Schneider Electric DS301 manual Operation, Overview

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IL•1F CANopen DS301

6 Operation

6 Operation

@ WARNING

UNINTENDED OPERATION

•Do not write values to reserved parameters.

•Do not write values to parameters unless you fully understand the function. For more information see the product manual.

•Run initial tests without coupled loads.

•Verify that the system is free and ready for the movement before changing parameters.

•Verify the use of the bits with fieldbus communication: bit 0 is far right (least significant). Bit 15 is far left (most significant).

•Verify the use of the word sequence with fieldbus communication.

•Do not establish a fieldbus connection unless you have fully understood all communications principles.

Failure to follow these instructions can result in death, serious injury or equipment damage.

6.1Overview

The programming examples show hands-on applications for network operation. There are 2 access methods via the CANopen fieldbus: SDO "Service Data Objects" and PDO "Process Data Objects".

Using SDOs An SDO access is a write or a read access to an individual object. The available objects are described in the product manual and also summa- rized in a table in the chapter "Parameters". This chapter describes the use of SDOs on the basis of just a small number of objects since this type of communication can be used with all available objects and the structure is very similar in all cases.

Using PDOs PDOs are recommended for positioning mode because the information is transmitted much more efficiently. The chapter provides various hands-on examples of the application of PDO4 supported by the product and describes the general procedure.

•The PDO from the master to the product is referred to as "R_PDO".

•The PDO from the product to the master is referred to as "T_PDO".

0198441113586, V2.01, 11.2008

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 CAN-Bus IntroductionAbout this manual Fieldbus devices networked via can bus Operating modes and functions in fieldbus modeCan users and manufacturers organization Documentation and literature referencesIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 Communication layers BasicsCANopen technology CANopen description languageIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesIndex Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Master slave relationships Communication relationshipsClient-server relationship SDO data exchange Service data communicationOverview 11 SDO message, example SDO messageMessage type Data length used Bytes Reading and writing dataMessage type Data length used Byte Bytes 14 Reading a parameter value15 Response with error message error response Process data communication 16 PDO data exchange PDO data exchangeUINT32 18 Requesting a message with RTR = Dynamic and static PDO mappingStructure of RPDO4 Receive PDO RPDO4 master slaveState machine drivectrl JOG Operating modes modeCtrlTransmit PDO TPDO4 product to master @ Warning20 Structure of TPDO4 Structure of TPDO4Bit Name Description Handshake with Mode Toggle BitMaster Slave Xend 22 Mode Toggle Handshake, short movementBasics IL1F CANopen DS301 23 Error message with the Emcy object Emergency service25 Sync message Synchronization27 Cyclic and acyclic transmission NMT services for device control Network management servicesPersistent data memory NMT service Transition MeaningInitialization Node/Life guarding NMT services for connection monitoringCommand Specifier NMT service Transition 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningCommissioning the fieldbus network Starting fieldbus modeAddress and baud rate Error Error class Cause of error Troubleshooting TroubleshootingSelecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit dataIndex Sub Data Description Synchronous errorsReading a parameter Bit no Value Meaning Operating Name Power Description State StageChanging operating states with PDO4 Example Switching the power stage on and offTriggering a Quick Stop 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 Velocity Operating mode Profile Position relative positioningMaster --- Slave Position settingOperating mode Homing Asynchronous errors Error signaling via PDO4Positioning running xerr=0 Operation IL1F CANopen DS301 Fieldbus communication error diagnostics Diagnostics and troubleshootingMessages on the device status Error diagnostics via fieldbusMessage objects Bit Message Meaning CANopen error messagesError register Error code tableError code Meaning SDO error message AbortData type Value range Data length Specifications for the objectsObject directory Object code Meaning CodingObjects, overview Index Subindex Designation Obj. code Data type AccessDevice type Error registerObjects of the product 100Ch Bit coding, subindex 00h1008h Manufacturer device nameIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit Acces Value Meaning Bit assignment subindex 01hBit 30 RTR bit Bit coding, subindex 02h1603h Receive PDO4 mapping Value description BitMeaning 1803h Transmit PDO4 communication parameterSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Units and conversion tables GlossaryMoment of inertia TemperatureRotation TorqueTerms and Abbreviations Default value Factory settingPower amplifier See power stage Can IndexIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface