Schneider Electric DS301 Introduction, About this manual, CAN-Bus

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IL•1F CANopen DS301

1 Introduction

0198441113586, V2.01, 11.2008

1 Introduction

1.1About this manual

This manual describes the fieldbus specifics for products in a fieldbus network addressed via CANopen DS301.

1.2CAN-Bus

The CAN bus (Controller Area Network) was originally developed for fast, economical data transmission in the automotive industry. Today, the CAN bus is also used in industrial automation technology and has been further developed for communication at fieldbus level.

Features of the CAN bus The CAN bus is a standardized, open bus enabling communication be- tween devices, sensors and actuators from different manufacturers. The features of the CAN bus comprise

•Multimaster capability

Each device in the fieldbus can transmit and receive data independ- ently without depending on an "ordering" master functionality.

•Message-oriented communication

Devices can be integrated into a running network without reconfigu- ration of the entire system. The address of a new device does not need to be specified on the network.

•Prioritization of messages

Messages with higher priority are sent first for time-critical applica- tions.

•Residual error probability

Various security features in the network reduce the probability of undetected incorrect data transmission to less than 10-11.

Transmission technology In the CAN bus, multiple devices are connected via a bus cable. Each network device can transmit and receive messages. Data between net- work devices are transmitted serially.

Network devices Examples of CAN bus devices are

•Automation devices, e.g. PLCs

•PCs

•Input/output modules

•Drives

•Analysis devices

•Sensors and actuators

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 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 CANopen technology BasicsCANopen description language Communication layersIndex hex Object groups Supported By the drive ObjectsIL1F CANopen DS301 Basics CANopen reference model CANopen profilesCommunication 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 Master slave relationships Communication relationshipsClient-server relationship Service data communication OverviewSDO 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 servicesNMT 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 the device CommissioningStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Error Error class Cause of error Troubleshooting TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Overview OperationOperation IL1F CANopen DS301 Writing parameters Using SDO commandsTransmit data 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 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 troubleshootingError diagnostics via fieldbus Message objectsMessages on the device status Error register CANopen error messagesError code table Bit Message MeaningError code Meaning SDO error message AbortObject directory Specifications for the objectsObject code Meaning Coding Data type Value range Data lengthObjects, overview Index Subindex Designation Obj. code Data type AccessError register Objects of the productDevice type 1008h Bit coding, subindex 00hManufacturer 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 30 RTR bit Bit assignment subindex 01hBit coding, subindex 02h Bit Acces Value Meaning1603h 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 GlossaryRotation TemperatureTorque Moment of inertiaTerms 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