Schneider Electric DS301 manual Operating mode Profile Position absolute positioning

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6 Operation

IL•1F CANopen DS301

6.4.1Operating mode Profile Position: absolute positioning

To start an absolute positioning movement, the following settings must be made in the R_PDO4:

Enter the reference speed in "Ref16" and the target position in "Ref32".

Enter operating mode 03h (Profile Position operating mode, abso- lute positioning) in the field modeCtrl.

Change modeCtrl, bit 7, so the data is taken over by the product.

Example Absolute positioniing to position 100,000 (000186A0h) at a reference speed of 1000 min-1(03E8h)

		Master <---	> Slave
Triggering positioning	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	83h	03E8h	000186A0h
Positioning runningx_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 0			0006h	83h		XXXXXXXXh
Positioning completex_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 1, x_info = 1			6006h	83h		000186A0h

Table 6.4 Operating mode Profile Position, absolute positioning at constant ref- erence speed

Note: The data frame "positioning running" can be sent several times; the current actual position is contained in the field p_act.

Example As the above example, but the reference speed is changed to 2000 min-

1(07D0h) during the movement.

		Master <---	> Slave
Triggering positioning	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	83h	03E8h	000186A0h
Positioning runningx_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 0			0006h	83h		XXXXXXXXh
Change reference speed	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	03h	07D0h	000186A0h
Positioning runningx_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 0			0006h	03h		XXXXXXXXh
Positioning complete x_err=0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 1, x_info = 1			6006h	03h		000186A0h

Table 6.5 Operating mode Profile Position, absolute positioning with change of reference speed

Note: The data frame "positioning running" can be sent several times. The current actual position is contained in the field p_act. When the ref- erence speed is changed, the same target position is sent because it does not change in this example.

0198441113586, V2.01, 11.2008

68	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 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 Basics CANopen technologyCANopen description language Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelIndex 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 Communication relationships Master slave relationshipsClient-server relationship SDO data exchange Service data communicationOverview 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 controlPersistent 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 Commissioning the deviceCommissioning the fieldbus network Starting fieldbus modeAddress and baud rate Troubleshooting Error Error class Cause of error TroubleshootingSelecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Using SDO commands Writing parametersTransmit data Receive 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 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 diagnosticsMessages on the device status Error diagnostics via fieldbusMessage objects CANopen error messages Error registerError code table Bit Message MeaningSDO error message Abort Error code MeaningSpecifications for the objects Object directoryObject code Meaning Coding Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewDevice type Error registerObjects of the product Bit coding, subindex 00h 1008hManufacturer device name 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 assignment subindex 01h Bit 30 RTR bitBit coding, subindex 02h 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 tablesTemperature RotationTorque 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