Cia MOTION_402_3v03000115.pdfCANopen Device profil

文件名称: Cia MOTION_402_3v03000115.pdf

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详细说明：CANopen Device profile for drives and motion control Part 3: PDO mapping 伺服通讯协议最新版协议 Version: 3.0.1.15Drives and motion control device profile- Part 3: PDO mapping CONTENTS Scope 画 2 normative references 3 Abbreviations and definitions 3.1 Abbreviations 3.2 Definitions… 4 Communication objects 5555555 4.1 Introduction 4.2 Detailed object definitions 6 4.2.1 Object 1000h: Device type 4.2.2 Object 1029h: Error behar 7 4.2.3 Object 67FFh: Single device type 4.3 Emergency message 4. 4 Communication fault events 8 4.5 Sets of pre-defined PdOs 4.5.1 General 4.5.2 PDO set for generic drive device 4.5.2.1 Overview and introduction 4.5.2.2RPDO1 9 4.52.3RPDO2 12 4.52.4RPDO3 ..14 4.5.2.5RPDO4. .17 4.5.2.6RPDO5.… 19 4.5.2.7RPDO6. 22 4.5.2.8RPDO7 24 4.52.9RPDO8 27 4.5.2.10TPDO1 29 4.5.2.11TPDO2 ∴31 4.5.2.12TPDO3. 34 4.5.2.13TPDO4. 37 4.5.2.14TPDo5 40 4.5.2.15TPDO6. .42 4.5.2.16TPDo7 .45 4.5.3 PDo set for frequency converter .48 4.5.3. 1 Overview and introduction 48 4.5.3.2RPDO1 49 4.5.3.3RPDO2 4.5.3.4RPDO353 4.5.3.5TPDO1 56 4.5.3.6TPDo2 58 4.5.3.7TPDO3. 61 45. 4 PDo set for servo drive .63 4.5, 4.1 Overview and introduction 63 4.5.4.2RPDO1 64 4.5.4.3RPDO2. 66 4.5.4.4RPDO3 69 4.5.4.5RPDO4 72 O CiA 2012-All rights reserved Drives and motion control device profile- Part 3: PDO mapping 4.54.6TPDO1 4.5.4.7TPDO2. .77 4.5.4.8TPDO3 79 4.5.4.9TPDO4 82 4.5.5 PDO set for stepper motor 85 45.5.1 Overview and introduction 85 4.5.5.2RPDO1 85 4.55.3RPDO2 4.5.54RPDO3 90 4.5.5.5RPDO4 93 4.5.5.6TPDO1 95 4.5.5.7TPDO2. 97 4.5.5.8TPDo3 100 4.5.5.9TPDo4 103 4.6 PDO mapping attributes 105 CiA 2012-All rights reserved Drives and motion control device profile- Part 3: PDO mapping 1 Scope This specification specifies the CANopen device profile for drives and motion control. It consists of three parts Part 1: General definitions Part 2: Operation modes and application data Part 3: PDO mapping Part 3 specifies the CANopen PDo mapping as defined in IEC 61800-7-301. In particular, the Process Data object (PDO)communication and mapping parameters are defined. In addition this specificaton defines the Pdo mapping attribute for all objects defined in the CiA 402 drive 2 Normative references /CiA301/ CiA 301, CANopen application layer and communication profile /CiA402-2 Cia 402-2, CANopen drive and motion control device profile part 2 Operation modes and application data nEC61800-7-1/EC 61800-7-1, Adjustable speed electrical power drive systems -Generic interface and use of profiles for power drive systems -Interface definition 3 Abbreviations and definitions 3.1 Abbreviations can Controller area network COB Communication object Identifier LSB Least significant bit MSB Most significant bit PDo Process data object Pds Power drive system RPDO Receive process data object SDo Service data object TPDO Transmit process data object 3.2 Definitions The definitions given in /CiA301/ and /IEC61800-7-1/ apply for this specification, too 4 Communication objects 4.1 Introduction The drive device shall implement the mandatory communication parameter objects as defined in /CiA301/. The drive device may implement the optional communication parameter objects as defined in /CiA301/ The category and entry category attributes of an object indicate if the object shall be implemented (Mandatory or may be implemented(Optional) O CiA 2012-All rights reserved 5 Drives and motion control device profile- Part 3: PDO mapping The object code and data type attributes are defined in detail in /CiA301/. The data types used in this profile specification are defined in /CiA301/. Therefore no mapping is defined In the entry description, there is defined the access attribute indicating if an application object is read only (ro), read/write(rw), or constant(c). Read only indicates that this shall not be written via the bus; read/write allows to read and to write this object; and constant means that this object is not changed The default value attribute defines the factory setting value of an object with access attribute of the value rw’or'c 4.2 Detailed object definitions 4.2.1 object 1000h: Device type This object is defined in /CiA402-2/ and /CiA301/. Drive devices shall support either the generic PDO mapping or the type-specific PDO mapping. For devices supporting the generic PDO mapping(bit 22 in the additional in formation field shall be o the definitions given in Table 1 shall apply. For devices supporting the type-specific PDO mapping(bit 22 in the additional information field shall be 1) the definitions given in table 2 shall apply. In table 1 and table 2 the symbol ""means manufacturer specific Table 1- Additional information field for generic PDo mapping Device Additional information Mode bits Type 31302928272625242322212019181716 Frequency 00000 converter 00000010 drive Ste 00000100 motor Multiple1111111111111111 device module Table 2- Additional information field for type-specific PDo mapping Deyice Additional information Mode bits Type 31302928272625242322212019181716 Frequency *01000001 converter Servo 0100010 drive Stepper 01000100 motor Multiple 1111111111111 device module O CiA 2012-All rights reserved Drives and motion control device profile- Part 3: PDO mapping 4.2.2 object 1029: Error behaviour This object specifies to which NMT state the device shall be set (see /CiA301/), when a communication error or a device-internal error is detected the device-internal error shall be valid when the PDS FSa is in fault reaction active state(see/CiA402-2/) Table 3 specifies the value definition, Table 4 specifies the object description, and table 5 specifies the entry description Table 3- value definition Value Definition Enter NMT pre-operational state(only if current NMT state is operational) 01 No NMT state chang 02n Enter NMT stopped state Table 4-object description Attribute Valu Inde 1029 h Name error behaviour Object Code Array Data Type UNSIGNED8 Category Optional Table 5- Entry description Attribute Value Sub-Index 00 Description Highest supported sub-index Entry Category Mandatory Access PDO Mapping No Value Range 0l to 02 Default Value Manufacturer-specific Sub-Index 01h Description Communication error Entry Category Mandatory Access rw PDO Mapping N Value range See Table 3 Default value O CiA 2012-All rights reserved Drives and motion control device profile- Part 3: PDO mapping Attribute Value Sub-Index 02 Description Internal device error Entry Category Optional Access rw PDO Mapping No Value Range See Table 3 Default value 01 4.2.3 Object 67FFh: Single device type The object at index 67FFh and multiples with an offset of 800n shall define the type of each device within one drive unit and its functionality. The object structure shall be the same as defined in object 1000n(for details see /CiA301/) 4.3 Emergency message When the drive device detects internally a failure, it may transmit an Emergency message as defined in /CiA301/. The Emergency message may use the error codes as defined in /CiA301/ or in /CiA402-2/ 4. 4 Communication fault events These events are coverd by /CiA402-2/ object 6007h 4. 5 Sets of pre-defined PDOs 4 5.1 General a drive device supporting more than one mode of operation may require more than one pre- defined PDo. Therefore several PDOs are pre-defined in respect to the different possible modes of operation for drive devices The PDO assignments defined hereafter shall be used for every axis of a multi-device module with an offset of 64. Example, the first PDo of the second axis gets the number 65. In this way, a drive device is able to support a maximum of 8 axes NOTE All PDOs of the second and following axes are disabled by default There are several sets of pre-defined PDOs. The PDO set for generic drive device is independent from the drive type. The PDo sets for specific drive devices are different for frequency converter, servo controller, and stepper motor All pre-defined RPdOs with transmission type of 255 shall immediately entry all mapped objects into the object dictionary All pre-defined TPDOs with transmission type of 255 shall be transmitted when entering the NMT operational state The Pdo Comm Par and the PDo mapping record definitions, and the value definitions of the PDO communication and mapping parameters are defined in/CiA301/ In general all PDo communication objects defined in /CiA-301/ can be used. The following sections describe only the default values of the pdo objects O CiA 2012-All rights reserved Drives and motion control device profile- Part 3: PDO mapping 4.5.2 PDO set for generic drive device 45.21 Overview and introduction The PDo set for generic drive device pre-defines eight RPDOs (see Table 6)and seven TPDOS (see Table 7). The TPDos with transmission type of 255 shall be triggered when any mapped object is changing. The RPDOs with transmission type 255 shall immediately update all mapped objects Table 6-overview on rPdo PDO Support Description Mandatory Controls PDS FSA 2 Optional Controls PDS FSA and modes of operation Optional Controls PDS FSA and target position(pp) Optional Controls PDS FSA and target velocity(pv) 5 Optional Controls PDS FSA and target torque(tq) 6 Optional Controls PDS FSA and nominal speed (vl) 7 Optional Controls Pds fsa and digital outputs 8 Optional Controls PDS FSA and mode of operation(Broadcast PDO) 9to16 reserve 17 to 64 Optional Manufacturer-s pecific Table 7-Overview on tPdo PDO Support Description Mandatory Specifies PDS FSA status Optional Specifies PDS FSA status and current mode of operation Optional Specifies PDS FSA status and current position (pp) Optional Specifies PDS FSA status and current velocity (pv) 5 Optional Specifies PDS FSA status and current torque(tq) Optional Specifies PDS FSA status and current speed (vl) Optional Specifies PDS FSA status and digital inputs 8 to 16 reserved 17 to 64 Optional Manufacturer-specific 4.5.2.2RPDo1 Table 8 specifies the object description and table 9 specifies the entry description of the pDo communication parameters O CiA 2012-All rights reserved 9 Drives and motion control device profile- Part 3: PDO mapping Table 8-Object description of communication parameters Attribute Value Index 1400 Receive PDo1 parameter Object Cod Record Data Type PDO CommA Category Mandatory Table 9-Entry description of communication parameters Attribute Value Sub-Index Description Highest supported sub-index Entry Category Mandatory Access PDO Mapping No See/CiA301 Default value Manufacturer-specific Sub-Index 01h Description COB-ID used by Pdo Entry Cate Mandator Access c or rw(if COB-ID is changeable) PDO Ma No Value range See/CiA301 Default Value0000 0200+ node-ID Sub-Index 02n Description Transmission type Entry Category Mandatory Access cor rw(if PDO type change is supported) PDO Mapping no Value Range See/CiA301/ Default value 255d Sub-Index 05 Description Event timer Entry CategoryOptional Access PDO Mapping alue range See/CiA301 Default value Manufacturer specific Table 10 specifies the object description and Table 11 specifies the entry description of the PDO mapping parameters 10 O CiA 2012-All rights reserved

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