Schneider Electric DS301 manual Examples for the operating modes with PDO4

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IL•1F CANopen DS301

6 Operation

0198441113586, V2.01, 11.2008

6.4Examples for the operating modes with PDO4

R_PDO4 With the R_PDO4 you can start motion commands and change them while they are being processed.

R_PDO4 provides three fields for these purposes:

•modeCtrl Starting and changing operating modes

•"Ref16" and "Ref32" Operating mode-dependent reference values

The specified values for these three fields are not taken over by the prod- uct until modeCtrl, bit 7 (ModeToggle) changes.

Proceed as follows to assign values to the product:

Enter the desired operating mode and the corresponding values in the fields modeCtrl, "Ref16" or "Ref32".

Change modeCtrl, bit 7 (ModeToggle)

This avoids consistency problems within the R_PDO4.

T_PDO4 T_PDO4 allows you to monitor motion commands.

T_PDO4 provides three fields for this purpose:

•modeStat For Handshake purposes

•driveStat Signals motion status and errors

•p_actActual position of the product

ModeToggle The bit ModeToggle is available in the R_PDO4 and in the T_PDO4. The master provides this bit in the and the product mirrors is in the . This pro- cedure allows the master to detect whether the data transmitted by the slave is current.

Example The master starts a positioning movement that will only take a very short time. The master waits for the end of the positioning movement by checking T_PDO4 for bit x_end = 1 (positioning end).

The master may receive data from the slave that still originate from a point in time before the positioning movement was started. This data also contains x_end = 1. The master detects that the data is obsolete because the included bit ModeToggle does not match that of its motion command.

The master may only evaluate data in which the received ModeToggle bit is identical to the last bit transmitted by the master.

Acceleration Prior to positioning, you can first set the desired acceleration with an SDO access (object Motion.acc, 29:26). Note that the acceleration can only be changed when the product is at a standstill.

Assumptions The examples in this chapter are based on the following assumptions:

•Operating state 6 "Operation Enable"

•Homing has not yet been performed (bit ref_ok = 0)

•p_act = 0 (actual position)

•R_PDO4: modeCtrl, Bit 7 = 0 (ModeToggle)

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 About this manual IntroductionCAN-Bus 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 profilesObject dictionary Communication profileIndex Subindex Object Meaning 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 Overview Service data communicationSDO data exchange 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 servicesInitialization NMT service Transition MeaningPersistent data memory Command Specifier NMT service Transition NMT services for connection monitoringNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning the device CommissioningAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Receive data Using SDO commandsWriting parameters Transmit dataReading a parameter Synchronous errorsIndex Sub Data Description Changing operating states with PDO4 Operating Name Power Description State StageBit no Value Meaning Triggering a Quick Stop Switching the power stage on and off Example 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 troubleshootingMessage objects Error diagnostics via fieldbusMessages on the device status 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 AccessObjects of the product Error registerDevice type 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