Schneider Electric DS301 manual CANopen profiles, CANopen reference model

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3 Basics

IL•1F CANopen DS301

3.1.4CANopen profiles

Standardized profiles Standardized profiles describe objects that are used with different de- vices without additional configuration. The users and manufacturers or- ganization CAN in Automation has standardized various profiles. These include:

•DS301 communication profile

•DSP402 device profile

Application Layer

Application

Device Profile for Drives and Motion Control (CiA DSP 402)

CANopen Communication Profile (CiA DS 301)

Data Link Layer

Physical Layer

CAN-Bus

Figure 3.3 CANopen reference model

DS301 communication profile The DS301 communication profile is the interface between device pro- files and CAN bus. It was specified in 1995 under the name DS301 and defines uniform standards for common data exchange between different device types under CANopen.

The objects of the communication profile in the device carry out the tasks of data exchange and parameter exchange with other network de- vices and initialize, control and monitor the device in the network.

Objects of the communication profile are:

•Process Data Objects = PDO

•Service Data Objects = SDO

•Objects with special functions for synchronization SYNC and for error messages and error response EMCY

•Network management NMT objects for initialization, error monitor- ing and device status monitoring.

DSP402 device profile The DSP402 device profile describes standardized objects for position- ing, monitoring and settings of drives. The tasks of the objects include:

•Device monitoring and status monitoring (Device Control)

•Standardized parameterization

•Changing, monitoring and execution of operating modes IMPORTANT: The product does not support the CiA 402 device profile.

Vendor-specific profiles The basic functions of a device can be used with objects of standardized device profiles standardized. Only vendor-specific device profiles offer the complete range of functions. The objects with which the special func- tions of a device can be used under CANopen are defined in these ven- dor-specific device profiles.

0198441113586, V2.01, 11.2008

18	Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 Introduction About this manualCAN-Bus Operating modes and functions in fieldbus mode Fieldbus devices networked via can busDocumentation and literature references Can users and manufacturers organizationIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen description language BasicsCANopen technology Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelCommunication profile Object dictionaryIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Communication relationships Master slave relationshipsClient-server relationship Service data communication OverviewSDO data exchange SDO message 11 SDO message, exampleReading and writing data Message type Data length used Bytes14 Reading a parameter value Message type Data length used Byte Bytes15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchangeUINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR =Receive PDO RPDO4 master slave Structure of RPDO4State machine drivectrl Operating modes modeCtrl JOG@ Warning Transmit PDO TPDO4 product to masterStructure of TPDO4 20 Structure of TPDO4Handshake with Mode Toggle Bit Bit Name Description22 Mode Toggle Handshake, short movement Master Slave XendBasics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy objectSynchronization 25 Sync message27 Cyclic and acyclic transmission Network management services NMT services for device controlNMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Troubleshooting Error Error class Cause of error TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive dataSynchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Position relative positioning Operating mode Profile VelocityPosition setting Master --- SlaveOperating mode Homing Error signaling via PDO4 Asynchronous errorsPositioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnosticsError diagnostics via fieldbus Message objectsMessages on the device status Error code table CANopen error messagesError register Bit Message MeaningSDO error message Abort Error code MeaningObject code Meaning Coding Specifications for the objectsObject directory Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewError register Objects of the productDevice type Manufacturer device name Bit coding, subindex 00h1008h 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit coding, subindex 02h Bit assignment subindex 01hBit 30 RTR bit Bit Acces Value Meaning1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaningSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tablesTorque TemperatureRotation Moment of inertiaDefault value Factory setting Terms and AbbreviationsPower amplifier See power stage Index CanIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface