Schneider Electric DS301 manual Position setting, Master --- Slave

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6 Operation

IL•1F CANopen DS301

Example The Profile Velocity operating mode is started with a reference speed of 1000 min-1(03E8h).

The reference speed is changed to 2000 min-1(07D0h) during the movement.

		Master <---	> Slave
Start Profile Velocity operating	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
mode with 1000 min-1			02h	84h	03E8h	XXXXXXXXh
Product accelerates xerr=0,	T_PDO4	<---	driveStat	modeStat		p_act
xend=0, xinfo=0			0006h	84h		XXXXXXXXh
Reference speed reached	T_PDO4	<---	driveStat	modeStat		p_act
xerr=0, xend=0, xinfo=1			2006h	84h		XXXXXXXXh
Change speed to 2000 min-1	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	04h	07D0h	XXXXXXXXh
Product accelerates xerr=0,	T_PDO4	<---	driveStat	modeStat		p_act
xend=0, xinfo=0			0006h	04h		XXXXXXXXh
Reference speed reached	T_PDO4	<---	driveStat	modeStat		p_act
xerr=0, xend=0, xinfo=1			2006h	04h		XXXXXXXXh
Change speed to 0 min-1	R_PDO4	--->	drivectrl	modeCtrl	Ref16	Ref32
			02h	84h	0000h	XXXXXXXXh
Product decelerates xerr=0,	T_PDO4	<---	driveStat	modeStat		p_act
xend=0, xinfo=0			0006h	84h		XXXXXXXXh
Profile Vel. mode terminated	T_PDO4	<---	driveStat	modeStat		p_act
xerr=0, xend=1, xinfo=1			6006h	84h		XXXXXXXXh

The Profile Velocity operating mode is terminated when the reference speed "0" is transmitted; standstill is waited for.

Note: The field p_act of the T_PDO4 contains the current position of the drive in increments.

6.4.4Position setting

During position setting, a new position is assigned to the current motor position. This only shifts the coordinate system, the motor itself does not move.

You must make the following settings for position setting in the R_PDO4:

•Enter the new position in Ref32. (Ref16 has no significance here)

•Enter operating mode 02h in modeCtrl ("Homing", "Position Set- ting").

•Toggle modeCtrl, bit 7, so the data is taken over by the slave.

Example:		The motor is at position -100,000 (FFFE7960h).
		Position 200,000 is assigned to the motor (00030D40h).

		Master <---> Slave

Product signals position-100,000 T_PDO4		<---	driveStat	modeStat		p_act
			XXXXh	XXh		FFFE7960h
Position setting to 200,000	R_PDO4 --->		drivectrl	modeCtrl	Ref16	Ref32
			02h	82h	XXXXh	00030D40h
Position taken over x_err = 0,	T_PDO4	<---	driveStat	modeStat		p_act
x_end = 1, x_info = 0			4006h	A2h		00030D40h

0198441113586, V2.01, 11.2008

70	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 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 modelObject 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 Communication relationships Master slave relationshipsClient-server relationship Overview Service data communicationSDO 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 controlInitialization 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 Commissioning the deviceAddress and baud rate Starting fieldbus modeCommissioning the fieldbus network Troubleshooting Error Error class Cause of error TroubleshootingCreating a new network SyCon CANopen configuration softwareSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive 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 offExample 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 diagnosticsMessage objects Error diagnostics via fieldbusMessages 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, overviewObjects of the product Error registerDevice 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