index

Name Identity Object

Object code RECORD

Data type Identity

Sub-index


Access Reading


Value range 1...4

Default value 4

Sub-index

Description Vendor ID*

Access Reading



Default value

Sub-index

Description Product Code*

Access Reading

1018h

00h

01h

6Ah

0000006Ah

02h

April 2002 87


* rated current of the amplifier

* Bits 16 ... 31 = firmware version, Bits 15 ... 0 = CANopen



Default value No

Sub-index

Description Revision Number*

Access Reading



Default value No

Sub-index

Description Serial number

Access Reading



Default value No

03h

04h

88 April 2002


5.3 PDO mapping

Handling PDOs

At a Glance Since Lexium supports more than one operating mode, different PDOs are requiredfor the transmission and received directions, depending on the application.The first method of handling of freely configurable PDOs was "more-or-less freemapping".With this type of free mapping, predefined PDOs were selected with the aid of anindex from the PDO library. The contents of these PDOs could not be reconfiguredat a later stage. However, "more-or-less free mapping" turned out to be too rigid forthe increasing number of extremely variegated applications.As a result, "completely free mapping" was introduced additionally for PDOs,whereby the user can also alter the contents of the PDO (See Process data object(PDO), p. 57).

April 2002 89

CA

Nopen

comm

unicationprofile

90A

pril2002

Diag

ramH

andlingC

AN

openP

rocessD

ataO

bjects:

o

Fixed data No. 1

Fixed data No. 2

Fixed data No. 3

Fixed data No. 4

Fixed data No. 5

Free mapping No. 37

Free mapping No. 40

0x2A00 No37&No40

0x2A00 No37||No40

0x2A01 No37||No40

0x2A01 No37&No40

0x2600 No37&No400x2600 No37||No40

0x2601 No37||No40

0x2601 No37&No400x1603

0x1600

data configuration

0x1603

0x1600

data configuration

mask 0x2014-17

mask 0x2014

bject 0x2A01 No=1...40

channel configuration object 0x2601 No=1...40

chan

nel c

onfig

urat

ion

object 0x2A00 No=1...40

chan

nel c

onfig

urat

ion object 0

x2600 No=1...40

channel configuration

Fixed data No. 1

Fixed data No. 2

Fixed data No. 3

Fixed data No. 4

Fixed data No. 5

Free mapping No. 37

Free mapping No. 40

dictionary objectsindex sub-index data

0x1400 SYNC/ASYNCPDO-COMM.parameter(Rx) channel 1

0x1800 SYNC/ASYNCPDO-COMM.parameter(Tx) channel 1

0x1401 SYNC/ASYNCPDO-COMM.parameter(Rx) channel 4

0x1801 SYNC/ASYNCPDO-COMM.parameter(Tx) channel 4

PDO-channel 1 (Tx)

PDO-channel 4 (Tx)

PDO-channel 1 (Tx)

PDO-channel 4 (Tx)

PDO - Rx (receive) PDO - Rx (transmit)


5.4 Receive-PDO (RPDO)

At a Glance

Aim of thisSection

This section gives an overview of RPDOs as well as predefined RPDOs.



Topic Page

Overview of the RPDOs 92

PDO Control word (1) (DS402) 94

PDO Receive ASCII channel (21) 95

PDO Current / Speed setpoint (22) 96

PDO Setpoint 2 (32) 97

PDO Trajectory (33) 98

PDO Motion block (34) 100

PDO Start motion block (35) 101

PDO Free Definition 102

April 2002 91


Overview of the RPDOs

At a Glance The SDOs to can be used to select RPDOs. The configuration of the

RPDOs is made through the SDOs to (communication parameter)

and to (mapping parameter).

These objects have channel-linked operation, i.e.:

RPDO Channel 1: , ,

RPDO Channel 2: , ,

RPDO Channel 3: , ,

RPDO Channel 4: , ,

The SDOs to can only be read, in order to disclose the objectconfiguration within the PDOs.

The following PDOs have been defined:

Note: if one or more PDOs 37 to 40 are selected, then the object configuration forthe relevant channel must be made through the SDOs 1600h to 1603h.

PDOnumber

Mapping ObjectIndex

Sub-index Mapping Object Name

1 - Control word

2...20 - - Reserved

21to

ASCII object

22 - Control word

Current or speed setpoint

23...31 - - Reserved

32 Current or speed setpoint

33 Incremental position setpoint

Incremental position setpoint

2600h 2603h

1400h 1403h

1600h 1603h

2600h 1400h 1600h

2601h 1401h 1601h

2602h 1402h 1602h

2603h 1403h 1603h

1600h 1603h

6040h

3100h 01h 08h

6040h

2060h 00h

2060h 00h

2022h 04h

2022h 04h

92 April 2002


34 Position

Velocity

Type of motion task

35 Motion block number*

36 - - Reserved

37...40 Freely definable PDO

41...64 - - Reserved

PDOnumber

Mapping ObjectIndex


2022h 01h

2022h 02h

2022h 03h

2022h 05h

xxxxh xxh

April 2002 93


PDO Control word (1) (DS402)

At a Glance The PDO control word (Default PDO) consists of the control word (Unsigned 16).This PDO can only be used to operate the status diagram (See Device control,p. 127).It is available for use in all modes.After switch-on, this PDO is mapped to RPDO 1.

The table below shows the mapping of the PDO control word.

Sub-index Value Description

Number of entries

Control word

00h 1h

01h 60400010h

94 April 2002


PDO Receive ASCII channel (21)

At a Glance This PDO is the PDO "Receive ASCII channel".With the help of the ASCII channel (Default-PDO), all the parameters andcommands can be transmitted to LEXIUM. Up to 8 ASCII characters can be sent inone PDO. Commands or parameters that require more than 8 characters must besegmented.

All commands and parameters are terminated by the ASCII code "CR LF" (0x ,

0x ).

The unused bytes in the PDO are filled with the ASCII code "NUL" (0x ), becauseotherwise every surplus character would be interpreted as a new command.

The table below describes the mapping of the PDO "Receive ASCII channel":

This object only supports transmission type 255 (asynchronous).


Number of entries

...ASCII chars. 1 to 8

Dh

Ah

0h

00h 1h

01h 08h 31000208h

April 2002 95


PDO Current / Speed setpoint (22)

At a Glance The PDO current or speed setpoint is formed from the control word (Unsigned 16)and the setpoint (Signed 16).This PDO must only be used in the "Digital speed" or "Digital current" mode. It willbe recognized as a speed or current setpoint, depending on the mode that is set(digital current or digital speed).The PDO is executed immediately.A repeated transmission of the PDO with various setpoint values does not requirean intermediate halt of the drive between the different transmissions. After switch-on, this PDO is mapped to RPDO 2.

Amplitude of the electrical current:3280 = peak current of the controller1640 = rated current of the controllerExample:rated current = 3A,setpoint = 1A => 547 increments.

Amplitude of the speed of rotation:Example:speed = 3000 rpm => setpoint = 479430.

The table below shows the mapping for the "setpoint" PDO:


Number of entries

Control word

Current/speed setpoint

00h 1h

01h 60400010h

02h 20600020h

96 April 2002


PDO Setpoint 2 (32)

At a Glance The PDO "setpoint 2" is a time- and data-optimized PDO.It contains just one 32-bit setpoint.This PDO can only be only be used in the "Digital speed" or "Digital current" mode.It will be recognized as a speed or current setpoint, depending on the mode that isset (digital current or digital speed).The PDO is executed immediately.A repeated transmission of the PDO with various setpoint values does not requirean intermediate halt of the drive between the different transmissions.After switch-on, this PDO is mapped to RPDO 2.

The table below shows the mapping for PDO "setpoint 2":

Sub-index (hex) Value (hex) Description

Number of entries

Current/speed setpoint

00h 1h

01h 20600020h

April 2002 97


PDO Trajectory (33)

At a Glance The "trajectory" PDO is a time and data-optimized PDO.This PDO must only be used in the "trajectory" mode.The "trajectory" PDO must always be transmitted at constant time intervals (to beset with the PTBASE command), otherwise there may be irregularities in the speedcharacteristic.This PDO consists of two components: the incremental actual position values for twoaxes.

The assignment of the data for the axes is made through the SDO . Also, theassignment of the data for the axes must both be set to the same COB-ID for this

RPDO (sub index of the corresponding communication parameters).

Example of the calculation of the absolute position:

Position = (Incremental position) /

The maximum difference between two incremental positions is given by the final limitspeed that is set (ASCII-command: VLIM) - see example.

Example of the maximum incremental position difference:(Max. achievable final speed/1000)*(rev / min) = 0.016667*(rev / ms)

| incr. pos.( - incr. pos. | ≤ * 0.016667 = 17475

Depending on the amplifier parameters that have been set, there may be a larger orsmaller lag/following error. If the error message "contouring error" appears and theaxis is stopped with the emergency ramp, there are several possible reasons: the selected incremental position difference is too large (see above),

the contouring error window has been set too small (SDO , sub-index

), the amplifier parameters have not been set up optimally.

The table shows the mapping for the "trajectory" PDO:


Number of entries

Incremental position

Incremental position

2721h

01h

220

t2 t1 220

2020h

03h

00h 2h

01h 20220420h

02h 20220420h

98 April 2002


This object does not support transmission type 255 (asynchronous).

April 2002 99


PDO Motion block (34)

At a Glance The "motion block" PDO is put together from the position (Signed 32, weighted),speed (Unsigned 16) and the type of motion tasks (Unsigned16).The PDO starts a motion block from the volatile motion block memory (motion blocknumber = 0) and can only be used in the "position" mode.

The table below shows the mapping for the "motion block" PDO:



Number of entries

Position

Speed

Type of motion task (abs./rel.):

00h 3h

01h 20220120h

02h 20220120h

03h 20220310h

100 April 2002


PDO Start motion block (35)

At a Glance The "start motion block" PDO is formed by the motion task number (Unsigned 16).The PDO starts a motion block from the volatile memory (motion block =0,192....255) or from the permanent memory (motion block number = 1 ... 180).This PDO can only be used in the position mode.

The table below shows the mapping for the "start motion block" PDO:



Number of entries

Motion task number

00h 1h

01h 20220510h

April 2002 101


PDO Free Definition

At a Glance If these PDOs are selected, then objects can be freely added.

The SDOs to (mapping parameters) are used for this purpose.Up to 8 individual objects can be mapped into a single PDO.An example of PDO mapping and communication configuration can be found in theappendix "Commissioning examples (See Installation examples, p. 229)".

1600h 1603h

102 April 2002


5.5 RPDO object description

At a Glance

Aim of thisSection

This Section describes the different objects belonging to the RPDO.



Topic Page

SDO to : to receive-PDO communication

parameter (DS301)

104

SDO to : to receive-PDO mapping parameter

(DS301)

105

SDO to : to receive-PDO selected106

SDO : to Configuration of receive-PDO 33107

1400h 1403h 1er

4eme

1600h 1603h 1er

4eme

2600h 2603h 1er

4eme

2721h 1er

4eme

April 2002 103


SDO to : to receive-PDO communication parameter (DS301)

At a Glance

* After selecting a PDO higher than to , here you can define the COB-identifier that the amplifier responds to (if a different setting is required from thedefault value).** For selecting SYNC, event-triggering etc.

1400h 1403h 1er

4eme

Sub-index Description

Number of entries

PDO COB-ID *

Transmission type**

Inhibit time

CMS priority group

00h

01h

02h

03h

04h

2600h 2603h

104 April 2002


SDO to : to receive-PDO mapping parameter (DS301)

At a Glance

1600h 1603h 1er

4eme


Number of configured objects

...Description of the configuredobjects

00h

01h 08h

April 2002 105


SDO to : to receive-PDO selected

At a Glance This object is used to select a predefined receive-PDO.

The SDOs to ( to receive-PDO parameter) and to

( to receive-PDO mapping ) can then be used to define thecharacteristics of this PDO.This object enables variable mapping of predefined PDOs. The possible PDOs forselection are listed in the table in Chapter IV.3.1

Object description:

Value description:

2600h 2603h 1er

4eme

Index....

Nameto receive-PDO

select

Object code VAR

Data type UNSIGNED8

Access Read / Write


Value range 0...255

Default value 0

1400h 1403h 1er

4eme 1600h

1603h 1er

4eme

2600h 2603h

1er

4eme

106 April 2002


SDO : to Configuration of receive-PDO 33

At a Glance This object influences the processing of the eight data bytes received for the PDOtrajectory (No.33).The bytes of the PDO are interpreted as an incremental setpoint for the nextmovement:

with the value LOW ( = 0), the bytes 0 – 3 (sub-index of the PDO mapping) are

used, and with the value HIGH ( = 1), the bytes 4 – 7 (sub-index of the PDOmapping) are used.

Object description:

Value description:

2721h 1er

4eme

Index

Name PDO 33 data select

Object code VAR

Data type UNSIGNED8

Access Read / Write


Value range 0...4

EEPROM No

Default value 0

01h

02h

2721h

April 2002 107


5.6 Transmit-PDO (TPDO)

At a Glance

Aim of thisSection

This section gives an overview of TPDOs as well as predefined TPDOs.



Topic Page

Overview of the TPDOs 109

PDO Status word (1) (DS402) 111

PDO Transmit ASCII channel (21) 112

PDO Actual position (22) 113

PDO Enhanced status (23) 114

PDO Actual position (2) (32) 114

PDO Incremental actual position (33) 115

PDO Free Definition (37 to 40) 116

108 April 2002


Overview of the TPDOs

At a Glance The SDOs to can be used to select TPDOs. The configuration of the

TPDOs is made through the SDOs to (communication parameter)

and to (mapping parameter).

These objects have channel-linked operation, i.e.:

TPDO Channel 1: , ,

TPDO Channel 2: , ,

TPDO Channel 3: , ,

TPDO Channel 4: , ,

The SDOs to can only be read, in order to disclose the objectconfiguration within the PDOs.

The following PDOs have been defined:

Note: If one or more PDOs 37 to 40 are selected, then the object configuration for

the relevant RPDO channel must be made through the SDOs to .

PDOnumber

Mapping ObjectIndex


1 ( )- Status word

2...20

( ...

)

- - Reserved

21 ( ) toASCII object

22 ( )- Status word

Actual position (20 bits / turn)

Speed (1 bit = 1875 / 262144 [revs / min])

23 ( )- Status word

2A00h 2A03h

1800h 1803h

1A00h 1A03h

2A00h 1800h 1A00h

2A01h 1801h 1A01h

2A02h 1802h 1A02h

2A03h 1803h 1A03h

1A00h 1A03h

1A00h 1A03h

01h 6041h

02h 14h

15h 3102h 01h 08h

16h 6041h

2070h 01h

2070h 02h

17h 6041h

April 2002 109


- Manufacturer-specific status register

24...31

( ...

)

- - Reserved

32 ( )Actual position (20 bits / turn)

Speed (1 bit = 1875 / 262144 [revs / min])

33 ( )Incremental actual position value

2nd enhanced status register

34...35

( ...

)

36 ( )- - Reserved

37...40

( ...

)

Freely definable PDO

41...64

( ...

)

- - Reserved

PDOnumber

Mapping ObjectIndex


1002h

18h 1Fh

20h 2070h 01h

2070h 02h

21h 2070h 03h

2070h 11h

22h 23h

24h

25h 28h

xxxxh xxh

29h 40h

110 April 2002


PDO Status word (1) (DS402)

At a Glance Le PDO "status word" (Default PDO ) consists of the status word (Unsigned 16).This PDO can only be used to determine the status of the status diagram (SeeHandling PDOs, p. 89).It is independent of the mode that has been configured.After switch-on, this PDO is mapped to TPDO 1..The table below shows the mapping of the "status word" PDO:


Number of entries

Status word

00h 1h

01h 60410010h

April 2002 111


PDO Transmit ASCII channel (21)

At a Glance As soon as ASCII characters have been transferred to the ASCII transmissionbuffer, they are transmitted to the master (control system) with the help of this PDO(default PDO).This always takes place when commands or parameters have been transmitted withthe aid of the PDO "Receive ASCII channel (See PDO Receive ASCII channel (21),p. 95)".

The table below describes the mapping of the PDO "Transmit ASCII channel":



Number of entries

...ASCII chars. 1 ... 8

00h 8h

01h 08h 31020208h

112 April 2002


PDO Actual position (22)

At a Glance The "actual position" PDO is formed from the status word (Unsigned 16), actualposition (Unsigned 24) and speed in revs/minute (Unsigned 24).This PDO can be used to disclose the position in the "Digital speed" or "Digitalcurrent" mode.After switch-on, this PDO is mapped to TPDO 2.

The table shows the mapping for the PDO "actual position":

* Resolution: 1 bit = 1875 / 262144 revs / min

Sub-index (hex) Value (hex) Description

Number of entries

Status word

Actual position (20 bits / turn)

Speed *

00h 3h

01h 60410010h

02h 20700118h

03h 20700118h

April 2002 113


PDO Enhanced status (23)

At a Glance The "enhanced status" PDO is formed by the status word (Unsigned 16) and themanufacturer specific status register (Unsigned 32).This PDO can additionally be triggered by an event in the status register area.The PDO is mode-independent.

The table below shows the mapping for the PDO "enhanced status":

PDO Actual position (2) (32)

At a Glance The PDO "actual position 2" is a time and data-optimized (See PDO Transmit ASCIIchannel (21), p. 112) PDO.It contains the actual position (Unsigned 24) and the revs/minute (Unsigned 24).This PDO can be used to disclose the position in the "Digital speed" or "Digitalcurrent" mode.This PDO can only be requested with the SYNC object.

The table shows the mapping for the PDO "actual position 2":

* => Resolution: 1 bit = 1875 / 262144 revs / min.

This object only supports transmission types 1 to 240 (cyclically synchronous).


Number of entries

Status word

Manufacturer specific status register

00h 2h

01h 60410010h

02h 10020020h


Number of entries

Actual position (20 bits/turn)

Speed *

00h 2h

01h 20700118h

02h 20700118h

114 April 2002


PDO Incremental actual position (33)

At a Glance The PDO "incremental actual position" is a data-optimized object.This PDO can only be requested with a SYNC object.

Calculation of the absolute position:

Position = (Incremental position) /

The table below shows the mapping for the PDO "incremental actual position":

This object only supports transmission types 1 to 240 (cyclically synchronous).


Number of entries

Incremental actual position

Enhanced status register for PDO 33

220

00h 2h

01h 20700320h

02h 20701120h

April 2002 115


PDO Free Definition (37 to 40)

At a Glance If these PDOs are selected, then objects can be freely added.

The SDOs to (mapping parameters) are used for this purpose.Up to 8 individual objects can be mapped into a single PDO.


In this example, detailed information will be provided on the operations needed toconfigure a FREE PDO.The PDO used is PDO 37, which is used on the RECEIVE 1 channel.

Predefined configuration: command control, motion task start-up, acceleration adjustment, deceleration adjustment,

Premium configuration: select a communication channel (receive 1 or 2, transmit 1 or 2)


Note: Even if objects are "event-triggered" and not called over the CAN bus, theywill still be monitored. 16 mapped objects can therefore place a heavy processingload on the CPU. To avoid this, only map those objects which are really needed,or increase the "inhibit time" accordingly (e.g. to 400 ms). An excessive CPUloading can cause a long response time for an SDO data service (averageresponse time > 40 ms).

1A00h 1A03h

116 April 2002



Where FREE PDOs are used, it is not necessary to make the request typecorrespond to the configuration performed in PL7 in the SyCon tool.

In the above example, the configured PDO in PL7 is PDO 34.

DRIVE configuration:Program the "WRITE_VAR" that correspond to the required channels:

(* ====== RECEIVE1 through the configuration of FREE PDO 37 =======*)(*DISABLE through the use of implicit exchanges with DRIVE COM *)(*REMINDER: PDO 37 or 38 can only be configured if the drive is DISABLED *)(*=================================================*)

IF Ge_auto_60_1 THEN Controle_lexium_prog:=16#0000; RESET Ge_auto_60_1; SET Ge_auto_60_2; JUMP %L99;END_IF;

(* loading of free pdo 37 *)

La longueur réservéedoit correspondreà la configuration faitedans PL7

April 2002 117


IF Ge_auto_60_2 AND Status_lexium_prog=16#0040 THEN %MD2832:=37; %MW2020:4:=0; %MW2023:=1; %MW2830:=16#2600; (*index identifier H2600 Receive 1*) %MW2831:=16#0000; (*identifier under index Tjs 0 *)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2830,60,%MW2832:2,%MW2020:4); %MD2832:=0; RESET Ge_auto_60_2; SET Ge_auto_60_3; JUMP %L99;END_IF;

(* check if PDO 37 is ready to be configured on channel RECEIVE 1 *)

IF Ge_auto_60_3 AND NOT %MW2020:X0 (* request management READ_VAR *)THEN %MW2800:=16#2600;(*index identifier H2600 Receive 1*) %MW2801:=16#0000;(*identifier under index Tjs 0 *) %MW2802:2:=0;READ_VAR(ADR#1.1.SYS,'SDO',%MD2800,60,%MW2802:2,%MW2020:4); RESET Ge_auto_60_3; SET Ge_auto_60_4; JUMP %L99;END_IF;

(* Step-by-step configuration of FREE PDO *)(* index H1600 used to configure PDO 37 RECEIVE 1*)(* index H1601 used to configure PDO 38 RECEIVE 2*)(* index H1A00 used to configure PDO 37 TRANSMIT 1*)(* index H1A01 used to configure PDO 38 TRANSMIT 2*)(*STEP 0 - Previous values are erased by transmitting 0 *)

IF Ge_auto_60_4 AND NOT %MW2020:X0 AND %MW2802=37 THEN %MW2020:4:=0; %MW2023:=4; %MW2900:=16#1600; (*index identifier H1600 PDO 37 RECEIVE 1*) %MW2901:=16#0000; (* Step number *) %MW2902:=16#0000; (* Configuration reset *) %MW2903:=16#0000; (* Configuration reset *)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2900,60,%MW2902:2,%MW2020:4); RESET Ge_auto_60_4;

118 April 2002


SET Ge_auto_60_5; JUMP %L99;END_IF;

(*STEP 1 - - Configuration of CONTROL WORD *)

IF Ge_auto_60_5 AND NOT %MW2020:X0 AND %MW2802=37 THEN %MW2020:4:=0; %MW2023:=4; %MW2900:=16#1600; (*index identifier H1600 PDO 37 RECEIVE 1*) %MW2901:=16#0001; (* Step number *) %MW2902:=16#0010; (* Sub index / Length '10' for 1 word *) %MW2903:=16#6040; (* Index CONTROL WORD *)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2900,60,%MW2902:2,%MW2020:4); RESET Ge_auto_60_5; SET Ge_auto_60_6; JUMP %L99;END_IF;

(*STEP 2 - Configuration of MOTION TASK START-UP *)

IF Ge_auto_60_6 AND NOT %MW2020:X0 AND %MW2802=37 THEN %MW2020:4:=0; %MW2023:=4; %MW2900:=16#1600; (*index identifier H1600 PDO 37 RECEIVE 1*) %MW2901:=16#0002; (* Step number *) %MW2902:=16#0510; (* Sub index / Length '10' for 1 word *) %MW2903:=16#2022; (* Index of MOTION TASK START-UP *)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2900,60,%MW2902:2,%MW2020:4); RESET Ge_auto_60_6; SET Ge_auto_60_7; JUMP %L99;END_IF;

(* STEP 3 - Configuration of ACCELERATION *)

IF Ge_auto_60_7 AND NOT %MW2020:X0 AND %MW2802=37 THEN %MW2020:4:=0; %MW2023:=4; %MW2900:=16#1600; (*index identifier H1600 PDO 37 RECEIVE 1*) %MW2901:=16#0003; (* Step number *) %MW2902:=16#0010; (* Sub index / Length '10' for 1 word *)

April 2002 119


%MW2903:=16#6083; (* Index ACCELERATION *)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2900,60,%MW2902:2,%MW2020:4); RESET Ge_auto_60_7; SET Ge_auto_60_8; JUMP %L99;END_IF;

(* STEP 4 - Configuration of DECELERATION *)

IF Ge_auto_60_8 AND NOT %MW2020:X0 AND %MW2802=37 THEN %MW2020:4:=0; %MW2023:=4; %MW2900:=16#1600; (*index identifier H1600 PDO 37 RECEIVE 1*) %MW2901:=16#0004; (* Step number *) %MW2902:=16#0010; (* Sub index / Length '10' for 1 word *) %MW2903:=16#6084; (* Index DECELERATION*)WRITE_VAR(ADR#1.1.SYS,'SDO',%MD2900,60,%MW2902:2,%MW2020:4); RESET Ge_auto_60_8; SET Ge_auto_60_9; JUMP %L99;END_IF;

120 April 2002


5.7 TPDO object description

At a Glance

Aim of thisSection

This Section describes the different objects concerning TPDOs.



Topic Page

SDO to : to Transmit-PDO communication

parameter (DS301)

122

SDO to : to Transmit-PDO mapping parameter

(DS301)

123

SDO to : to Transmit-PDO selected124

SDO to : Mask 1 to 4 for transmit-PDOs125

1800h 1803h 1er

4eme

1A00h 1A03h 1er

4eme

2A00h 2A03h 1er

4eme

2014h 2017h

April 2002 121


SDO to : to Transmit-PDO communication parameter (DS301)

At a Glance

* After selecting a PDO higher than to , here you can define the COB-identifier that the amplifier responds to (if a different setting is required from thedefault value).** This sets a waiting time that must be observed after a PDO has been transmitted,before a new transmission can be made (only important for event-triggered PDOs).

1800h 1803h 1er

4eme


Number of entries

PDO COB-ID *

Transmission type

Inhibit time**

CMS priority group

00h

01h

02h

03h

04h

2A00h 2A03h

122 April 2002


SDO to : to Transmit-PDO mapping parameter (DS301)

At a Glance

1A00h 1A03h 1er

4eme


Number of configured objects

...Description of the configuredobjects

00h

01h 08h

April 2002 123


SDO to : to Transmit-PDO selected

At a Glance This object is used to select a predefined transmit-PDO.

The SDOs to ( to transmit-PDO parameter) and to

( to transmit-PDO mapping ) can then be used to define thecharacteristics of this PDO.This object enables variable mapping of predefined PDOs.The possible PDOs for selection are listed in the table (See Overview of the TPDOs,p. 109).

Object description:

Value description:

2A00h 2A03h 1er

4eme

Index....

Nameto Transmit-PDO

select

Object code VAR

Data type UNSIGNED8

Access Read / Write


Value range 0...255

Default value 0

1800h 1803h 1er

4eme 1A00h

1A03h 1er

4eme

2A00h 2A03h

1er

4eme

124 April 2002


SDO to : Mask 1 to 4 for transmit-PDOs

At a Glance In order to reduce the bus loading with event-triggered PDOs, masking can be usedto switch off the monitoring for individual bits in the PDO. In this way it can bearranged, for instance, that actual position values are only signaled once per turn.This object masks the "PDO channel" for TPDOs with the numbers 37 to 40.If only two bytes have been defined in a PDO, then it masks just two bytes, although4 bytes of mask information have been transmitted.An activated bit in the mask means that monitoring is active for the correspondingbit in the PDO.

Object description:

2014h 2017h

Indexto

Name tx_mask 1 to 4

Object code ARRAY

Number of elements 2


Sub-index

Brief description tx_mask 1 to 4_low

Mode Independent

Access Read / Write


Unit -

Value range -

EEPROM No

Default value

Sub-index

Brief description tx_mask1 to 4_high

Mode Independent

Access Read / Write


0x2014h 0x2017h

01h

FFFFFFFFh

02h

April 2002 125


Unit -

Value range -

EEPROM No

Default value FFFFFFFFh

126 April 2002


5.8 Device control (dc)

Device control

At a Glance The device control of the LEXIUM can be used to carry out all the motion functionsin the corresponding modes. It is implemented through a mode-dependent statusmachine.

The status machine is controlled through the control word (See SDO : Controlword (DS402), p. 132).The mode setting is made through the object "modes of operation (See Descriptionof the object dictionary, p. 261) ".The states of the status machine can be revealed using the "Status word (See SDO

: Status word (DS402), p. 135)".

6040h

6041h

April 2002 127


States of thestatus machine

Diagram:

Start

Not ready forpower up

Switch ondisabled

Ready forpower up

Switch on

Operation enableActivated

Quick stopactive

Fault

Fault reactionactive

1

2 7

3 6

4 5

11

16

1210

89

14

15

0

13Powerdisabled

Fault

Power enabled

State Description

Not ready forswitch on

LEXIUM is not ready to switch on, there is no operational readiness (BTB/RTO) signaled fromthe controller program.

Switch on disabled The LEXIUM is ready to switch on, parameters can be transferred, the bus can be switched on,motion functions cannot be carried out yet.

Ready to switch on The bus must be switched on. The parameters can be transferred, but motion functions cannotyet be executed.

Switched on The bus must be switched on, the parameters can be transferred, motion functions cannot yetbe executed, the output stage is switched on (enabled).

128 April 2002


Transitions ofthe statusmachine

The state transitions are assigned by internal events (for example, switching off thebus) and by the control word flags (bits 0, 1, 2, 3, 7).

Operation enable No fault present, output stage is switched on (enabled), the motion functions are enabled.

Quick stop active Drive has been stopped with the emergency ramp, output stage is switched on (enabled), motionfunctions are enabled, response depends (See Description of the object dictionary, p. 261) on

the SDO object .

Fault reactionactive

Not supported at present.

Fault Not supported at present.

State Description

605Ah

Transition Event Action

0 Reset. Initialization.

1 Initialization completed successfully. TheLEXIUM is ready to operate.

None.

2 Bit 1 (disable voltage) and bit 2 (quick stop) areset in the control word (shutdown command). Busvoltage is present.

None.

3 Bit 0 is set.(Switch On command).

Output stage is switched on (enabled), provided thatthe hardware enable is present (logical AND). Drivehas torque.

4 Bit 3 is set.(Enable Operation command).

Motion function is enabled, depending on the modethat is set.

5 Bit 3 is canceled.(Disable Operation command).

Motion function is inhibited. Drive is stopped, usingthe relevant ramp (mode-dependent). The presentposition is maintained.

6 Bit 0 is canceled.(Shutdown command).

The output stage is disabled. Drive has no torque.

7 Bits 1/2 are canceled.(Disable Voltage/Quick Stop command).

None.

8 Bit 0 is canceled.(Shutdown command).


9 Bit 1 is canceled.(Disable Voltage command).


10 Bits 1/2 are canceled.(Disable Voltage/Quick Stop command).

Motion function is enabled, depending on the modethat is set.

April 2002 129


11 Bit 2 is canceled.(Quick Stop command).

Drive is stopped with the emergency braking ramp.The output stage remains enabled. Setpoints arecanceled (motion block number, digital setpoint,speed for jogging or homing). Bit 2 must be setagain before any further motion tasks can beperformed.

12 Bit 1 is canceled.(‘Disable Voltage’ command).


13 - 14 Not supported at present. None.

15 Bit 7 is set. Acknowledgement of the fault and drivereinitialized.

16 Bit 2 is set. Motion function is enabled again.

Transition Event Action

CAUTION

If the servo amplifier is operated through the control word / status word,then no control commands may be sent through anothercommunication channel (RS232, CANopen, ASCII channel, optionboard).


130 April 2002


5.9 Device control (dc) object description

At a Glance

Aim of thisSection

This Section describes the different objects belonging to the Device control (dc)object.



Topic Page

SDO : Control word (DS402)132

SDO : Status word (DS402)135

SDO : Modes of operation (DS402)137

SDO : Mode of operation display (DS402)139

6040h

6041h

6060h

6061h

April 2002 131


SDO : Control word (DS402)

Objectdescription

The control commands are built up from the logical combination of the bits in thecontrol word and external signals (e.g.: enable output stage).

Bit assignment inthe control word

6040h

Index

Name Control word

Object code VAR


Mode All

Access Read / Write


Unit -

Value range 0...65535

EEPROM No

Default value 0

6040h

Bit Name Bit Name

0 Switch on 8 Pause/halt

1 Disable Voltage 9 Reserved

2 Quick stop 10 Reserved

3 Enable operation 11 Acknowledge lag/following error andresponse monitoring

4 Operation mode specific 12 Reset position

5 Operation mode specific 13 Manufacturer-specific

6 Operation mode specific 14 Manufacturer-specific

7 Reset Fault (only effective for faults) 15 Manufacturer-specific

132 April 2002


Commands inthe control word

Bits marked by an X are irrelevant.

Mode-dependentbits in Controlword

The following table shows the mode-dependent bits in the Control word. Onlymanufacturer-specific modes are supported at present. The individual modes are

set by SDO "Modes of operation".

Command Bit 7FaultReset

Bit 3EnableOperation

Bit 2Quickstop

Bit 1DisableVoltage

Bit 0Switchon

Transition

Stop X X 1 1 0 2, 6, 8

Switch on X X 1 1 1 3

DisableVoltage

X X X 0 X 7, 9, 10, 12

Quick stop X X 0 1 X 7, 10, 11

DisableOperation

X 0 1 1 1 5

EnableOperation

X 1 1 1 1 4, 16

Fault Reset 1 X X X X 15

Operation Mode No. Bit 4 Bit 5 Bit 6

Position Reserved Reserved Reserved

Digital speed Reserved Reserved Reserved

Digital current Reserved Reserved Reserved

Analog speed Reserved Reserved Reserved

Analog current Reserved Reserved Reserved

Trajectory Reserved Reserved Reserved

Homing Start homing Reserved Reserved

Jogging Reserved Reserved Reserved

6060h

FFh

FEh

FDh

FCh

FBh

FAh

F9h

F8h

April 2002 133


Description ofthe remainingbits in the controlword

The other bits contained in the control word are described below.Bit 8, Pause/halt: if Bit 8 is set, then the drive halts (pauses) in all modes. Thesetpoints (speed for homing or jogging, motion task number, setpoints for digitalmode) for the individual modes are retained.Bit 9, 10: these bits are reserved for the drive profile (DS402).Bit 11, Acknowledge error: setting Bit 11 acknowledges the response monitoringand/or the contouring error.Bit 12, Reset the position: taking account of the reference offset. (See also

Homing type 6 in SDO , sub-index ).Bits 13, 14, 15: these bits are manufacturer-specific, and reserved at present.

Profile Position Mode(pp)

New_set_point Change_set_immediately

Absolute/ relative

Profile Velocity Mode(pv)

Reserved Reserved Reserved

Homing Mode (hm) Homing_operation_start Reserved Reserved

Operation Mode No. Bit 4 Bit 5 Bit 6

01h

03h

06h

2024h 01h

134 April 2002


SDO : Status word (DS402)

At a Glance The momentary state of the machine status can be read out with the aid of the"Status word" (See PDO Status word (1) (DS402), p. 111).

Bitassignment inthe status word

6041h

Index

Name Status word

Object code VAR


Mode All

Access Read / Write


Unit -


EEPROM Yes

Default value 0

0x6041h

Bit Name Bit Name

0 Ready to switch on 8 Manufacturer-specific (reserved)

1 Switched on 9 Remote (not supported)

2 Enable Operation 10 Target reached

3 Fault (in preparation) 11 Internal limit active (not supported)

4 Disable voltage 12 Operation mode specific (reserved)

5 Quick stop 13 Operation mode specific (reserved)

6 Switch on disabled 14 Manufacturer-specific (reserved)

7 Warning 15 Manufacturer-specific (reserved)

April 2002 135


States of thestatus machine

Description ofthe remainingbits in the statusword

Bit 4: voltage_disable: bus voltage is present if this bit is canceled.Bit 7: Warning: there are several possible reasons for Bit 7 being set and thiswarning being produced. The reason for this warning can be revealed by using the

SDO object "manufacturer-specific status register" (see IV.2.1.3).Bit 8: change in status of a bit, for the following modes: jogging, homing,position, positioning (pp), homing (hm). This bit often changes status (e.g. set orreset) when a motion block has been successfully executed (target reached). Thebit is not toggled if a motion block is canceled (e.g. through the STOP command ora lag/following error). Change of status in a bit can be performed in combination with

Bit 10 "target reached" (SDO ) and bit 16 "Motion block" (SDO ).Evaluation of this bit makes sense if no change in Bit 10 or 16 would be visible,because of the motion block data (very short or identical motion blocks).Bit 9: remote: (not supported at present).Bit 10: target_reached: this is set when the drive has reached the target position.

Bit 11: internal_limit_active: (not supported at present).

State Bit 6Switchondisabled

Bit 5Quickstop

Bit 3Fault

Bit 2Operationenable

Bit 1Switched on

Bit 0Ready to switchon

Not ready to switchon

0 X 0 0 0 0

Switch on disabled 1 X 0 0 0 0

Ready to switch on 0 1 0 0 0 1

Switched on 0 1 0 0 1 1

Enable Operation 0 1 0 1 1 1

Fault not supported at present

Fault reaction active Notsupported atpresent

X X X X 15

Quick stop active 0 0 0 1 1 1

1002h

6041h 1002h

136 April 2002


SDO : Modes of operation (DS402)

Objectdescription

This object is used to execute the modes (setting of the corresponding bit), which

can be performed by reading SDO .Two types of operating mode can be distinguished: manufacturer-specific operating modes: these modes of operation have been

optimized to the functionality of the equipment. operating modes as per CANopen drive profile DSP402: these operating

modes are defined in the CANopen drive profile DSP402.After the mode has been changed, the corresponding setpoint must be set oncemore (for instance, the homing velocity in the mode homing_setpoint).If the position or jogging mode is stored, then the Homing mode is set after a RESETof the servo amplifier.

6060h

WARNING

Never change the mode while the motor is running!When the amplifier is disabled, a mode change is only permissible atzero speed.Set the speed setpoint to 0 before changing over.

Failure to follow this precaution can result in death, serious injury,or equipment damage.

Index

Name Mode_of_operation

Object code VAR

Data type UNSIGNED8

Mode All

Access Write

PDO mapping Possible

Unit -

Value range -

EEPROM No

Default value 0

6061h

6060h

April 2002 137


Mode hex dec Description

...-10...-128 Reserved

Electrical gearing -9 -

Jogging -8 -

Homing -7 -

Trajectory -6 -

Analog current -5 -

Analog speed -4 -

Digital current -3

Digital speed -2 -

Position -1 Mode required for motion tasks

- 0 0 Reserved as per DSP402

Positioning (pp) 1 As per DSP402

Speed (vl) 2 Not supported

Speed (pv) 3 As per DSP402

Torque 4 As per DSP 402 (not supported atpresent)

- 5 Reserved

Homing 6 As per DSP402

Interpolation 7 As per DSP 402 (not supported)

-...

8...127 Reserved

F8h 80h

F7h

F8h

F9h

FAh

FBh

FCh

FDh

FEh

FFh

1h

2h

3h

4h

5h

6h

7h

8h 7Fh

138 April 2002


SDO : Mode of operation display (DS402)

Objectdescription

This object can be used to read the mode that is set by SDO .

An operating mode only becomes valid when it can be read by SDO .

Object description:

Value description:

6061h

Index

Name Mode_of_operation_display

Object code VAR

Data type UNSIGNED8

Mode All

Access Write


Unit -

Value range -

EEPROM No

Default value -

6060h

6061h

6061h

April 2002 139


5.10 Factor groups (fg) (DS402)

Relationship between Physical and Internal Units

At a Glance The use of factors provides the ability to convert between physical dimensions andsizes, and the internal units used in the device (increments).Normalized parameters are denoted by an asterisk (*).

The factors defined in the factor group set up a relationship between device-internalunits (increments) and physical units.The factors are the result of the calculation of two parameters called dimensionindex and notation index. The dimension index indicates the physical dimension, thenotation index indicates the physical unit and a decimal exponent for the values.These factors are directly used to normalize the physical values.

The notation index can be used in two ways: for a unit with decimal scaling and notation index < 64, the notation index defines

the exponent/decimal place of the unit. for a unit with non-decimal scaling and notation index > 64, the notation index

defines the sub-index of the physical dimension of the unit.

140 April 2002


5.11 Factor groups object description

At a Glance

Aim of thisSection

This Section describes how these factors influence the system, how they arecalculated and which data are necessary to build them.



Topic Page

SDO : Velocity notation index (DS402)142

SDO : Velocity dimension index (DS402)143

SDO : Position factor (DS402)144

SDO : Velocity encoder factor (DS402)146

SDO : Accelerator factor (DS402)149

608Bh

608Ch

6093h

6094h

6097h

April 2002 141


SDO : Velocity notation index (DS402)

At a Glance This object determines the notation for SDO . In combination with SDO

, the following basic units can be represented:

Object description:

Value description:

608Bh

Physical dimension Units Velocity_dimension_index

Velocity_notation_index

Manufacturer-specific incr / sec 0 0

Revolutions (turns) revs / min 11 73

Index

Name Velocity_notation_index

Object code VAR

Data type UNSIGNED8

Mode All

Access Read / Write


Unit -

Value range -128...127

EEPROM No

Default value 0

6081h

608Ch

608Bh

142 April 2002


SDO : Velocity dimension index (DS402)

At a Glance This object determines the dimensions for SDO . In combination with SDO

, the following basic units can be represented:

Object description:

Value description:

608Ch

Physical dimension Units Velocity_dimension_index

Velocity_notation_index

Manufacturer-specific incr / sec 0 0

Revolutions (turns) revs / min 11 73

Index

Name velocity_dimension_index

Object code VAR

Data type UNSIGNED8

Mode All

Access Read / Write


Unit -

Value range 0...255

EEPROM No

Default value 0

6081h

608Bh

608Ch

April 2002 143


SDO : Position factor (DS402)

At a Glance The position factor converts the target position into the internal data format of theLEXIUM (increments).The position controller can be run with the resolution set to 20 bits/turn or 16 bits/

turn (see SDO and the ASCII command PRBASE).The numerator and the feed constant can be used to set up any value of scaling.

position_encoder_resolution

resolution of the position controller: or gear_ratio

transmission ratio for the gearing that is used feed_constant

the feed constant of the output side of the drive gearing

Object description:

Value description:

6093h

Index

Name Position_factor

Object code ARRAY



Sub-index

Brief description Numerator

Mode pp

Access Read / Write


Unit Increments (incr)

Value range0...( -1)

EEPROM No

35D1h

position factor =position_encoder_resolution x gear_ratio

feed constant

220

216

6093h

01h

232

144 April 2002


Example: One turn is to be equivalent to 10000 increments.The gear ratio is 1.

Numerator =Feed constant: 10000

Default value

Sub-index

Brief description feed_constant

Mode pp

Access Read / Write


Unit -


EEPROM No

Default value 10000

220

02h

232

position factor =2

20

10000 incr

220

April 2002 145


SDO : Velocity encoder factor (DS402)

At a Glance The velocity_encoder_factor converts the target speed (revs/min) or velocity (incr/sec) into the internal data format of the LEXIUM (increments).The velocity_encoder_factor is calculated as:

velocity_encoder_resolution

the resolution of the position: position_unit

[in meters] gear_ratio

transmission ratio for the gearing that is used feed_constant

the feed constant of the output side of the drive gearing Fposition (notation_index)

in dimension_index = 1, notation_index = 0 [m] velocity_unit

in [m / s] Fvelocity (notation_index)

in dimension_index = 13, notation_index = 0 [m / s]

(see also SDO velocity_notation_index andvelocity_dimension_index).

Object description:

Value description:

6094h

velocity_encoder_factor =velocity_encoder_resolution x gear_ratio x position_unit x Fvelocity (notation_index)

feed constant x velocity_units x sec x Fposition (notation_index)

Index

Name Velocity_encoder_factor

Object code ARRAY



Sub-index


Mode pv

220

606Bh 606Ch

6094h

01h

146 April 2002


Example: The speed-setpoint provision is to be made in revolutions per minute(revs/min).The transmission ratio and feed constant are 1.

Numerator = Divisor = 60

For SDO , setpoint = [revs / min]

For SDO , setpoint = [incr / s]

Access Read / Write




EEPROM No

Default value 0

Sub-index

Brief description Divisor

Mode pv

Access Read / Write


Unit Seconds (s)


EEPROM No

Default value 0

232

02h

232

velocity_encoder_factor =2

20

1x

1/1

1x

incr.

s

Developed for revs / min:

velocity_encoder_factor =2

20

1x

1/1

1x

incr.

sx

[m]

[m/s]x

1

60[s/min]=

220

60

incr.

s

220

60FFh

6081h

April 2002 147


This incremental setpoint provision should be used for cyclical applications (forexample: position control, 4ms cycle).The advantages are: no rounding error, lower CPU loading.

The above calculation is valid if divisor or numerator is set to 0.

The velocity_encoder_factor also affects SDO profile_velocity.In order to be able to use this factor for the position mode (pp) as well, the internalgearing factors PGEARI and PGEARO must be equal ( PGEARI = PGEARO; SDO

, sub-index , ).If the divisor or numerator is set to 0, then the internal scaling is used: incrementsper cycle (250 µs).

Note: Since the speed controller operates internally with a resolution of ,regardless of the resolution of the encoder system, the following expression is usedto calculate the operating mode pv:

increments = (262144 / 1875) x speed setpoint [ ]

220

min1–

6081h

2020h 08h 09h

148 April 2002


SDO : Accelerator factor (DS402)

At a GlanceThe "accelerator factor" converts the acceleration [unit: / ] into the internal formatof the LEXIUM.At present, the numerator and divisor are read-only.The values are set to 1.

If the "accelerator factor" is 1, then the ramp settings (SDO "profile

acceleration", SDO "profile deceleration" and SDO "profile velocity")will be provided as acceleration times [ms] required to reach the target speed.

Object description:

Value description:

6097h

Index

Name Accelerator factor

Object code ARRAY



Sub-index


Mode pp, pv

Access Reading




EEPROM No

Default value 0

Sub-index

Brief description Divisor

Mode pp, pv

s2

6083h

6084h 6081h

6097h

01h

232

02h

April 2002 149


Access Reading


Unit -


EEPROM No

Default value 0

232

150 April 2002


5.12 "Current and speed" manufacturer specification

SDO : Digital current or Speed setpoint

At a Glance Object description:

Description:this index is used for the transfer of digital setpoint values which are evaluated

according to the digital mode that has been set (mode = digital current, mode

= digital speed, adjustable via the object).The normalizations are as follows: current:

I[A] = (digital current setpoint / (1640 x Imax)) speed:

n[ ] = (1875 / (262144 x digital speed setpoint ))

A new setpoint only becomes valid after a fresh Enable Operation (via ,"control word").

2060h

Index

Brief description Digital current or Speedsetpoint

Mode pp, pv

Access Read / Write

PDO mapping Possible (pre-mapped toselectable RPDO 22)

Unit A or /min

Value range-( -1)....( -1)


Default value 0

Note: the LEXIUM position controller is switched off while speed or current controlis activated.

2060h

232

232

FDh

FEh 6060h

min1–

6040h

April 2002 151


5.13 Setup data for manufacturer-specific "Jogging/Homing" mode

SDO : homing for the position mode (LEXIUM)


This index is used to enter parameters which are important for the homing andjogging modes of operation.

Description of the sub-indices:

This index is used to set the type of homing movement.

The following settings are possible:

2024h

Index

Brief description Parameters for homing andjogging

Object code RECORD


Sub-index

Brief description Homing type

Unit -

Access Read / Write


Data type UNSIGNED8

Value range 0 .. 6

Default value 0

Value Meaning

0 The reference mark is set to be at the present position.The actual position that is signaled is then the same as the preset reference offset.

1 Homing to reference switch, followed by search of the resolver zero mark.

2 Homing to limit switch, followed by search of the resolver zero mark.

3 Homing to reference switch, without subsequent search of the resolver zero mark.

4 Homing to limit-switch, without subsequent search of the resolver zero mark.

2024h

01h

152 April 2002


Please note:for homing types 1 and 3, a digital input must be configured as the zero position input(Home position).For homing types 2 and 4, a digital input must be configured as a hardware limit-switch.For homing types 1 to 5, the setting of the index pulse offset for the ROD output istaken into account (ASCII command ENCZERO).

This index is used to define the movement direction for homing types 1 to 5.The values have the following interpretation: 0: negative direction of motion 1: positive direction of motion 2: the motor turns in the direction which gives the shortest path to the resolver

zero mark within a single turn (only relevant for homing type 5).

5 Homing within a single turn of the motor to the resolver zero mark. The direction ofmovement is given by the sub-index 2, whereby: 0: negative direction of motion 1: positive direction of motion 2: motor turns in the direction which gives the shortest path to the resolver zero

mark within a single turn.

6 The reference mark is set to the value of the reference offset at the present setpointposition of the position controller. The new actual position retains the samedistance to the setpoint position as before.

Sub-index

Brief description Homing direction

Unit -

Access Read / Write


Data type UNSIGNED8

Value range 0 .. 2

Default value 0

Sub-index

Brief description Velocity for homing

Unit m / s

Value Meaning

02h

03h

April 2002 153


This index is used to define the velocity for homing movements.

This index is used to set the acceleration ramp for homing and jogging.The ramp has a trapezoidal form.The time that is set refers to the preset velocities homing and jogging movements.

This index is used to set the deceleration ramp for homing and jogging.The ramp has a trapezoidal form.The time that is set refers to the preset velocities homing and jogging movements.

Access Read / Write



Value range-( -1)....( -1)

Default value 0

Sub-index

Brief description Acceleration ramp for homing /jogging

Unit ms

Access Read / Write




Default value 10

Sub-index

Brief description Braking ramp for homing /jogging

Unit ms

Access Read / Write




Default value 10

232

232

04h

05h

154 April 2002


The emergency stop ramp (ASCII parameter DECSTOP) is used as the brakingramp for homing movements to a hardware limit-switch.

This index is used to set the reference offset, i.e. the actual position value displayed

when homing has been completed (SDO , sub-index ).

This index is used to define the jogging velocity.

Sub-index

Brief description Reference offset

Unit m

Access Read / Write



Value range-( -1)....( -1)

Default value 0

Sub-index

Brief description Velocity for jogging t

Unit m / s

Access Read / Write



Value range-( -1)....( -1)

Default value 0

06h

232

232

2070h 06h

07h

232

232

April 2002 155


5.14 "Positioning" mode

At a Glance

Aim of thisSection

This section describes the positioning mode.



Topic Page

SDO : Position controller157

SDO : Position data162

2020h

2022h

156 April 2002


SDO : Position controller


Description:this Index is used to enter all the general parameters for the Position mode.


Description:this index describes the type of mechanical axis. Value 0: linear axis.

Positions are counted from a defined reference mark.This must be defined by making a homing movement or setting a reference point.The movement of the axis will be restricted by software limit-switches, if theyhave been configured.

Value 1: rotary axis.A reference position is not required.The position is set to 0 at the start of each motion block or jogging mode.Movement is not limited by software limited switches.

2020h

Index

Brief description Parameters for positioncontroller

Object code RECORD


Sub-index

Brief description Axis type

Unit -

Access Read / Write


Data type UNSIGNED8

Value range 0, 1

Default value 0

Sub-index

Brief description In-Position window

2020h

01h

02h

April 2002 157


Description:this index defines a target window for positioning.Bit 19 of the manufacturer-specific status register is set when the window limits arereached, and the selected output goes High (if the corresponding configuration wasimplemented).

Description:this index defines a maximum value for the contouring (lag) error.The drive will be stopped if the contouring error exceeds this value.Bit 2 of the manufacturer specific status register is used to indicate an excessivecontouring error.The contouring error will not be monitored if the value is set to 0.

Unit m

Access Read / Write


Data type INTEGER32

Value range-( -1) ..( -1)

Default value

Sub-index

Brief description Maximum contouring error

Unit m

Access Read / Write


Data type INTEGER32

Value range-( -1)....( -1)

Default value

Sub-index

Brief description Position register 1

Unit m

Access Read / Write


231

231

4000h

03h

232

232

40000h

04h

158 April 2002


Description:Depending on the configuration, if the position goes above or below the presetposition value, either a threshold bit (Bit 22 of the manufacturer specific statusregister) will be set or the axis will be stopped.(going below software-limit switch 1: Bit 5 = 1 in the manufacturer-specific statusregister).

Description:Depending on the configuration, if the position goes above or below the presetposition value, either a threshold bit (Bit 23 of the manufacturer specific statusregister) will be set or the axis will be stopped.(going above software-limit switch 2: Bit 6 = 1 in the manufacturer-specific statusregister).

Data type INTEGER32

Value range-( -1)....( -1)

Default value 0

Sub-index


Unit m

Access Read / Write


Data type INTEGER32

Value range-( -1)....( -1)

Default value 0

Sub-index


Unit m

Access Read / Write


Data type INTEGER32

Value range-( -1)....( -1)

232

232

05h

232

232

06h

232

232

April 2002 159


Description:depending on the configuration, if the position goes above or below the presetposition value, a threshold bit (Bit 24 of the manufacturer specific status register) willbe set.

Description:depending on the configuration, if the position goes above or below the presetposition value, a threshold bit (Bit 25 of the manufacturer specific status register) willbe set.

Description:

the ratio of the values of Sub-indices and provides the mechanical

resolution of the axis in m / turn.

Default value 0

Sub-index


Unit m

Access Read / Write


Data type INTEGER32

Value range-( -1)....( -1)

Default value 0

Sub-index

Brief description Resolution / denominator ofthe gearing ratio

Unit revs (turns)

Access Read / Write



Value range1....( -1)

Default value 1

07h

232

232

08h

232

08h 09h

µ

160 April 2002


Description:

the ratio of the values of Sub-indices and provides the mechanical

resolution of the axis in m / turn.

Description:the value gives the count direction for current, speed, and position control. A valueof 1 means that the positive count direction has been selected.If a positive setpoint is provided, the motor shaft rotates in a clockwise direction(looking at the shaft end).

Sub-index

Brief description Resolution / denominator ofthe gearing ratio

Unit µm

Access Read / Write



Value range1....( -1)

Default value 1

Sub-index

Brief description Count direction

Unit -

Access Read / Write


Data type UNSIGNED8

Value range 0, 1

Default value 1

09h

232

08h 09h

µ

0Ah

April 2002 161


SDO : Position data


Description:This index is used to enter all the parameters that refer to direct motion tasks storedin the controller.See ASCII ORDER command.


Description:this index is used to enter the target position (absolute motion task) or the distanceto be moved (relative motion task).The choice is defined by bit 0 of the motion task type.Bit 13 of the motion task type defines whether the given value is to be interpreted asan increment or as an SI value.

2022h

Index

Brief description Motion task parameters

Object code RECORD


Sub-index

Brief description Position

Mode Position

Access Read / Write

PDO mapping Possible (pre-mapped toRPDO 34)

Data type INTEGER32

Unit Increments or µm


EEPROM no

Default value 0

Sub-index

Brief description Weighted velocity setpoint

Mode Position

2022h

01h

231

231

02h

162 April 2002


Description:this index is used to enter the target velocity for motion tasks.

It is weighted by sub-index .If the value is defined as an SI unit by motion task type Bit 13 = 1, then theincremental velocity vi is given by:vi=vsi*(PGEARO / (PGEARI x 4000))

Whereby PGEARO (SDO , sub-index ) contains the number of

increments that must be moved to cover a distance of PGEARI (SDO , sub-

index ).

It must be noted here that one revolution of the motor corresponds to =1048576.

Description:This index is used to set motion parameters for the motion task.

Access Read / Write


Data type INTEGER16

Unit Increments/s or µm/s

Value range -32768...32767

EEPROM no

Default value 0

Sub-index

Brief description Motion task type

Mode pp

Access Read / Write


Data type UNSIGNED8

Unit -

Value range0...

EEPROM no

Default value 0

0Dh

2020h 08h

2020h

09h

220

03h

FFFFh

April 2002 163


The interpretation of the bits is shown in the following tables:

Bit Value Meaning

0 Bit for type of relative/absolute motion block (see table 2)



3 = 0, no motion. Drive stops when target position has been reached.= 1, motion. Following motion block available. Next motion block starts automatically whentarget position has been reached. The number of the next motion block is given by thecommand O_FN.

4 Bit for type of next motion block (see table 3)





9 Reserved.

10 Reserved.

11 Reserved.

12 = 0, acceleration and deceleration are given as acceleration/deceleration time (in msec) from0 to target velocity (or reversed).= 1, acceleration and deceleration are given in mm/sec.(see also commands: O_ACC1, O_ACC2, O_DEC1, O_DEC2).

13 =0, target position and target velocity are interpreted as increments. There is no conversionof the values.= 1, before the start of the motion block, the target position and target velocity are convertedinto increments. The conversion uses the parameters PGEARI and PGEARO (see alsocommands O_S, O_V, PGEARI, PGEARO).

14 =0, when the motion block starts, the velocity for the motion block is taken as the targetvelocity.= 1, the target velocity is provided as an analog value (SW1) at the start of the motion block.The analog SW1 value is read at the start of the motion block, and taken as the target velocity.(Scaling: 10 V = VSCALE1)The sign of the SW1 voltage is ignored.

15 Bit 3 for type of relative motion block (see table 2)

0x0001h

0x0002h

0x0004h

0x0008h

0x0010h

0x0020h

0x0040h

0x0080h

0x0100h

0x0200h

0x0400h

0x0800h

0x1000h

0x2000h

0x4000h

0x8000h

164 April 2002


Relative/absolute motion block task:

Bit 0 Bit 1 Bit 2 Bit 15 Meaning

0 x x x Absolute motion block: the position given in the motionblock is taken as the target position.

1 0 0 x Relative motion block: the position given in the motionblock is taken as the distance to be moved. The target iscalculated according to the status of the IN-POSITIONsignal:IN-POSITION = 1:new target position = last target position + movementdistanceIN-POSITION = 0:new target position = actual position + movementdistance

1 1 0 x Relative motion block: the position given in the motionblock is taken as the distance to be moved.new target position = last target position + movementdistance

1 0 1 x Relative motion block: the position given in the motionblock is taken as the distance to be moved.new target position = actual position + movementdistance

1 1 1 0 Relative motion block: the position given in the motionblock is taken as the distance to be moved.new target position = positive latch position + movementdistance (see also LATCH32 command)

1 1 1 1 Relative motion block: the position given in the motionblock is taken as the distance to be moved.new target position = negative latch position + movementdistance (see also LATCH32N command)

April 2002 165


Relative/absolute motion block task:

Bit 4NOBRAKE

Bit 5FOL_IO

Bit 6HI/LO

Bit 7FTIME

Bit 8VTARG

Meaning

0 0 0 0 0 Changeover to next motion task with braking.The drive brakes to the target position of the first motion block.Afterwards, the next motion block is started.

1 0 0 0 0 Changeover to the next motion task at the target position.The drive moves with target velocity to the target position ofthe first motion block. It then changes over to the next motionblock at full speed.

1 0 0 0 1 Changeover to the next motion task:The changeover point for the next motion task is advanced, sothat the drive already has the target velocity for the nextmotion block when it reaches the target position of the firstmotion block.

0 1 0 0 0 Changeover to next motion task with braking.The drive brakes to the target position of the first motion block.The next motion block is started when the pre-defined input(function INxMODE=15) goes LOW.

0 1 1 0 0 Changeover to next motion task with braking.The drive brakes to the target position of the first motion block.The next motion block is started when the pre-defined input(function INxMODE=15) goes HIGH.

0 0 0 1 0 Changeover to next motion task with braking.The drive brakes to the target position of the first motion block.The next motion block is started when the pre-programmeddelay time (O_FT) has elapsed.

0 1 0 1 0 Changeover to next motion task with braking.The drive brakes to the target position of the first motion block.The next motion block is started when the pre-defined input(function INxMODE=15) goes LOW, or the pre-programmeddelay time (O_FT) has elapsed.

0 1 1 1 0 Changeover to next motion task with braking.The drive brakes to the target position of the first motion block.The next motion block is started when the pre-defined input(function INxMODE=15) goes HIGH, or the pre-programmeddelay time (O_FT) has elapsed.

166 April 2002


Description:under development.

Description:this index gives the number of the selected motion task.Motion tasks 1 to 180 are EEPROM motion blocks, and motion tasks 192 to 255 areRAM motion blocks.The RAM motion blocks are loaded with the first 64 EEPROM motion blocks whenthe servo amplifier is switched on or reset.Motion block 0 is also a RAM motion block, which is used as a copy buffer for motiontasks, and also to hold the motion task data for a direct motion task (RPDO 34).

Sub-index

Brief description Trajectory

Access Read / Write


Data type INTEGER32

Unit -


Default value 0

Sub-index

Brief description Motion task number

Access Read / Write

PDO mapping Possible (pre-mapped RPDO35)


Unit -

Value range 1...180, 129...255

Default value 0

Sub-index

Brief description Run-up time (acceleration)

04h

231

231

05h

06h

April 2002 167


Description:this index is used to define the total time taken to run up to the target velocity for themotion task.

The value chosen for sub-index sets the form of the acceleration ramp.

Description:this index is used to define the total time taken to brake down to velocity 0 (standstill)at the target position.

The value chosen for sub-index sets the form of the deceleration ramp.

Access Read / Write



Unit ms


Default value 0

Sub-index

Brief description Braking time (deceleration)

Access Read / Write



Unit ms


Default value 0

Sub-index

Brief description Jolt (acceleration) limiting(under development)

Access Read / Write



Unit ms


Default value 0

08h

07h

09h

08h

168 April 2002


Description:this index sets the form of the acceleration ramp.

The value chosen must be smaller than half of the run-up time (sub-index ).The following diagram illustrates the relationships:

T1 corresponds to the sub-index and T2 to sub-index .If T2 = 0, then a trapezoidal acceleration ramp is used.If T2 = T1/2, then an approximately sin2 ramp is used.

Description:this index defines the form of the braking/deceleration ramp.

The value chosen must be smaller than half of the braking time (sub-index ).

Sub-index

Brief description Jolt (deceleration) limiting(under development)

Access Read / Write



Unit ms


Default value 0

06h

a

tT2T2

T1

06h 08h

09h

07h

April 2002 169


Description:this index is used to set the number of the next motion task.

The setting of sub-index , bit 3, decides whether this is used to continue.

Description:this index is used to set a delay time for the start of the next motion task.

To do this, the function must be enabled through sub-index , bit 7.

Sub-index

Brief description Number of the next motiontask number

Access Read / Write



Unit -

Value range 0...180, 192...255

Default value 0

Sub-index

Brief description Start delay for next motiontask

Access Read / Write



Unit ms


Default value 0

Sub-index

Brief description Copy a motion task

Access Read / Write



OAh

03h

OBh

03h

OCh

170 April 2002


Description:This index can be used to copy motion tasks.The number that appears first in the CAN telegram defines the source motion task,the following number defines the target motion task.

Description:this index sets a multiplying factor for the velocity given in the RPDO motion block.

Description:this index defines the velocity for the direct motion task (motion block 0).The type of motion task then determines whether the velocity is evaluated inincrements or in SI units.

Unit Increments / 250µs, ordepending on resolution


Default value 1

Sub-index

Brief description Velocity weighting factor

Access Read / Write



Unit -


Default value 1

Sub-index

Brief description Velocity for direct motion task

Access Read / Write


Data type INTEGER32

Unit Increments / 250µs, ordependent on the speed unit


Default value 0

ODh

OEh

231

231

April 2002 171


5.15 Latch function

SDO : Latch enable



Description:LEXIUM provides the option of acquiring an actual position with high precision(acquisition time < 1µs) via a latch input (input 2, IN2MODE 26, can also be

configured through SDO , sub-index ).

SDO can be used to decide whether a latching pulse is reported via CAN. Avalue of 0 means it is inhibited.

2026h

Index

Brief description Enables the latch function forCAN

Object code RECORD


Sub-index

Brief description Enables the latch function forCAN

Access Read / Write


Data type INTEGER8

Unit -

Value range 0, 1

Default value 1

2026h

01h

3565h 01h

2026h

172 April 2002


5.16 Manufacturer-specific actual values

SDO : Actual values


Description:this index makes relevant actual values available.


Description:this index is used to read the motor position within 16 turns/revolutions.One turn is resolved with 20 bits, in increments.

1 turn => increments => 1048576 increments.


2070h

Index

Brief description Actual values

Object code RECORD


Sub-index

Brief description Actual position

Access Reading

PDO mapping Possible (pre-mapped toTPDO 22, TPDO 32)


Unit -


Default value 0

Sub-index

Brief description Actual speed

Access Reading

PDO mapping Possible (pre-mapped toTPDO 22, TPDO 32)

2070h

01h

220

02h

April 2002 173


Description:this index is used to read the motor speed.The actual speed is given by:

n[ ] = (1875 / 262144) x (speed value as read)

Description:this index can be used to read the incremental value for the actual position.One turn is resolved with 20 bits, in increments.

The following ratio then exists:

1 turn => increments => 1048576 increments.


Unit


Default value 0

Sub-index

Brief description Incremental actual position

Access Reading

PDO mapping Possible (pre-mapped toTPDO 33)

Data type INTEGER32

Unit -


Default value 0

Sub-index

Brief description Read the 16-bit position latch

Access Reading


Data type INTEGER16

Unit -


Default value 0

min1–

min1–

03h

231

231

220

04h

215

215

174 April 2002


Description:this index is used to read the 16-bit position stored in the latch.The position is given as increments within a single turn.The output is not affected by the gearing factor or the factor groups.

Description:this index is used to read the 32-bit position stored in the latch.The position is given as increments within a single turn.The output is not affected by the gearing factor or the factor groups.

Description:this index can be used to read the actual position in SI units.The ratio of distance actually travelled to motor revolutions is given by:

= x (PGEARI / PGEARO)

Whereby PGEARO (SDO , sub-index ) contains the number of

increments that must be moved to cover a distance of PGEARI (SDO , sub-

index ).

Sub-index

Brief description Read the 32-bit position latch

Access Reading


Data type INTEGER32

Unit -


Default value 0

Sub-index

Brief description SI actual position

Access Reading


Data type INTEGER32

Unit µm


Default value 0

05h

231

231

06h

231

231

SSI SInkr

2020h 08h

2020h

09h

April 2002 175


It must be noted that one turn of the motor corresponds to = 1048576increments.

Description:this index can be used to read the actual speed in SI units.

Description:this index can be used to read out the momentary lag error measured in SI units.

Sub-index

Brief description SI actual velocity

Access Reading


Data type INTEGER32

Unit µm/ s


Default value 0

Sub-index

Brief description Lag/following error

Access Reading


Data type INTEGER32

Unit µm


Default value 0

220

07h

231

231

08h

231

231

176 April 2002


Description:this index can be used to read out the momentary rms (effective) current.

Description:this index is used to read out the momentary speed measurement.

Sub-index

Brief description RMS (effective) current

Access Reading



Unit mA

Value range 0...2 * rated current [mA]

Default value 0

Sub-index

Brief description Speed

Access Reading


Data type INTEGER32

Unit


Default value 0

Sub-index

Brief description Heat sink temperature

Access Reading


Data type INTEGER32

Unit °C


Default value 0

09h

0Ah

min1–

231

231

0Bh

231

231

April 2002 177


Description:this index is used to read out the heat sink temperature.

Description:this index is used to read the internal temperature of the servo amplifier.

Description:this index is used to read out the momentary DC-bus voltage.

Sub-index

Brief description Internal temperature

Access Reading


Data type INTEGER32

Unit °C


Default value 0

Sub-index

Brief description DC-link (DC-bus) voltage

Access Reading


Data type INTEGER32

Unit V


Default value 0

Sub-index

Brief description Ballast power

Access Reading


Data type INTEGER32

Unit W


0Ch

231

231

0Dh

231

231

0Eh

231

231

178 April 2002


Description:this index is used to read out the momentary ballast power.

Description:this index is used to read out the IT loading.

Description:this index is used to read out the operating time (hours) counter of the servoamplifier.

Default value 0

Sub-index

Brief description IT loading

Access Reading


Data type INTEGER32

Unit %


Default value 0

Sub-index

Brief description Operating time

Access Reading


Data type INTEGER32

Unit min


Default value 0

0Fh

231

231

10h

231

231

April 2002 179


Description:

Sub-index

Brief description Enhanced status for TPDO 33

Access Reading



Unit -

Value range0 ..( -1)

Default value 0


0 0x00000001 Status input 1




4 0x00000010 Reserved












16 0x00010000 Task active (position control)

17 0x00020000 Homing/reference point set

18 0x00040000 Home position

19 0x00080000 In-Position

20 0x00100000 Position latched

21 0x00200000 Free

11h

232

180 April 2002


22 0x00400000 Signal position 1




26 0x04000000 Initialization finished

27 0x08000000 Free

28 0x10000000 Motor standstill

29 0x20000000 Safety relay

30 0x40000000 Output stage enabled

32 0x80000000 Error present


April 2002 181


5.17 Profile Velocity Mode (pv) (DS402)

At a Glance

Aim of thisSection

The "Profile Velocity" mode enables the processing of velocity setpoints and theassociated accelerations.



Topic Page

SDO : Velocity actual value (DS402)183

SDO : Target velocity184

606Ch

60FFh

182 April 2002


SDO : Velocity actual value (DS402)

At a Glance The object "Velocity actual value" represents the actual speed.The scaling of the value depends on the factor "Velocity encoder resolution" (SDO

).

606Ch

Index (hex) 0x606C

Name Velocity actual value

Object code VAR

Data type INTEGER32

Mode pv

Access Reading


Unit Unit of speed

Value range-( ) ..( -1)

Default value -

EEPROM No

6096h

231

231

April 2002 183


SDO : Target velocity

At a Glance The "Target velocity" setpoint represents the setpoint for the ramp generator.The scaling of the value depends on the factor "Velocity encoder resolution" (SDO

).

60FFh

Index (hex) 0x60FF

Name Target velocity

Object code VAR

Data type INTEGER32

Mode pv

Access Read / Write


Unit Increments


Default value -

EEPROM No

6096h

231

231

184 April 2002


5.18 Position Control Function (pc) (DS402)

At a Glance

Aim of thisSection

This Section describes the actual position values that are associated with theposition controller of the drive.They are used for the "profile position" mode.



Topic Page

SDO : Position actual value* (DS402)186

SDO : Position actual value (DS402)187

6063h

6064h

April 2002 185


SDO : Position actual value* (DS402)

At a Glance The object "Position actual value" provides the momentary actual position inincrements. The resolution is 16 bits or 20 bits per turn (see PRBASE command).

6063h

Index (hex) 0x6063

Name Position actual value

Object code VAR

Data type INTEGER32

Mode pc, pp

Access Read / Write


Unit Increments (1 turn = 16 bits /20 bits) (see PRBASE)


Default value -

EEPROM No

231

231

186 April 2002


SDO : Position actual value (DS402)

At a Glance The object "Position actual value" provides the actual position. The resolution

(manufacturer specific (See SDO : Position controller, p. 157): sub-index

and or the profile of the drive DSP402 (See SDO : Target position(DS402), p. 198)) is affected by the scaling coefficient "gearing ratio".

6064h

Index (hex) 0x6064

Name Position actual value

Object code VAR

Data type INTEGER32

Mode pc, pp

Access Read / Write


Unit Position units


Default value -

EEPROM No

2020h

08h 09h 607Ah

231

231

April 2002 187


5.19 Homing Mode (hm) (DS402)

At a Glance

Aim of thisSection

This section describes the various parameters which are required to define a homingmode.



Topic Page

SDO : Home offset (DS402)189

SDO : Homing method (DS402)190

SDO : Homing speed (DS402)193

SDO : Homing acceleration (DS402)194

Homing Mode Sequence 195

607Ch

6098h

6099h

609Ah

188 April 2002


SDO : Home offset (DS402)

At a Glance The reference offset ("Home offset") is the difference between the zero position forthe application and the zero point of the machine. All subsequent absolute motiontasks take account of the reference offset.

607Ch

Index (hex) 0x607C

Name Home offset

Object code VAR

Data type INTEGER32

Mode hm

Access Read / Write


Unit User defined


Default value 0

EEPROM Yes

231

231

April 2002 189


SDO : Homing method (DS402)

At a Glance

The following homing methods are supported:

6098h

Index (hex) 0x6098

Name Homing method

Object code VAR

Data type INTEGER8

Mode hm

Access Read / Write


Unit Position units

Value range -128...127

Default value 0

EEPROM Yes

Method (asperDSP402)

Brief description: homing ASCII command

-128...-4 Reserved -

-3 Move to mechanical stop, with zeroing NREF = 7

-2 Set reference point at present position, allowing forlag/following error

NREF = 6

-1 Homing within a single turn (direction of rotationdepends on distance)

NREF = 5, DREF = 2

0 Reserved -

1 Homing to negative limit switch, with zeroing,negative direction of motion

NREF = 2, DREF = 0

2 Homing to positive limit switch, with zeroing,positive direction of motion

NREF = 2, DREF = 1

3...7 Non supported -

8 Homing to reference switch, with zeroing, positivedirection of motion

NREF = 1, DREF = 1


12 Homing to reference switch, with zeroing, negativedirection of motion

NREF = 1, DREF = 0

190 April 2002


Description ofthe homingmethods

Choosing a homing method by writing a value to "Homing method" (SDO )will clearly establish: the homing signal (P-Stop, N-Stop, reference switch) the direction of actuationand where appropriate the position of the index pulse

The reference position is give by the reference offset (SDO ). The

manufacturer-specific parameter ENCZERO (SDO , sub-index ) can beused to adapt the initial position of the motor for homing to match the index pulse forhoming with zeroing.


15...16 Reserved -

17 Homing to negative limit switch, without zeroing,negative direction of motion

NREF = 4, DREF = 0

18 Homing to negative limit switch, without zeroing,positive direction of motion

NREF = 4, DREF = 1


24 Homing to reference switch, without zeroing,positive direction of motion

NREF = 3, DREF = 1


28 Homing to reference switch, without zeroing,negative direction of motion

NREF = 3, DREF = 0


31...32 Reserved -

33 Homing within a single turn, negative direction ofrotation

NREF = 5, DREF = 0

34 Homing within a single turn, positive direction ofrotation

NREF = 5, DREF = 1

35 Set reference point at present position NREF = 0

36...127 Reserved -

Method (asperDSP402)

Brief description: homing ASCII command

6098h

607Ch

3537h 01h

April 2002 191


A detailed description of the types of homing movement can be found in thedescription of the commissioning software DRIVE.EXE.

192 April 2002


SDO : Homing speed (DS402)At a Glance

6099h

Index (hex) 0x6099

Name Homing speed

Object code ARRAY



Sub-index

Brief description Speed during search forswitch

Mode hm

Access Read / Write


Unit Unit of speed


Default value

EEPROM Yes

01h

232

220

April 2002 193


SDO : Homing acceleration (DS402)

At a Glance

609Ah

Index (hex) 0x609A

Name Homing acceleration

Object code VAR


Mode hm

Access Read / Write


Unit Acceleration units


Default value 0

EEPROM Yes

232

194 April 2002


Homing Mode Sequence

At a Glance The homing movement is started by setting Bit 4 (positive edge). The successful

conclusion is indicated by Bit 12 in the status word (see SDO ). Bit 13indicates that an error occurred during the homing movement. In this case, the error

code must be evaluated (error register: SDOs , , "Manufacturer status"

SDO ).

Bit 4 Description

0 Homing inactive

from 0 to 1 Start homing movement

1 Homing active

from 0 to 1 Interruption of homing movement

Bit 13 Bit 12 Description

0 0 Reference point not set, or homing movement not yet finished

0 1 Reference point set, homing movement finished

1 0 Homing movement could not be successfully concluded (lag error)

1 1 Impermissible state

6041h

1001h 1003h

1002h

April 2002 195


5.20 Profile Position Mode (pp)

At a Glance

Aim of thisSection

This Section describes the various parameters which are required to define a"Profile position" mode.



Topic Page

General information 197

SDO : Target position (DS402)198

SDO : Position range limit (DS402)199

SDO : Profile velocity (DS402)201

SDO : Profile acceleration (DS402)202

SDO : Profile deceleration (DS402)203

SDO : Motion profile type (DS402)204

607Ah

607Bh

6081h

6083h

6084h

6086h

196 April 2002


General information

At a Glance The special handshake procedure for the control word and status word is described

in the Section entitled target position (See SDO : Target position (DS402),p. 198).Global structure:

607Ah

Target_position(SDO 607A)

Trajectorygenerator

parameters

Positioncontrol

parameters

Trajectorygenerator

Positioncontrolfunction Control_effort

(SDO 60FA)

Position-demandvalue

(SDO 60F2)

April 2002 197


SDO : Target position (DS402)

At a Glance The object "Target position" defines the target position for the drive. The targetposition is interpreted as a relative distance or an absolute position, depending on

bit 6 of the control word (SDO ).The type of relative movement can be further defined by the manufacturer-specific

parameter , sub-index .

The mechanical resolution is set by the gearing factors SDO , sub-index

and .

607Ah

Index (hex) 0x607A

Name Target position

Object code VAR

Data type INTEGER32

Mode pp

Access Read / Write


Unit User Defined


Default value -

EEPROM No

6040h

2022h 03h

6093h 01h

02h

231

231

198 April 2002


SDO : Position range limit (DS402)

At a Glance The object "Position range limit" is used to define the start and end of the range ofmovement for a modulo axis.

The start of the range is defined by sub-index "min-position-range-limit" (ASCII

SRND) and the end by sub-index "max-position-range-limit" (ASCII ERND).This functionality can only be used after a re-configuration of the instrument. To do

this, SDO , sub-index must have the value 2 applied.The procedure can then be started (See New configuration of LEXIUM, p. 275).

607Bh

Index (hex) 0x607B

Name Position range limit

Object code ARRAY


Data type INTEGER32

Sub-index

Brief description Min. position range limit

Mode pc, pp

Access Read / Write


Unit Position units

Value range(- )...( -1)

Default value-

EEPROM Yes

Sub-index

Brief description Max. position range limit

Mode pc, pp

Access Read / Write


01h

02h

2020h 01h

01h

231

231

231

02h

April 2002 199


Unit Position units


Default value- -1

EEPROM Yes

231

231

231

200 April 2002


SDO : Profile velocity (DS402)

At a Glance The "profile velocity" is the final velocity that should be reached after theacceleration phase of a motion task. The scaling used depends on the setting of the

"velocity encoder factor" (SDO ).The application of the setpoint depends on the operation mode (pp, pv) that is set.

6081h

Index (hex) 0x6081

Name Profile velocity

Object code VAR


Mode pp, pv

Access Read / Write


Unit Unit of speed

Value range0..( -1)

Default value 10

EEPROM No

6094h

232

April 2002 201


SDO : Profile acceleration (DS402)

At a Glance The acceleration ramp is given in units that are defined by the user.The processing and interpretation of the acceleration setpoint can be made in twoways:

internal gearing factors PGEARI = PGEARO (SDO 2020h sub-index and

, ASCII command PGEARI / PGEARO).The acceleration ramp is interpreted as the acceleration time [ms] or rate ofacceleration [incr/s] referred to the target velocity (SDO 6081h profile velocity).The scaling for this value depends on "SDO 6097h acceleration factor".

internal gearing factors PGEARI <> PGEARO (SDO 2020h sub-index and

, ASCII command PGEARI / PGEARO).The acceleration ramp is interpreted as the acceleration time [ms] or rate ofacceleration [length units/s] referred to the object "Target velocity".The scaling for this value depends on the gearing factors that are set (seedescription of the ASCII commands PGEARI and PGEARO) and the basic unitthat is set [ms] or [length unit / s].The selection of the basic unit is made through bit 12 in the control word for themotion task (SDO 2022h sub-index 03h, ASCII commands O_C).

The type of acceleration ramp can be selected as a linear ramp or a sin ramp

(SDO 6086h) (See SDO : Motion profile type (DS402), p. 204).

6083h

Index (hex) 0x6083

Name Profile acceleration

Object code VAR


Mode pp

Access Read / Write


Unit Acceleration units

Value range0..( -1)

Default value 0

08h

09h

08h

09h

6086h

232

202 April 2002


SDO : Profile deceleration (DS402)

At a Glance The braking/deceleration ramp is handled in the same way as the acceleration ramp.

6084h

Index (hex) 0x6084

Name Profile deceleration

Object code VAR


Mode pp

Access Read / Write


Unit Acceleration unit

Value range0..( -1)

Default value 0

232

April 2002 203


SDO : Motion profile type (DS402)

At a Glance The type of acceleration ramp can be selected by this object as a linear or assinsoidal ramp.

6086h

Index (hex) 0x6086

Name Motion profile type

Object code VAR

Data type INTEGER16

Mode pp

Access Read / Write


Unit None


Default value 0

EEPROM Yes

Code Type

-32768...-1 Manufacturer-specific (not supported)

0 Linear (trapezoidal)

1 sin

2...32767 Profile-specific extensions (not supported)

215

215

204 April 2002


5.21 Functional description

Functional description

At a Glance There are two different ways to apply target positions to a drive:

set of setpoints: after reaching the target position, the drive device immediatelyprocesses the next target position. This results in a move where the velocity of thedrive normally is not reduced to zero after achieving a setpoint.With LEXIUM, this is only possible if trapezoidal ramps are used.

single setpoint: after reaching the target position, the drive device signals thisstatus to a host computer and then receives a new setpoint. After reaching a targetposition, the velocity is normally reduced to zero before starting a move to the nextsetpoint.

The two modes are controlled by the timing of the bits for "new setpoint" and"change set immediately" in the control word, and "setpoint acknowledge" in thestatus word.These bits allow the setting up of a request-response mechanism in order to preparea set of setpoints while another set is still being processed in the drive unit.This minimizes reaction times within a control program on a host computer.

April 2002 205


Figure 1:

The figure shows the difference between the set of setpoints mode and the singlesetpoint mode.The initial status of the bit "change set immediately" in the control word determineswhich mode is used.To keep these examples simple, only trapezoidal moves are used.If the bit "change set immediately" is "0"(continuously drawn line in Figure 1) a singlesetpoint is expected by the drive (1).After data is applied to the drive, a host signals that the data is valid by changing

the bit "new setpoint" to "1" in the control word (2).The drive responds with "setpoint acknowledge set = 1" in the status word (3) afterit has recognized and buffered the new valid data.Now the host can release "new setpoint" (4) and subsequently the drive will signalthrough "setpoint acknowledge = 0" its ability to accept new data again (5).In Figure 2 this mechanism results in a velocity of zero after ramping down to reacha target position X1 at t1.After signaling to the host, the setpoint has been reached as described above. Thenext target position is processed at t2 and reached at t3.

data

new setpoint

change setimmediately

setpointacknowledge

XXXXXXX

(2) (4)

(6)

(1)

(3) (5)

206 April 2002


Figure 2:

With "change set immediately" set to "1" (6), symbolized by the dashed line in Figure1, the host instructs the drive to apply a new setpoint immediately after reaching theprevious one.The relative timing of the other signals is unchanged.This behavior causes the drive to process the next setpoint X2 in advance, and tohold its velocity when it reaches the target position X1 at t1. The drive then movesimmediately to the next target position X2 that has already been calculated.

Figure 3:

Bits in the control word:bit 4 new setpointbit 5 change set immediatelybit 6 absolute / relative

Bits in the status word:bit 12 setpoint acknowledgebit 13 lag / following error

Notes on motion task type "relative":If bit 6 is set, then the motion task type is relative, and activated according to the lasttarget position or actual position.

time

speed

t0 t1 t2 t3

V1

V2

time

speed

t0 t1 t2

V1

V2

April 2002 207


If other types of relative motion are required, these must be activated in advance

through SDO sub-index (position data for position mode).

Notes on profile position mode:The drive profile DSP402 distinguishes between two methods of moving to a targetposition.These two methods are controlled by the bits for "new setpoint" and "change setimmediately" in the control word, and "setpoint acknowledge" in the status word.These bits can be used to prepare a motion task while another is still being carriedout (handshake).

moving to several target positions without an intermediate halt:after the target position has been reached, the drive moves immediately to thenext target position.This requires that new setpoints are signaled to the drive.This is done through a positive transition of the "new setpoint" bit.In this case, the "setpoint acknowledge" bit must not be set (configured).The velocity is not reduced to zero when the first setpoint is reached.

moving to a single target position:the drive moves to the target position, whereby the velocity is reduced to zero.Reaching the target position is signaled by the bit for "target reached" in thestatus word.

2022h 03h

208 April 2002

Object Channel

6Object Channel

At a Glance

Aim of thisChapter

This Chapter describes the object Channel.



Section Topic Page

6.1 Description of the object "Manufacturer-specific ObjectChannel"

211

April 2002 209

Object Channel

210 April 2002

Object Channel

6.1 Description of the object "Manufacturer-specificObject Channel"

SDO : Manufacturer-specific object channel

At a Glance The Object Dictionary has been expanded beyond Index (reserved object

range: to ) for all device objects that can be described in up to 4 bytesof user data.This range can be dynamically extended (i.e.: if extensions are made, new deviceparameters that fulfil the above-mentioned format are automatically added to thetable for the core firmware).

SDO (sub-index 01h, read) can be used to show the total number of objectsin the "Object Channel (See The object Dictionary, p. 262)".

Each object in this range is described with the aid of 8 sub-indices. The structure isbuilt up as follows:

3500h

Index (hex) >3500

Name Object-dependent

Object code VAR

Data type RECORD

Sub-index (hex) 00


Unit -

Access -


Data type UNSIGNED8

Value range0... -1

EEPROM -

Default value -

Sub-index (hex) 01

3500h

3500h 3900h

3500h

28

April 2002 211

Object Channel

Description Read / write a parameter

Unit See corresponding ASCIIcommand

Access See corresponding ASCIIcommand


Data type See corresponding ASCIIcommand

Value range See corresponding ASCIIcommand

EEPROMSee sub-index

Default value See corresponding ASCIIcommand

Sub-index (hex) 02

Description Read lower limit value


Access Reading




EEPROM -

Default value -

Sub-index (hex) 03

Description Read upper limit value


Access Reading


04h

212 April 2002

Object Channel

Description:



EEPROM -

Default value -

Sub-index (hex) 04

Description Read the default value


Access Reading




EEPROM -

Default value -

Sub-index (hex) 05

Description Read the parameter format

Unit -

Access Reading




EEPROM -

Default value -

April 2002 213

Object Channel

The following parameter formats are possible:

Description:

0 Function (no parameter)

1 Function (INTEGER32 parameter)

2 Function (INTEGER32 parameter with weighting3)

3 INTEGER8

4 UINTEGER8

5 INTEGER16

6, 13 UINTEGER16

7 INTEGER32

8, 12 UINTEGER32

9, 10 INTEGER32 (3 coefficient)

Note: Parameters with parameter format 0 are read-only.

Sub-index (hex) 06

Description Read the parameter checkdata

Unit -

Access Reading




EEPROM -

Default value -

0x00010000 After an alteration the variable must be savedand the controller must be reset

0x00020000 Variable is saved in the serial EEPROM

0x00200000 Variable is read-only, must not be written toover the bus

232

214 April 2002

Object Channel

Sub-index (hex) 07 / 08

Description Reserved

Unit -

Access Reading




EEPROM -

Default value -

Number ASCIIcommand

Data type Coefficient

Status EEPROM

3500 MAXSDO INTEGER32 - - -

3501 ACC INTEGER16 - - Yes

3502 ACCR INTEGERr16 - - Yes

3503 ACTFAULT INTEGER8 - Disabled + Reset Yes

3504 ACTIVE INTEGER8 - - No

3505 ADDR UNSIGNED8 - - Yes

3506 AENA INTEGER8 - - Yes

3507 ANCNFG INTEGER8 - Disabled + Reset Yes

3508 ANDB - x - Yes

3509 ANIN1 INTEGER32 - - No

350A ANIN2 INTEGER32 - - No

350B ANOFF1 INTEGER16 - - Yes

350C ANOFF2 INTEGER16 - - Yes

350D ANOUT1 INTEGER8 - Disabled + Reset Yes

350E ANOUT2 INTEGER8 - Disabled + Reset Yes

350F ANZERO1 - - - -

3510 ANZERO2 - - - -

3511 AVZ1 INTEGER32 x - Yes

3512 CALCHP - - Enabled -

3513 CALCRK - - Enabled -

232

April 2002 215

Object Channel

3514 CALCRP - - Disabled + Reset -

3515 CBAUD INTEGER16 - Disabled + Reset Yes

3516 Reserved

3517 CDUMP - - - -

3518 CLRFAULT - - - -

3519 CLRHR - - - -

351A CLRORDER INTEGER16 - Disabled -

351B CLRWARM UNSIGNED8 - Disabled + Reset Yes

351C CONFIG - - - -

351D CONTINUE - - Enabled -

351E CTUNE - - Enabled -

351F CUPDATE - - Disabled -

3520 DAOFFSET1 INTEGER16 - - Yes

3521 DAOFFSET2 INTEGER16 - - Yes

3522 DEC INTEGER16 - - Yes

3523 DECDIS INTEGER16 - - Yes

3524 DECR INTEGER16 - - Yes

3525 DECSTOP INTEGER16 - - Yes

3526 DEVICE - - - No

3527 DICONT INTEGER32 x - No

3528 DIFVAR - - - -

3529 DIPEAK INTEGER32 x - No

352A DIR INTEGER8 - Disabled + Reset Yes

352B DIS - - Enabled -

352C DREF INTEGER8 - - Yes

352D DRVSTAT INTEGER32 - - No

352E DR_TYPE INTEGER16 - - No

352F DUMP - - - -

3530 ENC - - Disabled Yes

3531 ENCCAPT INTEGER8 - Disabled Yes

3532 ENCIN INTEGER32 - Disabled + Reset Yes

3533 ENCLINES INTEGER16 - Disabled + Reset Yes

3534 ENCMODE INTEGER8 - - Yes

3535 ENCOUT INTEGER16 - - Yes

Number ASCIIcommand


Status EEPROM

216 April 2002

Object Channel

3536 Reserved

3537 ENCZERO INTEGER16 - - Yes

3538 EXTMUL INTEGER16 - - Yes

3539 EXTPOS INTEGER8 - Disabled + Reset Yes

353A EXTWD INTEGER32 - - Yes

353B FBTYPE INTEGER8 - Disabled + Reset Yes

353C FILTMODE UNSIGNED8 - Disabled + Reset Yes

353D FOLDMODE INTEGER8 - Disabled + Reset Yes

353E GEARI INTEGER16 - - Yes

353F GEARMODE INTEGER8 - Disabled Yes

3530 GEARO INTEGER16 - - Yes

3531 GET - - - -

3532 GP INTEGER32 x - Yes

3533 GPFBT INTEGER32 x - Yes

3534 GPFFT INTEGER32 x - Yes

3535 GPFFV INTEGER32 x - Yes

3536 GPN INTEGER32 x - Yes

3537 GPV INTEGER32 x - Yes

3538 GV INTEGER32 x - Yes

3539 GVFBT INTEGER32 x - Yes

354A GVFILT INTEGER8 - - Yes

354B GVFR INTEGER32 x - Yes

354C GVT2 INTEGER32 x - Yes

354D GVTN INTEGER32 x - Yes

354E HACOFFS INTEGER16 - - Encoder

354F HAFACT1 INTEGER16 - - Encoder

3550 HASOFFS INTEGER16 - - Encoder

3551 HDUMP - - - -

3552 HICOFFS INTEGER16 - - Yes

3553 HIFACT1 INTEGER16 - - Encoder

3554 HISOFFS INTEGER16 - - Encoder

3555 HRESET - - - -

3556 HSAVE - - - -

3557 HVER - - - No

Number ASCIIcommand


Status EEPROM

April 2002 217

Object Channel

3558 I INTEGER32 x - No

3559 I2T INTEGER32 - - No

355A I2TLIM INTEGER8 - - Yes

355B ICMD INTEGER32 x - No

355C ICONT INTEGER32 x - Yes

355D ID INTEGER32 x - No

355E IDUMP - - - -

355F IMAX INTEGER32 x - No

3560 IN - - - -

3561 IN1 INTEGER8 - - -

3562 IN1MODE INTEGER8 - Disabled + Reset Yes

3563 IN1TRIG INTEGER32 - - Yes

3564 IN2 INTEGER8 - - No



3567 IN3 INTEGER8 - - No



356A IN4 INTEGER8 - - No

356B IN4MODE INTEGER8 - Disabled + Reset Yes

356C IN4TRIG INTEGER32 - - Yes

356D INPOS - - - -

356E IPEAK INTEGER32 x - Yes

356F IPEAKn INTEGER32 x - Yes

3570 IQ INTEGER32 x - No

3571 ISCALE1 INTEGER32 x - Yes

3572 ISCALE2 INTEGER32 x - Yes

3573 K - - Enabled No

3574 KC INTEGER32 x - Yes

3575 KEYLOCK INTEGER8 - - Yes

3576 Reserved

3577 L INTEGER32 x - Yes

3578 LATCH16 INTEGER16 - - -

3579 LATCH16N INTEGER16 - - No

Number ASCIIcommand


Status EEPROM

218 April 2002

Object Channel

357A LATCH32 INTEGER32 - - -

357B LATCH32N INTEGER32 - - No

357C LATCHX32 INTEGER32 - - No

357D LATCHX32N INTEGER32 - - No

357E LED1 INTEGER8 - - -

357F LED2 INTEGER8 - - -

3580 LED3 INTEGER8 - - -

3581 LEDSTAT INTEGER16 - - -

3582 LIST - - - No

3583 LOAD - - - No

3584 MAXTEMPE INTEGER16 - - Yes

3585 MAXTEMPH INTEGER16 - - Yes

3586 MAXTEMPM INTEGER32 x - Yes

3587 MBRAKE INTEGER8 - Disabled + Reset Yes

3588 MDBCNT - - - -

3589 MDBGET - - - -

358A MDBSET INTEGER16 - - -

358B MDUMP - - - -

358C Reserved

358D MH - - Enabled -

358E MICONT INTEGER32 x - Yes

358F MIPEAK INTEGER32 x - Yes

3590 Reserved

3591 MJOG - - Enabled -

3592 MVANGLP INTEGER16 - - Yes

3593 MKT INTEGER32 x - Yes

3594 Reserved

3595 MLGC INTEGER32 x - Yes

3596 MLGD INTEGER32 x - Yes

3597 MLGP INTEGER32 x - Yes

3598 MLGQ INTEGER32 x - Yes

3599 MNUMBER INTEGER16 x Disabled Yes

359A MONITOR1 INTEGER16 - - No

359B MONITOR2 INTEGER16 - - No

Number ASCIIcommand


Status EEPROM

April 2002 219

Object Channel

359C MPHASE INTEGER16 - Disabled Yes

359D MPOLES INTEGER8 - Disabled Yes

359E MRD - - Enabled -

359F Reserved

35A0 MRESBW INTEGER16 - - Yes

35A1 MRESPOLES INTEGER8 - Disabled Yes

35A2 MSG INTEGER8 - - Yes

35A3 MSPEED INTEGER32 x - Yes

35A4 Reserved

35A5 MTANGLP INTEGER16 - - Yes

35A6 Reserved

35A7 MVANGLB INTEGER32 - - Yes

35A8 MVANGLF INTEGER16 - - Yes

35A9 M_RESET - - Disabled -

35AA NONBTB INTEGER8 - - Yes

35AB NOTCHBW INTEGER32 x - Yes

35AC NOTCHHZ INTEGER32 x - Yes

35AD NREF INTEGER8 - - Yes

35AE O1 INTEGER8 - - Yes

35AF O1MODE INTEGER8 - Disabled + Reset Yes

35B0 O1TRIG INTEGER32 - - Yes

35B1 O2 INTEGER8 - - No

35B2 O2MODE INTEGER8 - Disabled + Reset Yes

35B3 O2TRIG INTEGER32 - - Yes

35B4 OPMODE INTEGER8 - - Yes

35B5 OPTION INTEGER16 - - No

35B6 OVRIDE INTEGER8 - - Yes

35B7 O_ACC1 INTEGER16 - - No

35B8 O_ACC2 INTEGER16 - - No

35B9 O_C INTEGER16 - - No

35BA O_DEC1 INTEGER16 - - No

35BB O_DEC2 INTEGER16 - - No

35BC O_FN INTEGER16 - - No

35BD O_FT INTEGER16 - - No

Number ASCIIcommand


Status EEPROM

220 April 2002

Object Channel

35BE O_P INTEGER32 - - No

35BF O_V INTEGER32 - - No

35C0 PBAL INTEGER32 - - No

35C1 PBALMAX INTEGER32 - - Yes

35C2 PBALRES INTEGER8 - - Yes

35C3 PBAUD INTEGER32 x - No

35C4 PDUMP - - - -

35C5 PE INTEGER32 - - No

35C6 PEINPOS INTEGER32 - - Yes

35C7 PEMAX INTEGER32 - - Yes

35C8 PFB INTEGER32 - - No

35C9 PFB0 INTEGER32 - - No

35CA PGEARI INTEGER32 - Disabled + Reset Yes

35CB PGEARO INTEGER32 - Disabled + Reset Yes

35CC PIOBUF - - - No

35CD PMODE INTEGER32 - Disabled + Reset Yes

35CE PNOID INTEGER32 - - No

35CF POSCNFG INTEGER8 - Disabled + Reset Yes

35D0 PPOTYP INTEGER8 - - Yes

35D1 PRBASE INTEGER8 - Disabled + Reset Yes

35D2 PRD INTEGER32 - - No

35D3 PROMPT INTEGER16 - - No

35D4 PSTATE - - - No

35D5 PTBASE INTEGER8 - - Yes

35D6 PTMIN INTEGER16 - - Yes

35D7 PV INTEGER32 - - No

35D8 PVMAX INTEGER32 - - Yes

35D9 PVMAXN INTEGER32 - - Yes

35DA Reserved

35DB Reserved

35DC READNIMP - - - -

35DD READY INTEGER8 - - No

35DE RECDONE INTEGER8 - - No

35DF RECING INTEGER8 - - No

Number ASCIIcommand


Status EEPROM

April 2002 221

Object Channel

35E0 RECOFF - - - -

35E1 RECRDY INTEGER8 - - No

35E2 REFIP INTEGER32 x - Yes

35E3 REFPOS INTEGER32 - - No

35E4 REMOTE INTEGER8 - - No

35E5 RESPHASE INTEGER16 - - Yes

35E6 RK INTEGER16 - - Yes

35E7 ROFFS INTEGER32 - - Yes

35E8 RS232T INTEGER16

35E9 RSTVAR - - Disabled No

35EA S - - - -

35EB SAVE - - - -

35EC SBAUD INTEGER8 - - Yes

35ED SCAN - - - -

35EE SDUMP - - - -

35EF SERIALNO INTEGER32 - - No

35F0 SETREF - - - -

35F1 SETROFFS - - - -

35F2 SLEN INTEGER8 - - Yes

35F3 SLOTIO INTEGER32 - - No

35F4 SPHAS INTEGER8 - - No

35F5 SPSET INTEGER16 - - Yes

35F6 SSIGRAY INTEGER8 - Disabled Yes

35F7 SSIINV INTEGER8 - Disabled Yes

35F8 SSIMODE INTEGER8 - - Yes

35F9 SSIOUT INTEGER8 - Disabled Yes

35FA SSTAT - - - No

35FB STAT INTEGER16 - - No

35FC STATIO - - - No

35FD STATUS - - - No

35FE STOP - - Disabled -

35FF STOPMODE INTEGER8 - Disabled + Reset Yes

3600 SWCNFG UNSIGNED16 - Disabled + Reset Yes

3601 SWCNFG2 UNSIGNED16 - Disabled + Reset Yes

Number ASCIIcommand


Status EEPROM

222 April 2002

Object Channel

3602 SWE0 INTEGER32 - - Yes

3603 SWE0N INTEGER32 - - Yes







360A SWE4 INTEGER32 - - Yes

360B SWE4N INTEGER32 - - Yes

360C SWE5 INTEGER32 - - Yes

360D SWE5N INTEGER32 - - Yes

360E T INTEGER32 x Enabled -

360F TASK - - - No

3610 TEMPE INTEGER32 - - No

3611 TEMPH INTEGER32 - - No

3612 TEMPM INTEGER32 - - No

3613 TRJSTAT INTEGER32 - - No

3614 TRUN - - - Yes

3615 Reserved

3616 UID INTEGER16 - - Yes

3617 UVLTMODE INTEGER8 - Disabled + Reset Yes

3618 V INTEGER32 - - No

3619 Reserved

361A VBUS INTEGER32 - - No

361B VBUSBAL INTEGER16 - - Yes

361C VBUSMAX INTEGER32 - - Yes

361D VBUSMIN INTEGER16 - - Yes

361E VCMD INTEGER32 x - No

361F VDUMP - - - -

3620 VELO INTEGER32 x - Yes

3621 VJOG INTEGER32 - - Yes

3622 VLIM INTEGER32 x - Yes

3623 VLIMN INTEGER32 x - Yes

Number ASCIIcommand


Status EEPROM

April 2002 223

Object Channel

3624 VMAX INTEGER32 x - No

3625 VMIX INTEGER32 x - Yes

3626 VMUL INTEGER32 - - Yes

3627 VOSPD INTEGER32 x - Yes

3628 VREF INTEGER32 - - Yes

3629 VSCALE1 INTEGER16 - - Yes

362A VSCALE2 INTEGER16 - - Yes

362B \ UNSIGNED8 - - -

362C DILIM INTEGER8 - Disabled + Reset Yes

362D DENA INTEGER8 - - Yes

362E IN2PM INTEGER8 - - Yes

362F KTN INTEGER32 x - Yes

3630 INPT INTEGER16 - - Yes

3631 UCOMP INTEGER32 - - Yes

3632 COLDSTART - - Disabled -

3633 Reserved

3634 UID1 INTEGER32 - - Yes

3635 SETVCT INTEGER16 - - No

3636 WPOS INTEGER8 - Disabled + Reset No

3637 SRND INTEGER32 - - Yes

3638 ERND INTEGER32 - - Yes

3639 MDRV INTEGER8 - - Yes

363A BCC INTEGER16 - - No

363B FPGA INTEGER8 - Disabled + Reset Yes

363C REFMODE INTEGER8 - - Yes

363D VLO INTEGER32 x - Yes

363E WMASK INTEGER32 - - No

363F WPOSE INTEGER32 - - No

3640 WPOSP INTEGER32 - - No

3641 WPOSX INTEGER32 - - No

3642 MOVE INTEGER32 - Enabled -

3643 POSRSTAT INTEGER32 - - No

3644 P1 INTEGER32 - - Yes


Number ASCIIcommand


Status EEPROM

224 April 2002

Object Channel





364A P7 INTEGER32 - - Yes

364B P8 INTEGER32 - - Yes

364C P9 INTEGER32 - - Yes

364D P10 INTEGER32 - - Yes

364E P11 INTEGER32 - - Yes

364F P12 INTEGER32 - - Yes





3654 PTARGET INTEGER32 - - Yes

3655 ACTRS232 INTEGER8 - - No

3656 ROFFS2 INTEGER32 - - Yes

3657 FW INTEGER32 x - No

3658 Reserved

3659 INTEGER32 - - Yes

365A VCOMM INTEGER32 - - Yes

365B MTMUX INTEGER16 - - No

365C ROFFS0 INTEGER32 - - Yes

365D REFLS INTEGER32 - - Yes

365E BOOT - - Yes

365F INTEGER32 - - Yes

3660 INTEGER32 - - Yes

3661 Reserved

3662 Reserved

3663 Reserved

3664 Reserved

3665 Reserved

3666 Reserved

3667 Reserved

Number ASCIIcommand


Status EEPROM

April 2002 225

Object Channel

3668 Reserved

3669 Reserved

366A Reserved

366B Reserved

366C Reserved

366D Reserved

366E TBRAKE INTEGER16 - - Yes

366F TBRAKE0 INTEGER16 - - Yes

3670 CMDDLY INTEGER16 - - Yes

3671 Reserved

3672 DRVCNFG INTEGER32 - - Yes

Number ASCIIcommand


Status EEPROM

226 April 2002

Appendices

At a Glance

Aim of thisAppendix

This Appendix describes the examples for configuration and operation of the PDOs/ SDOs.

What's in thisAppendix?

The appendix contains the following chapters:

Chapter Chapter Name Page

A Installation examples 229

B Special Applications 253

C Description of the object dictionary 261

April 2002 227

Appendices

228 April 2002

Installation examples

AInstallation examples

At a Glance

Aim of thisChapter

This Chapter describes the examples for configuration and operation of the PDOs /SDOs.



Topic Page

Configuration parameters for CAN bus operation 230

Basic testing of the connection to the amplifier controls 232

Example of operating the Status Machine 233

Example of PDO usage 235

Example of homing 239

Example of motion block processing 242

Example of using the Profile position mode 244

ASCII Communication 249

Test for Sync telegrams 250

Sync object 251

Emergency Object 252

April 2002 229


Configuration parameters for CAN bus operation

Importantparameters

All values are hexadecimal. The axis-related values always refer to Station 1.

The following parameters are important for CAN operation: CBAUD (SDO 3515h, sub-index 01h):

transmission rate for the CAN bus. ADDR (SDO 3505h, sub-index 01h):

the ADDR command defines the fieldbus address of the amplifier.After making a change to the address, all the parameters must be saved in theEEPROM, and the amplifier must be switched off and on again.

AENA (SDO 3506h, sub-index 01h):this can be used to define the state of the software enable when the amplifier isswitched on.The software enable provides an external control with the facility of enabling ordisabling the output stage through software control.On instruments that function with an analog setpoint (OPMODE=1,3), thesoftware enable is set automatically when the amplifier is switched on.These instruments are immediately ready to operate (provided that the hardwareenable is present).For all other instruments, the software enable is set to the value of AENA atswitch-on.The variable AENA also has a function for the reset of the amplifier after a fault(via digital input 1 or through the ASCII command CLRFAULT).For errors that can be reset through software, after the error/fault has beencleared, the software enable is set to the state of AENA.In this way, the response of the amplifier for a software reset is analogous to theswitch-on behavior.

DRVCNFG (SDO 3672h, sub-index 01h):the configuration variable DRVCNFG can be used to activate various additionalCANopen functions in the amplifier:

Bit Bit value Description

Bit 0 = 1 CANopen switch-on telegram, 0 bytes long

= 0 CANopen switch-on telegram, 8 bytes long

Bit 1 = 1 Enable and Disable affect the CANopen status machine.The CANopen status machine follows the internal status of the servoamplifier. If this status changes (e.g. hardware disable), theCANopen status machine is automatically updated (with acorresponding Emergency Message).

= 0 Status machine is not affected.

230 April 2002


MDRV (SDO 3639h, sub-index 01h):with this variable, the multidrive mode for the setup-software is reserved (MDRV= 1).In this case only the first three RPDOs and TPDOs are available. If all fourRPDOs and TPDOS are required, MDRV must be set to 0.

Bit 2 = 1 SDO length is checked, an Emergency Object is generated if theSDO length is incorrect.

= 0 The SDO length is not checked.

Bit 3 = 1 All communication and mapping parameters can be saved with SDO

1010h (See SDO : Store Parameters (DS301), p. 82), sub-

index 02h. This saved mapping is selected at switch-on of theamplifier.

= 0 At switch-on of the Lexium, the default mapping configuration is set

Bit Bit value Description

1010h

April 2002 231


Basic testing of the connection to the amplifier controls

At a Glance When the Lexium is switched on, an Emergency Message is transmitted over thebus with 0 or 8 data bytes (contents 0), depending on the setting of bit 2 of theDRVCNFG parameter.The telegram continues to be transmitted, as long as it has not yet found a suitablereceiver in the bus system.If a CAN master is unable to recognize this message, then the following measurescan be taken to test communication: check the bus cable:

correct characteristic impedance, correct termination resistors at both ends

with a multimeter:check the quiescent level of the bus cables CAN-H and CAN-L against CAN-GND(approx. 2.5 Volt)

with an oscilloscope: check the output signals on CAN-H and CAN-L at the Lexium are signals being transmitted on the bus? the voltage difference between CAN-H and CAN-L for a logical "0" is approx.

2-3 V does signal transmission stop if the master is connected? Check the master

hardware. check the master software.

232 April 2002


Example of operating the Status Machine

At a Glance After the Lexium is switched on and the boot-up message has been detected,communication via SDOs can be initiated.For example: all the parameters can be read out or written to, or the status machine for the drive can be controlled.In the other examples it is assumed that functions are available for reading andwriting SDOs which appear as follows: SDO-read (UINT index, sub-index USHORT) SDO-write (UINT Index, USHORT Sub-index, ULONG value)The state of the status machine can be obtained through the following query: SDO-read (6041h, 00h)Directly after switch-on, a value will then be returned, such as 0040h. Thiscorresponds to the status "Ready to switch on (See Device control, p. 127)".The following data would then be visible on the CAN bus:

If the supply power is present and the hardware enable is at the High level (24 V toDGND) then SDO-write (6040h, 00h, 0x7) can be used to switch the drive to thestate Switched on.If this is successful, there will be a positive acknowledgement in the SDO reply(control byte 0 in the data field = 60h).

Switch on: the messages then appear as follows:

Control word = 0x0007Explanation: bit 0, bit 1, bit 2 set to 1 => switch on, disable voltage off, quick stop off.

COB-ID Control byte Index Sub-index

Data Comments

Low byte High byte

601 40 41 60 00h 40 00 00 00

581 40 41 60 00h 40 00 00 00 Messageready

2 bytes ofdata

Status


Data Comments

Low byte High byte

601 23 40 60 00h 07 00 00 00 Control word

581 60 40 60 00h 00 00 00 00 Responsetelegram

April 2002 233


Status query 2: the new status can then be queried again, and returns the followingresult:

Status = 0x0023Explanation: bit 0, bit 1, bit 5 set to 1 => ready to switch on, switched on, quick stop.


Data Comments

Low byte High byte

601 40 41 60 00h - Query status

581 4B 41 60 00h 23 00 00 00 Responsetelegram

234 April 2002


Example of PDO usage

At a Glance Using all four possible PDOs in operation:1. RPDO: PDO trajectory for one axis.2. RPDO: PDO control word and mode changeover.1. TPDO: PDO enhanced status.2. TPDO: PDO with incremental actual position, speed and operating mode display.Procedure:since the first RPDO is not available from the drive in the pre-defined form asrequired it must be assembled.First, it is necessary to check whether the entries for the incremental setpointprovision are available in mappable form.This is the case with SDO 2022h sub-index 04h. So the 1st RPDO is selected:

The freely mappable RPDO 37 has thus been selected. In the next step, data mustbe attached to this PDO.This is done through the mapping parameter for the first RPDO:


Data Comments

Low byte High byte

601 2F 00 26 00h 25 00 00 00 Select PDO37 as 1stRPDO



Data Comments

Low byte High byte

601 23 00 16 00h 00 00 00 00 Delete data for1st RPDO


601 23 00 16 01h 20 04 22 20 Data for firstentry of the 1stRPDO, SDO2022h, sub-index 04h, datalength: 32 bit


April 2002 235


The data content of the first PDO has now been defined, and it includes 4 bytes ofuser data.Next, the communication parameters can be defined:the system must react to COB-ID 201h as standard.So sub-index 01h must remain set to the default value. But the drive must react toevery SYNC Object, so a value of 1 must be applied to sub-index 2:

The 2nd RPDO is to have two components:the CANopen control word (SDO 6040h sub-index 00h) and the SDO for changingthe operating mode (SDO 6060h sub-index 00h).The selection of the 2nd RPDO is made as follows:

The mapping is defined next:


Data Comments

Low byte High byte

601 2F 00 14 02h 01 00 00 00 Reaction toevery SYNC



Data Comments

Low byte High byte

601 2F 01 26 00h 26 00 00 00 Select PDO 38as 2nd RPDO



Data Comments

Low byte High byte

601 23 01 16 00h 00 00 00 00 Delete data for2nd RPDO


601 23 01 16 01h 10 00 04 60 Data for firstentry of the 2ndRPDO, SDO6040h, sub-index 00h, datalength: 16 bit


236 April 2002


This object has to be evaluated immediately, so the communication parameters canremain at their default values.

The first TPDO is already available in the drive, it just has to be selected.PDO 23 is selected:

The corresponding mapping can be read out by SDO 1A00h. The PDO contains 2bytes for the CANopen status word and 4 bytes for the manufacturer status register.1. Selection via SDO 2A01:

2. The mapping for the three components required:

601 23 01 16 02h 08 00 60 60 Data for 2ndentry of the 2ndRPDO, SDO6060h, sub-index 00h, datalength: 8 bit



Data Comments

Low byte High byte

601 2F 00 2A 00h 17 00 00 00 Select PDO 23as 1st TPDO

581 60 00 2A 00h 00 00 00 00 Responsetelegram


Data Comments

Low byte High byte




Data Comments

Low byte High byte

601 23 01 1A 00h 00 00 00 00 Delete data for2nd TPDO



Data Comments

Low byte High byte

April 2002 237


Now, the communication parameters can be defined.The drive must react to every SYNC Object, so a value of 1 must be applied to sub-index 2:

601 23 01 1A 01h 20 03 70 20 Data for 2ndentry of the 2ndRPDO, SDO2070h, sub-index 03h, datalength: 32 bit


601 23 01 1A 02h 18 02 70 20 Data for 2ndentry of the 2ndTPDO, SDO2070h, sub-index 02h, datalength: 24 bit


601 23 01 1A 02h 08 00 61 60 Data for 3rdentry of the 2ndTPDO, SDO6060h, sub-index 00h, datalength: 8 bit



Data Comments

Low byte High byte

601 2F 01 18 02h 01 00 00 00 2nd TPDO:reaction toevery SYNC



Data Comments

Low byte High byte

238 April 2002


Example of homing

At a GlanceWhen the Lexium is operated as a linear axis a reference/homing point must bedefined before the task can be executed.This can be done simply through "set reference point" (control word bit 12 = 0 ->1 ->0 or homing type 35 in "homing" mode) or by starting a homing movement. Thiscan be done either in the manufacturer-specific mode "homing/reference" (0xF9) orin the "homing" mode (0x6).This example shows the procedure in the Homing mode.Now, the communication parameters can be defined.

First switch over to the "homing movement" mode:

In the following example, all parameters that affect the homing movement are set viathe bus.If you can be absolutely certain that no-one has altered the parameters in theinstrument, then this part can be omitted.The instruments save the data in non-volatile memory (the inputs must have beenpreviously configured as limit switches).


Data Comments

Low byte High byte

601 2F 60 60 00h F9 00 00 00 Homing mode

581 60 60 60 00h 00 00 00 00 O.K. signal


Data Comments

Low byte High byte

601 2F 00 2A 00h 17 00 00 00 Homing to limitswitch &resolver zeromark

581 60 24 20 01h 00 00 00 00 OK

601 2F 24 20 02h 00 00 00 00 Negativedirection

581 60 24 20 02h 00 00 00 00 OK

601 23 24 20 03h 10 27 00 00 v = 10 mm/s

581 60 24 20 03h 00 00 00 00 OK

601 23 24 20 04h 32 00 00 00 Accelerationramp 50 ms

581 60 24 20 04h 00 00 00 00 OK

April 2002 239


To check the bit signals that are important for the homing movement, the PDO forenhanced status (PDO 23) must be used.First of all, PDO 23 is selected as TPDO 1:

TPDO 1 is thus composed of 6 bytes, whereby the first two bytes contain theCANopen status word (SDO 6041), and the other four bytes contain themanufacturer-specific status register (SDO 1002).This assignment can be queried through the SDOs for the PDO mapping (SDO1A00h, sub-index 00h - 02h).The PDOs are subsequently enabled through an NMT Object:

From now on, status changes for TPDO 1 will be automatically reported.The homing movement can now be started by Bit 4 of the CANopen control word:

601 23 24 20 05h 32 00 00 00 Decelerationramp 50 ms

581 60 24 20 05h 00 00 00 00 OK

601 23 24 20 06h 30 75 00 00 Referenceoffset

30000 m

581 60 24 20 06h 00 00 00 00 OK


Data Comments

Low byte High byte



COB-ID Commandspecifier (CS)

Node-ID

0 1 1


Data Comments

Low byte High byte

601 2B 40 60 00h 1F 00 00 00 Mode

581 60 40 60 00h 00 00 00 00 Homing runsuntil homeconditions arefulfilled


Data Comments

Low byte High byte

µ

240 April 2002


A positive edge transition of the Reference point set bit in the manufacturer-specificstatus register can be used to detect that the servo drive has calibrated (zeroed) itsposition system. The homing procedure is terminated by the reset of the Motion taskactive bit.The TPDO1 therefore looks like this:

The status of the homing movement can be seen from the enhanced status register,bit 17 (reference point set).

COB-ID Data Comments

181 05 27 00 00 0A 54 Mode

April 2002 241


Example of motion block processing

At a Glance Switch on position control:

Map the second receive-PDO: start motion block. 1st receive-PDO is set to thestandard setting: control word.

Switch NMT status machine to operational:

Access second receive-object:

Response: none, the given motion block 1 is being processed.

Motor Quick Stop:

Response: none, motor is stopped with t_not.


Data Comments

Low byte High byte

601 2F 60 60 00h FF 00 00 00 Position controlmode

581 60 60 60 00h 00 00 00 00 Position controlswitched on


Data Comments

Low byte High byte

601 2F 01 26 00h 23 00 00 00 Start motionblock object

581 60 01 26 00h 00 00 00 00 Motion blockactive


Node-ID

0 1 1

COB-ID Motion blocknumber: low

Motion blocknumber: high

301 01 00

COB-ID Control: low Control: high

201 03 00

242 April 2002


Disable controller:

Response: none, drive is without torque.

COB-ID Control: low Control: high Motion blocknumber

201 03 00 1

April 2002 243


Example of using the Profile position mode

At a Glance This Section shows the operation of the Profile position mode.For this, the PDOs are set as follows: first RPDO: PDO control word (No.1) second RPDO: freely mappable PDO 2 (No.38) first TPDO: freely mappable PDO 1 (No.37) second TPDO: freely mappable PDO 2 (No.38)

The telegrams have an analogous appearance to the example for "PDO operation(See Example of PDO usage, p. 235)".Data are placed in the freely mappable PDOs as shown in the following telegramexamples:1) second TPDO:

2) first TPDO:


Data Comments

Low byte High byte

601 23 01 16 00h 00 00 00 00 2nd RPDO:delete mapping581 60 01 16 00h 00 00 00 00

601 23 01 16 01h 20 00 7A 60 2nd RPDO,entry 1:target_position

581 60 01 16 01h 00 00 00 00

601 23 01 16 02h 20 00 81 60 2nd RPDO,entry 2:profile_velocity

581 60 01 16 02h 00 00 00 00


Data Comments

Low byte High byte

601 23 00 1A 00h 00 00 00 00 1st TPDO:delete mapping581 60 00 1A 00h 00 00 00 00

601 23 00 1A 01h 10 00 41 60 1st TPDO, entry1: profile statusword

581 60 00 1A 01h 00 00 00 00

601 23 00 1A 02h 08 09 80 20 1st TPDO, entry2: TRJSTAT 3rdbyte =manuf.status3rd byte

581 60 00 1A 02h 00 00 00 00

244 April 2002


3) second TPDO:

The first TPDO is to be transmitted under event-control.Since this corresponds to the default value for the communication parameters,nothing has to be changed in this case.The second TPDO is to be transmitted with every SYNC from the drive.

After the PDOs have been defined, they can be enabled through the NMT:

If the mechanical resolution is to be defined, this can only be written through SDO6093h, Sub-index 01h and 02h. The pre-setting after switching on the drivecorresponds to the drive-specific factors PGEARI and PGEARO:


Data Comments

Low byte High byte

601 23 01 1A 00h 00 00 00 00 2nd TPDO:delete mapping581 60 01 1A 00h 00 00 00 00

601 23 01 1A 01h 20 00 64 60 2nd TPDO,entry 1:position_actual_value

581 60 01 1A 01h 00 00 00 00

601 23 01 1A 02h 20 00 6C 60 1st TPDO, entry2: TRJSTATvelocity_actual_value

581 60 01 1A 02h 00 00 00 00


Data Comments

Low byte High byte

601 23 01 18 02h 01 00 00 00 Transmit 2ndTPDO withevery SYNC

581 60 01 18 02h 00 00 00 00


Node-ID

0 1 1


Data Comments

Low byte High byte

601 23 93 60 01h 00 00 10 00increments

581 60 93 60 01h 00 00 00 002

20

April 2002 245


You could use this example, for instance, for operating a rotary table with 0.01°angular resolution.After these settings, a homing movement can be set up and initiated:

After the start of the homing movement, the following telegrams could come from the1st TPDO:

The following bits from byte 2 are required to detect the end of the homingmovement: bit 0 = 0: homing movement completed bit 1 = 1: reference point set bit 3 = 1: In position

601 23 93 60 02h A0 8C 00 00 36000 user-units581 60 93 60 02h 00 00 00 00


Data Comments

Low byte High byte

601 2B 40 60 00h 0F 00 00 00 Control word:enableoperation

581 60 40 60 00h 00 00 00 00

601 2F 60 60 00h 06 00 00 00 Mode: sethoming mode581 60 60 60 00h 00 00 00 00

601 2F 98 60 00h 0C 00 00 00 Homing type12, negativedirection

581 60 98 60 00h 00 00 00 00

601 23 99 60 01h 40 19 01 00 Homing velocity72000 units/s =

2

581 60 99 60 01h 00 00 00 00

601 2B 40 60 00h 1F 00 00 00 Start homingmovement581 60 40 60 00h 00 00 00 00

COB-ID Byte 0 Byte 1 Byte 2

181 27 00 21

181 27 10 27

181 27 10 23

181 27 14 2B

181 27 15 2A


Data Comments

Low byte High byte

s1–

246 April 2002


Afterwards, the homing movement is also ended by the control word, in this casethrough the 1st RPDO:

Now you can change over to the Profile position mode and set the ramps to be usedfor positioning:

A positioning movement can only be initiated by providing: the setpoints through the1st RPDO, followed by a start through the 2nd RPDO.This uses handshaking with New setpoint (control word) and Setpoint acknowledge(status word).

a) setpoint:

b) control word with new setpoint bit (bit 4) set:

c) wait until the CANopen status word signals Setpoint acknowledge (bit 12):

d) control word is reset by the New setpoint bit (Bit 4):

COB-ID Byte 0 Byte 1

201 0F 00


Data Comments

Low byte High byte

601 23 83 60 00h 32 00 00 00 50msaccelerationtime

581 60 83 60 00h 00 00 00 00

601 23 84 60 00h 32 00 00 00 50msdecelerationtime

581 60 84 60 00h 00 00 00 00

601 2F 60 60 00h 01 00 00 00 Profile positionmode581 60 60 60 00h 00 00 00 00

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

301 F4 01 00 00 E8 03 00 00


201 1F 00


181 27 15 03


201 0F 00

April 2002 247


e) drive removes Setpoint acknowledge:

f) wait for the positioning to be completed:


181 27 01 03


181 27 05 0A

248 April 2002


ASCII Communication

At a Glance It is possible to use ASCII communication through PDOs.This requires that the NMT status machine is in the operational status.Example: read the parameter T-tacho (see Commissioning Software ManualDRIVE.EXE).(All data are hexadecimal, with the ASCII characters below, in square brackets).

Explanation:in telegram 1, the master queries the GVFBT parameter, terminated by the ASCIIcode CR LF. The last free byte is filled by NUL.The response of the LEXIUM is made in telegram 2, with the value 0.6, theterminating code CR LF, and the prompt "->" for the next parameter or command.The segmentation of the response into three telegrams is not mandatory, butdepends on the transmission rate that has been set and the internal synchronizationmechanism.

Direction COB-ID

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

Master -> Lexium 301 47h[G]

56h[V]

46h[F]

42h[B]

54h[T]

0Dh[CR]

0Ah[LF]

0h[NUL]

Lexium ->master 281 30h[0]

2Eh[.]

36h[6]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

Lexium ->master 281 0Dh[CR]

0Ah[LF]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

Lexium ->master 281 2Dh[-]

2Dh[-]

3Eh[>]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

0h[NUL]

April 2002 249


Test for Sync telegrams

Aims 1. assign/set Start motion block to the PDO (1st receive-PDO)2. assign Actual position (PDO21) to PDO (1st transmit-PDO), generated with every

2nd SYNC3. assign Status word (PDO1) to PDO (2nd transmit-PDO), generated with every

3rd SYNC.Telegrams with the corresponding responses:

SYNC Object

Meaning: object 181 (TPDO 1) appears at every 2nd SYNC, object 281 (TPDO 2) appears at every 3rd SYNC,


Data Comments

Low byte High byte

601 2F 00 26 00h 23 00 00 00 Set PDO Startmotion block to1st RPDO

581 60 00 26 00h 00 00 00 00

601 2F 00 2A 00h 16 00 00 00 Set PDO Actualposition to 1stTPDO

581 60 00 2A 00h 00 00 00 00

601 2F 01 2A 00h 17 00 00 00 Set PDOEnhancedstatus word to2nd TPDO

581 60 01 2A 00h 00 00 00 00

601 2F 00 18 02h 02 00 00 00 1st TPDOtriggered forevery 2ndSYNC

581 60 00 18 02h 00 00 00 00

601 2F 01 18 02h 03 00 00 00 2nd TPDOtriggered forevery 3rdSYNC

581 60 01 18 02h 00 00 00 00

COB-ID

080

250 April 2002


EmergencyObject

If, for instance, the resolver connector is disconnected, a serious error will be causedin the controller.This results in an Emergency telegram:

Sync object

At a Glance Descriptive table:

Meaning:object 181 appears at every 2nd SYNC (PDO1 tx), object 281 (PDO2 tx) appears atevery 3rd SYNC.

COB-ID Emergency error ErrorregisterLow byte High byte

601 10 43 08 00 00 00 00 Motor temperature,temperature, manufacturerspecific

581 00 00 88 00 00 00 00

COB-ID

080

April 2002 251


Emergency Object

At a Glance If, for instance, the resolver connector is disconnected, a serious error will be causedin the controller. This results in an Emergency telegram.

Descriptive table:

COB-ID Emergency error codelow high

Errorregister

081 10 43 08 00 00 00 00 Motor temperature,temperature,manufacturerspecific

081 00 00 88 00 00 00 00

252 April 2002

April 2002

B
Special Applications
External trajectory

Positioncontroller in theservo amplifier

This example shows the following situation:the 2 axes each receive position setpoints through RPDO 33 Trajectory.Position controller in the servo amplifier:

Description:all data are hexadecimal and the two axes in the system have the station addresses:1 and 2.

Examples of telegrams and responses:conditions: the resolution that is to be used within one motor turn must be defined for both

axes:PRBASE set to 16 or 20 bit resolution for 1 turn.

the time raster for trajectory inputs must be set through the PTBASE parameter.

SYNC

Position setpoint

RPDO trajectory

No. 33

Position + Status

TPDO actual position in incrementsNo. 33

Speed setpoint

Position controller

253


Here one unit has a value of 250 microseconds: for example, PTBASE = 8produces a 2 ms time raster.

the parameters must be saved in the EEPROM the saved values only become available after a reset.

The trajectory PDO contains 2 trajectory setpoints.It can be transmitted simultaneously to several stations.Each station can extract the relevant trajectory data.Map the second receive-PDO for both axes to RPDO 33 "trajectory" (33d = 21h):

After the Trajectory PDO has been mapped to the two axes, the communicationparameters for both must be set so that they respond to the same CommunicationObject Identifier (COB-ID).The COB-ID for the first station can keep its default value of 301, the one for thesecond station can then be re-mapped to this setting:

Both stations will now respond to the same COB-ID 301.

SDO 2721h, sub-index 00h can then be used to define which portion of the 8 bytedata field is used by each axis for its trajectory information.The value 0 selects bytes 0...3 of the data, and the value 1 selects bytes 4...7.


Data Comments

Low byte High byte

601 2F 01 26 00h 21 00 00 00 Set theTrajectory PDOfor 1st axis

581 60 01 26 00h 00 00 00 00

602 2F 01 26 01h 21 00 00 00 Set theTrajectory PDOfor 2nd axis

582 60 01 26 01h 00 00 00 00


Data Comments

Low byte High byte

602 23 01 14 01h 01 03 00 00 Map 2nd RPDOfor 2nd axis to301

582 60 01 14 01h 00 00 00 00

254 April 2002


The actual positions of the axes are to be returned as incremental actual positionsto the controls.The second transmit-PDO in each case is therefore mapped to TPDO 33Incremental actual position (33d = 21h):

here it is assumed that both instruments accept new trajectory values with everySYNC command, and have to return their incremental position values.The communication parameters must be set accordingly:


Data Comments

Low byte High byte

601 2F 21 27 00h 00 00 00 00 1st axis takesdata from bytes0...3

581 60 21 27 00h 00 00 00 00

602 2F 21 27 00h 01 00 00 00 2nd axis takesdata from bytes4...7

582 60 21 27 00h 00 00 00 00


Data Comments

Low byte High byte

601 2F 01 2A 00h 21 00 00 00 Set theTrajectory PDOfor 1st axis

581 60 01 2A 00h 00 00 00 00

602 2F 01 2A 00h 21 00 00 00 Set theTrajectory PDOfor 2nd axis

582 60 01 2A 00h 00 00 00 00


Data Comments

Low byte High byte

601 2F 01 14 02h 01 00 00 00 RPDO 2, axis 1,reaction forevery SYNC

581 60 01 14 02h 00 00 00 00

602 2F 01 14 02h 01 00 00 00 RPDO 2, axis 2,reaction forevery SYNC

582 60 01 14 02h 00 00 00 00

601 2F 01 18 02h 01 00 00 00 TPDO 2, axis 1,reaction forevery SYNC

581 60 01 18 02h 00 00 00 00

April 2002 255


In order to be able to make trajectory movements, both servo amplifiers must beoperating in the appropriate mode.This is set through index 6060h:

To start up the axes, the servo amplifiers must be put into the operational status(operation enable) and the network management functions must be started.The network management functions enable the application of the Process DataObjects (PDOs) and are initialized by the following telegram for both axes:Switch from NMT (Network Management) to operation enable:

Next, power is applied to each servo amplifier, and they are put into the operationenable condition.Control word for operation enable:

602 2F 01 18 02h 01 00 00 00 TPDO 2, axis 2,reaction forevery SYNC

582 60 01 18 02h 00 00 00 00


Data Comments

Low byte High byte

601 2F 60 60 00h FA 00 00 00 Set trajectorymode for 1staxis

581 60 60 60 00h 00 00 00 00

602 2F 60 60 00h FA 00 00 00 Set trajectorymode for 2ndaxis

582 60 60 60 00h 00 00 00 00


Node-ID Comments

0 1 1 NMT enable for all axes


Data Comments

Low byte High byte

601 2B 40 60 00h 0F 00 00 00 Control wordfor axis 1581 60 40 60 00h 00 00 00 00

602 2B 40 60 00h 0F 00 00 00 Control wordfor axis 2582 60 40 60 00h 00 00 00 00


Data Comments

Low byte High byte

256 April 2002


The configuration below now enables a cyclical sequence:

Example: 2 axest-cycle of 1ms per axis at 1MBaud

RPDO 2 can now be used to supply trajectory data for both axes:

In this example, the first axis receives a trajectory value of 500 increments (Bytes 0... 3) and the second axis receives a trajectory value of 1000 increments.

The axes accept these values, and the positioning is made when the next SYNCtelegram is received.

The SYNC telegram looks like this:

Afterwards, both axes send back their incremental positions and the contents of theirstatus registers when the SYNC object with the COB-ID for the 2nd TPDO isreceived:

Control

Control

Drive

SYNC SYNC

Set

Poi

nt

Set

Poi

ntA

xis

2

Axi

s1

Axi

s2

Axi

s1

Pos

ition

&st

atus

Pos

ition

&st

atus

t cycle

400 µs

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

301 F4 01 00 00 E8 03 00 00

COB-ID

080

April 2002 257


RPDO 2 can now be used to supply trajectory data for both axes:

If an error occurs during operation, the axis concerned transmits an emergencymessage, which could appear as follows:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments

181 23 01 00 00 E8 03 03 44 Position + manufacturer statusregister for axis 1

182 A5 02 00 00 E8 03 03 44 Position + manufacturer statusregister for axis 2

COB-ID

Emergencyerror

Errorregister

Category

Lowbyte

Highbyte

081 10 43 08 01 00 00 00 00 Motor temperature,temperature, manufacturerspecific

081 00 00 88 00 00 00 00 00

258 April 2002


Positioncontroller in thecontrol system

Example: 2 axest-cycle of 1ms per axis at 1MBaud

Trajectory Position controller

Status

SYNC

RPDO trajectory No.32

Speed setpoint

TPDO "enhanced status" No.23

Control

Control

Drive

SYNC SYNC

Set

Poi

nt

Set

Poi

ntA

xis

2

Axi

s1

Axi

s2

Axi

s1

Pos

ition

&st

atus

Pos

ition

&st

atus

t cycle

400 µs

April 2002 259


260 April 2002

Description of the object dictionary

CDescription of the object dictionary

At a Glance

At a Glance



Topic Page

The object Dictionary 262

New configuration of LEXIUM 275

April 2002 261


The object Dictionary

The followingtable describesthe Dictionary

The column DEF shows the corresponding profile: L = LEXIUM 3 = DS301 4 = DS402

Index Subindex

Def Data format Access

PDOmapp.

Description ASCIIobject

1000h - 3 UINTEGER32 r - Device type -

1001h - 3 UINTEGER8 r - Error register -

1001h - 3 UINTEGER8 r - Error register -

1002h - 3 UINTEGER32 r - Manufacturer-specific status register -

1003h 00h 3 UINTEGER8 r - Predefined error field (number of entries) -

01h 3 UINTEGER32 r/w - Last reported error -

1004h 00h 3 UNSIGNED32

r - Number of supported PDOs -

01h 3 UNSIGNED32

- Number of synchronous PDOs -

02h 3 UNSIGNED32

- Number of asynchronous PDOs -

1005h - 3 UINTEGER32 - COB-ID SYNC message -

1006h - 3 UNSIGNED32

r/w - Cycle time for communication -

1007 - 3 UNSIGNED32

- Time window for synchronous CAN messages -

1008h - 3 Visible string - Device name VER*

100Ah - 3 Visible string - Software version ADDR

100Bh - 3 UINTEGER32 - Node address -

100Ch - 3 UINTEGER16 r/w - Guard time -

100Dh - 3 UINTEGER8 r/w - Lifetime factor -

100Eh - 3 UNSIGNED32

r/w - Node Guarding COB Identifier -

100Fh - 3 UNSIGNED32

r/w - Number of supported SDOs -

262 April 2002


1010h 00h 3 RECORD - Store parameters -

01h 3 UNSIGNED32

- Save all parameters -

02h 3 UNSIGNED32

- Save communication parameters -


- COB-ID for the time stamp message (inpreparation)

-


- High resolution time stamp (in preparation) -


- COB-ID for the Emergency message -

1018h 00h 3 RECORD - Identity Object -

01h 3 UINTEGER32 - Vendor ID -

02h 3 UINTEGER32 - Product Code -

03h 3 UINTEGER32 - Revision number -

04h 3 UINTEGER32 - Serial number SERIALNO

1400h 00h 3 RECORD r - 1st receive-PDO communication parameter -

01h 3 UINTEGER32 r/w - PDO COB-ID -

02h 3 UINTEGER8 r/w - Transmission type -

03h 3 UINTEGER16 r/w - Supported by receive-PDO -

04h 3 UINTEGER8 r/w - Compatibility entry (CMS priority group) -

1401h 00h 3 RECORD r - 2nd receive-PDO communication parameter -





1402h 00h 3 RECORD r - 3rd receive-PDO communication parameter -





Index Subindex


PDOmapp.


April 2002 263


1403h 00h 3 RECORD r - 4th receive-PDO communication parameter -





1600h 00h 3 RECORD r/w - 1st receive-PDO mapping parameter -

01h-08h

3 UINTEGER32 r/w - PDO mapping parameter for the n-th Object -

1601h 00h 3 RECORD r/w - 2nd receive-PDO mapping parameter -

01h-08h


1602h 00h 3 RECORD r/w - 3rd receive-PDO mapping parameter -

01h-08h


1600h 00h 3 RECORD r/w - 4th receive-PDO mapping parameter -

01h-08h


1800h 00h 3 RECORD r - 1st transmit-PDO communication parameter -





1801h 00h 3 RECORD r - 2nd transmit-PDO communication parameter -





1802h 00h 3 RECORD r - 3rd transmit-PDO communication parameter -





Index Subindex


PDOmapp.


264 April 2002


1803h 00h 3 RECORD r - 4th transmit-PDO communication parameter -





1A00h 00h 3 RECORD r/w - 1st transmit-PDO mapping parameter -

01h-08h


1A01h 00h 3 RECORD r/w - 2nd transmit-PDO mapping parameter -

01h-08h


1A02h 00h 3 RECORD r/w - 3rd transmit-PDO mapping parameter -

01h-08h


1A03h 00h 3 RECORD r/w - 4th transmit-PDO mapping parameter -

01h-08h


2A14h 00h L ARRAY r - Mask PDOs 37...40 Channel 1 -

01h L UINTEGER32 r/w - Mask (Byte 0...3) -











Index Subindex


PDOmapp.


April 2002 265


2020h 00h L RECORD r - Position controller -

01h L UINTEGER8 r/w - Axis type POSCNFG

02h L INTEGER32 r/w - In-Position window PEINPOS

03h L INTEGER32 r/w - Lag/following error PEMAX

04h L INTEGER32 r/w - Position register 1 SWE1




08h L UINTEGER32 r/w - Denominator for resolution PGEARO

09h L UINTEGER32 r/w - Numerator for resolution PGEAR

0Ah L UINTEGER8 r/w - Count direction DIR

2022h 00h L RECORD r - Position data for Position mode -

01h L INTEGER32 r/w X Position (motion block 0) O_P

02h L UINTEGER16 r/w X Weighted velocity, see ASCII VMUL (motionblock 0, see SDO 2020h Sub-index 02h)

O_V

03h L UINTEGER16 r/w X Motion task type (motion block 0) O_C

04h L INTEGER32 r/w X Position for external trajectory -

05h L UINTEGER16 r/w X Motion task number -

06h L UINTEGER16 r/w X Acceleration time (motion block 0) O_ACC1

07h L UINTEGER16 r/w X Braking time (motion block 0) O_DEC1

08h L UINTEGER16 r/w X Jolt limit for acceleration time (motion block 0) O_ACC2

09h L UINTEGER16 r/w X Jolt limit for braking time (motion block 0) O_DEC2

0Ah L UINTEGER16 r/w X Number of following task O_FN

0Bh L UINTEGER16 r/w X Start delay for following task O_FT

0Ch L 2 XUINTEGER16

r/w - Copy a motion task OCOPY

0Dh L UINTEGER16 r/w X Velocity weighting factor (SDO 2020h Sub-index02h)

VMUL

0Eh L UINTEGER32 r/w X Speed/velocity (motion block 0) O_V

Index Subindex


PDOmapp.


266 April 2002


2024h 00h L RECORD r - Setup operation for Position mode -

01h L UINTEGER8 r/w X Homing type NREF

02h L UINTEGER8 r/w X Homing direction DREF

03h L INTEGER32 r/w X Velocity for homing movement VREF

04h L UINTEGER16 r/w X Acceleration ramp [jogging and homing ] ACCR

05h L UINTEGER16 r/w X Braking ramp [jogging and homing ] DECR

06h L INTEGER32 r/w X Reference offset ROFFS

07h L INTEGER32 r/w X Jogging velocity VJOG

2026h 00h L RECORD r - Special Object for Position mode -

01h L UINTEGER8 r/w - Activate internal evaluation unit for saving actualposition value

-

2050h 00h L ARRAY r - Setup operation for Position mode -

01h L INTEGER32 r/w X Homing type NREF

02h L INTEGER32 r/w X Homing direction DREF

03h L INTEGER32 r/w X Velocity for homing movement VREF

04h L INTEGER32 r/w X Acceleration ramp [jogging and homing ] ACCR

2051h 00h L ARRAY r - Configuration for threshold register -

01h L INTEGER32 r/w X Monitoring (deactivate /activate) WPOSE

02h L INTEGER32 r/w X Signaling type (repeated /once) WPOSX

03h L INTEGER32 r/w X Polarity position signaling WPOSP

Index Subindex


PDOmapp.


April 2002 267


2052h 00h L ARRAY r - Position threshold register ABSOLUTE (refreshtime < 1ms)

POSRSTAT

01h L INTEGER32 r - Position register P1









0Ah L INTEGER32 r - Position register P10

0Bh L INTEGER32 r - Position register P11

0Ch L INTEGER32 r - Position register P12

0Dh L INTEGER32 r - Position register P13

0Eh L INTEGER32 r - Position register P14

0Fh L INTEGER32 r - Position register P15


Index Subindex


PDOmapp.


268 April 2002


2053h 00h L INTEGER8 r - Position threshold register RELATIVE (refreshtime < 1ms) see ASCII

POSRSTAT










0Ah L INTEGER32 r - Position register P10

0Bh L INTEGER32 r - Position register P11

0Ch L INTEGER32 r - Position register P12

0Dh L INTEGER32 r - Position register P13

0Eh L INTEGER32 r - Position register P14

0Fh L INTEGER32 r - Position register P15


2060h 00h L INTEGER32 r/w - Speed or current setpoint -

Index Subindex


PDOmapp.


April 2002 269


2070h 00h L RECORD r - Manufacturer-specific actual values -

01h L INTEGER24 r X Actual position (rot.angle,20-bit res./turn) PRD

02h L INTEGER24 r X Speed in incr.(1 [incr.]=1875/262144 [rpm ]) -

03h L INTEGER32 r X Incr.act.position (res.depends on PRBASE) -

04h L UINTEGER16 r X Stored position (HW -LATCH positive,16-bitresolution/turn)

LATCH16

05h L INTEGER32 r X Stored position (HW -LATCH positive,32-bitresolution/turn)

LATCH32

06h L INTEGER32 r X Position, dependent on gearing factors(PGEARI,PGEARO)

PFB

07h L INTEGER32 r - Velocity, dependent on gearing factors(PGEARI,PGEARO)

PV

08h L INTEGER32 r X Lag error, dependent on gearing factors(PGEARI,PGEARO)

PE

09h L UINTEGER32 r - Position register I

0Ah L INTEGER32 r X Effective (r.m.s.) current V

0Bh L INTEGER32 r - Heat sink temperature TEMPH

0Ch L INTEGER32 r - Internal temperature TEMPE

0Dh L INTEGER32 r - DC-link (DC-bus) voltage VBUS

0Eh L INTEGER32 r - Ballast power PBAL

0Fh L INTEGER32 r - I t loading I2T

10h L INTEGER32 r - Operating time TRUN

11h L INTEGER32 r X Enhanced status for TPDO 33 -

2080h 00h L ARRAY r - Status information -

01h L UINTEGER8 r X Input / Output / Latch -

02h L UINTEGER8 r X Collective info (Warning / Error / Reserve) -

03h L UINTEGER8 r X DRVSTAT LSB DRVSTAT



06h L UINTEGER8 r X DRVSTAT MSB DRVSTAT

07h L UINTEGER8 r X TRJSTAT LSB TRJSTAT



0Ah L UINTEGER8 r X TRJSTAT MSB TRJSTAT

Index Subindex


PDOmapp.


270 April 2002


2081h 00h L INTEGER8 r - Incr. actual position (bytewise/24-bit) -

01h L INTEGER8 r X Incr. position LSB -

02h L INTEGER8 r X Incremental position -

03h L INTEGER8 r X Incremental position -

04h L INTEGER8 r X Incremental position MSB -

05h L INTEGER24 r X Incremental position 24-bit -

06h L INTEGER32 r X Incremental position 32-bit -

2082h 00h L INTEGER8 r - 32/24-bit positive latch -

01h L INTEGER32 r X 32-bit latch LATCH32

02h L INTEGER24 r X 24-bit latch -

2083h 00h L INTEGER8 r - 32/24-bit NEGATIVE latch -

01h L INTEGER32 r X 32-bit latch LATCH32N

02h L INTEGER24 r X 24-bit latch -

2084h 00h L INTEGER8 r - 16-bit positive latch -

01h L INTEGER16 r X 16-bit latch LATCH16

2085h 00h L INTEGER8 r - 16-bit negative latch -

01h L INTEGER16 r X 16-bit latch LATCH16N

2086h 00h L UINTEGER16 r X Position trigger word POSRSTAT

2600h 00h L INTEGER8 r/w - 1st receive-PDO select -

2601h 00h L INTEGER8 r/w - 2nd receive-PDO select -

2602h 00h L INTEGER8 r/w - 3rd receive-PDO select -

2603h 00h L INTEGER8 r/w - 4th receive-PDO select -

2721h 00h L INTEGER8 r/w - Configuration receive-PDO 33 -

2A00h 00h L INTEGER8 r/w - 1st transmit-PDO select -

2A01h 00h L INTEGER8 r/w - 2nd transmit-PDO select -

2A02h 00h L INTEGER8 r/w - 3rd transmit-PDO select -

2A03h 00h L INTEGER8 r/w - 4th transmit-PDO select -

3100h 00h L Visible string r/w - ASCII character direction -

Index Subindex


PDOmapp.


April 2002 271


3500h 00h L RECORD r - Start of Object Channel -

01h L UNSIGNED16

r - Total number of Objects in Object Channel MAXSDO

02h L UNSIGNED16

r - Lower limit value -

03h L UNSIGNED16

r - Upper limit value -

04h L UNSIGNED16

r - Default value -

05h L UNSIGNED8 r - Data format of Object -

06h L UNSIGNED32

r - Check data -

07h L - r - reserved -


3501h 00h L RECORD r - Acceleration ramp: speed control -

01h L UNSIGNED16

r - Value ACC

02h L UNSIGNED16

r - Lower limit value -

03h L UNSIGNED16

r - Upper limit value -

04h L UNSIGNED16

r - Default value -

05h L UNSIGNED8 r - Data format of Object -

06h L UNSIGNED32

r - Check data -



6040h 00h 4 INTEGER16 w X DS402 control word -

6041h 00h 4 INTEGER16 r X DS402 Status -

605Ah 00h 4 INTEGER16 r/w - Quick Stop option code -

6060h 00h 4 INTEGER16 w X Mode of Operation -

6061h 00h 4 INTEGER16 r X Display Mode of Operation -

6063h 00h 4 INTEGER32 r X Incr. actual position -

Index Subindex


PDOmapp.


272 April 2002


6064h 00h 4 INTEGER32 r X Actual position (taking account of gearingfactors)

-

606Ch 00h 4 INTEGER32 r X Actual speed (mode: pv) -

607Ah 00h 4 INTEGER32 r/w X Target position (mode: pp) -

607Bh 00h 4 ARRAY r/w - Position_range_limit -

01h 4 INTEGER32 r/w - min_position_range_limit -

02h 4 INTEGER32 r/w - max_position_range_limit -

607Ch 00h 4 INTEGER32 r/w X Reference offset -

6081h 00h 4 UINTEGER32 r/w X Velocity (Mode: pp) -


r/w X Limit velocity/speed (Mode: pp)) -


r/w X Acceleration (Mode: pp pv) -


r/w X Deceleration (Mode: pp pv) -

6086h 00h 4 INTEGER16 r/w X Type of motion block ramp (motion_profile_type) -

6089h 00h 4 INTEGER8 r/w - Notation index: position (not supported) -

608Ah 00h 4 UNSIGNED8 r/w X Dimension index: position (not supported) -

608Bh 00h 4 INTEGER8 r/w X Notation index: speed (not supported) -

608Ch 00h 4 UNSIGNED8 r/w X Dimension index: speed (not supported) -

608Dh 00h 4 INTEGER8 r/w X Notation index: acceleration (not supported) -

608Eh 00h 4 UNSIGNED8 r/w X Dimension index: acceleration (not supported) -


r/w - Position factor -

01h 4 UNSIGNED32

r/w X Numerator PGEARO

02h 4 UNSIGNED32

r/w X feed_constant PGEARI


r/w - Velocity factor: encoder -

01h 4 UNSIGNED32

r/w X Numerator -

02h 4 UNSIGNED32

r/w X Divisor -

Index Subindex


PDOmapp.


April 2002 273



r/w - Acceleration factor -

01h 4 UNSIGNED32

r/w X Divisor -

02h 4 UNSIGNED32

r/w X Acceleration factor -

6098h 00h 4 INTEGER8 r/w X Homing type -

6099h 00h 4 ARRAY r - Homing velocity -

01h 4 INTEGER32 r/w X Homing velocity (homing to references switch) -

609Ah 00h 4 UNSIGNED32

r/w X Homing acceleration -

60FFh 00h 4 INTEGER32 r/w - Speed setpoint -

Index Subindex


PDOmapp.


274 April 2002


New configuration of LEXIUM

At a Glance There are a number of parameters that can only be integrated into the currentLEXIUM firmware program, which can produce an unwanted effect during theinitialization phase.As a result, an alteration of one of these parameters means that all parameters haveto be saved, and the instrument must then be restarted.

This can be carried out via the CAN-bus, by using the following SDOs: write SDO 35EBh, sub-index 01h, value 0, save command, write SDO 3632h, sub-index 01h, value 0, restart instrument.

April 2002 275


276 April 2002

CBAIndex

AAbbreviations, 14Acceleration ramp, 169Acknowledge following error, 134Acknowledge response monitoring, 134Axis type, 157

BBasic data types, 45Bus cable, 19

CCOB, 43Commissioning, 26Communication Object, 42Communication object, 41Configuration parameters, 230Connection methods, 25

DDeceleration ramp, 169Digital setpoints, 151

HHoming speed parameters, 239

April 2002

IInstallation, 24

LLatch function, 172Limit-switch, 157

NNumber, 17

PPause/halt, 134PDO "Control word", 94Position value, 113Power characteristics, 16

SSoftware protocol, 39Start motion block, 101Station address, 25Status machine, 128Status word, 135

TTime out, 122Type of motion task, 162

277

Index

278
April 2002