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用于路斯特CDE3000/CDB3000伺服驱动器canopen通讯协议说明书.pdf
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详细说明：用于路斯特CDE3000/CDB3000伺服驱动器canopen通讯协议说明书pdf,用于路斯特CDE3000/CDB3000伺服驱动器canopen通讯协议说明书LUST
Dear user
This manual is intended for you as a project engineer: commissioning
engineer or programmer of drive and automation solutions on the
CANopen field bus. It is assumed that you
already familiar with thi
field bus on the basis of appropriate training ar
f the relevant
literature
We assume that your drive is already in operation-if not, you should first
nsult the Operation manual
Note
This Manual is applicable to the CDE3000 and CDB3000
position contol systems, so in the following you will see only
the abbreviation s Cde and CDb used
How to use this
manual
General introduction
2 Implemented DS301 functionality
3 Operation modes
3
4 EDS file, object directory
4
Appendix
A
EN
User Manual CM-CANoper
LUST
Pictograms
>Attention Misoperation may result in damage to the
drive or malfunctions
△△
Danger from electrical tension! Improper behaviour
may endanger human life
- Danger from rotating parts! The drive may start
running automatically
Note: Useful information
User Manual CM-CANopen
LUST
Table of contents
General introduction
1.1
Commissioning ................ 1-2
1.1.1
Parameter setting
12
1.1.2
Parameter data types
III
1-2
1.1.3
Representation of data types
1.1.4
Commissioning via DRIVEMANAGER∴…
1-4
1.1.5
Necessary parameter settings..
1-4
1.1.6
Parameter set download
12
Hardware address coding asaaaasuananssens1-5
13
Hardware pin assignment auamaaaummaa.1-5
1.4
Baud rates…1-6
15
Hardware enable
17
16
Implemented DS301 functionality
17
1.6.1
Communication objects
17
Object directory of DS301:
1.7.1
Addenda to ds301 object description ..............1-10
1.8 PDO mappin
1-11
1.8.1
Emergency object…,…
1-14
1.8.2
Error acknowledgment via bus system
1-14
18.3
Other error acknowledgment options
1-15
1.8.4
Emergency error codes table
1-15
18.5
Heartbeat function
2
Implemented dS402 functionality
2.1
Drivecom state machine
2-2
2.2
Option codes
2-2
23
Device control objects
2-6
24
Units and scalings factor group
2-7
2.4.1
Single-encoder system
2-7
2.4.2
Dual-encoder systems
2-9
EN
User Manual CM-CANopen
L凵sT
3
Operation modes
3.1
Operation mode selection . amanmnnnnn 3-2
3.2
DS402-compatible operation modes ..anem.. 3-3
3.2.1
State machine…3-3
3.3
Control word ds402…3-4
3.3.1
Control word bits
3-4
3.3.2
State transitions
3-4
333
Mode-specitic bits
3.4
Status word
3-6
3.4.1
Status word bits
……3-6
3.4.2
State display
3-6
3.4.3
Mode Specific Bits
3.5
Profile velocity Mode ammaemntananananenas
3-8
3.6
Homing mode
3-9
3.7
Profile position mode
3-1
3.7.1
Set of Setpoints∴…
.3-18
3.8
Table-supported positioning
(manufacturer-spec )ma
3-20
3.8.1
Control word easy Drive-Table Pos
3-20
3.8.2
Status word Easy Drive-Table Pos
3-2
3.9
Speed control via fixed speeds
(manufacturer-spec )mseammmesaaasassanaas 3-23
3.9.1
Control word easy Drive basic
3-23
3.9.2
Status word Easy Drive…….13-24
393
Speed control reference input 32Q16...3-25
3.94
Control word easy Drive basic
39.5
Status Easy Drive Basic
3-26
3.10
SS protocol
3-28
3.11 10 map object 60FDh amta
3-29
4 EDS file, object directory
Appendix Index
User Manual CM-CANopen
LUST
1 General introduction
2
1.1
Commissioning…..1-2
1.1.1
Parameter setting
1.1.2
Parameter data types
1-2
1.13
Representation of data types
1.1.4
Commissioning via DRIVEMANAGER
143
1.1.5
Necessary parameter settings……
1.1.6
Parameter set download
12
Hardware address coding mmmmmm mn 1-6
13
Hardware pin assignment maaamanmnnau. 1-6
14Baudratsm0174
1.5 Hardware enable
n1-8
1.6
Implemented DS301 functionality
n1-8
1.6.1
Communication objects
1-8
Object directory of
1.7.1
Addenda to DS301 object description
1.8
PDO mappIng
n…aa1-12
1.8.1
Emergency object…...
1-15
1.8.2
Error acknowledgment via bus system
1-15
1.83
Other error acknowledgment options
1-16
1.8.4
Emergency error codes table
.1-16
1.8.5
Heartbeat function
1-17
The CANOpen interface is implemented in accordance with communication
profile DS301( Rev. 4.01) and device profile DS402( Rev2. 0 ) In the following EN
sections more details are given of the degree of implementation of the FR
profiles for CDE/B/F.
T
User Manual CM-Can2
L凵sT
1 General introduction
This Manual is limited to a presentation of functionality in terms of the
CANopen/field bus interface
The general functional ity of the devices is presented in more detail in the
relevant application manuals
1.1 Commissioning
1.1.1 Parameter
The SDo standard is available for parameter setting via CANopen
setting
Manufacturer-specific parameters are addressed by way of object number
2000hex parameter number, paying attention to the data types of the
individual parameters
Settings are stored only in the device RAM, and are only stored
permanently in the memory following triggering of a Save command
The parameter values can be saved to the Flash/EEProm area by
object 1010H (see 1.11 and. 1.12) and its subindices or by way of the
DRIVEMANAGER commissioning tool
1.1.2 Parameter data
types
Note:
By way of the dRIVEMANAGER user interface or the KeyPad
KP200 control unit many parameter settings are displayed in
the form of value substitution texts
Example: Parameter 150-SAVE= STOP
When writing and reading over the field bus the correspond
values for these value substitution texts must be used. both in the
application manuals of the devices and in this document, these values are
given in brackets()after the value substitution
Example: Parameter 152-ASTER= BUS_1(9
User manual cM-can2
1-2
LUST
1 General introduction
The drive units support the following parameter data formats
Data type
Value range
Function
USiGN8
0..255
USIGN16
0..65535
Unsigned
US|GN320…4294967295
int8
-128.127
INT16
32768..32767
2
2147483648
INT32
2147483647
NT32016
-32767993276699
32-bit number with scaling 1/65536, i.e. the Lo
word indicates the number of decimal places
FIXE
00..327680
Fixed point number with scaling 1/20
nt size 0.05
3
LoAT32see IEEE
32-bit floating point number in IEEE format
ERR STRUC
Error number(1 byte), error location(1 byte).
error time(2 bytes)
STRING
ASCll characters, max. 100 bytes in bus
operation incl. zero terminator
4
Table 1.1
Data types
1.1.3 Representation All data types are represented appropriate to their preceding sign as
of data types
32-bit variables in Intel format
Data byte of
control protocol
6
A
Low Word
Low Word
High Word High Word
USIGN32/INT32
Low Byte
High Byte
LOW Byte
High Byte
INT32016 Post-pointL Post-point H Pre-point L Pre-point H
FIXPOINT16
See examples
IEEE format
ERR STRUC
Error no
Error location TOP L
TOP H
STRING
See examples
Filled out appropriate to preceding sign(00H or FFH)
TOP= Time of Operation in full hours
L=Low Byte
H=High Byte
EN
FR
Table 1.2
Arrangement of data types in the data field
T
User Manual CM-CaN2
1-3
LUST
1 General introduction
1.1.4 Commissioning With the DRIVEMANAGER the desired preset solution can be selected,
vIa
paraI
easily,
DRIVEMANAGER
commissioning. This also includes setting of the control mode. It is
possible to switch control mode online. Initial commissioning is described
the cde/CDB User manual
If the initial commissioning settings given in the User Manual are not
adequate for your application, you will find the further procedure in the
CDE/CDB Application Manual
1.1.5 Necessary
SDo access is always available, regardless of the device contiguration
parametel
The only important factors are the baud rate and device address settings
settings
The following default parameters should be changed as a minimum to
enable data to be exchanged over CANopen using SDO
Parameter
Setting
Function
580-COADR
1-127
CAn address
581-COBDR
B500(2)
an baud rate
Table 1.3
Parameter change
note:
The parameter changes only take effect after a mains reset
All parameters are stored only on triggering of the Save
command in the dRIVemanager
1.1.6 Parameter set The following data can be transferred to the CDE/B/F3000 via the
download
CANopen interface
Parameter set /PLC program
A parameter data set or PLc program can be downloaded by a SDO
transfer or by way of the drivemanager user interface version 3.2 or
higher
Important for SDo access: All manufacturer-specific device parameters
are additionally accessible via objects 2000h-23ETh
During downloading of a parameter data set the following sequence must
be observed
1. Object 2050H SLOAD=-1(parameter plausibility check disabled)
2. Write data set to desired objects 2000H -23E7H by way of SDO
access
3. Object 2050H SLOAD=-2 (data set checked by device)
4. Save all parameters via object 1010H
User manual cM-can2
1-4
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