Schneider Electric DS301 manual

3 Basics

IL•1F CANopen DS301

Connection error The NMT master signals a connection error to the master program if:

•the slave does not respond within the "guard time" period

•the NMT state of the slave has changed without a request by the NMT master.

Figure 3.32 shows an error message after the end of the third cycle be- cause of a missing response from an NMT slave.

	request
Master	response	Slave
guard		life
time	request	time
	request
	response
	request
	no
	response
message

Figure 3.32 "Node Guarding" and "Life Guarding" with time intervals

Boot-up message The communication profile DS 301, version 4.0, defines an additional task for the NMT services: sending a boot-up message.

A network device informs all other network devices that it is ready for op- eration using a boot-up message.

A boot-up message consists of the COB ID of the NMT object NMT Er- ror Control and is transmitted without data. The default setting of the COB ID is 1792 (700h) + node-Id

0198441113586, V2.01, 11.2008

50	Fieldbus interface

Image 50

Schneider Electric DS301 manual Node Guarding and Life Guarding with time intervals

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 bus Documentation and literature references Can users and manufacturers organization Introduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen description language BasicsCANopen technology Communication layers Objects Index hex Object groups Supported By the drive IL1F CANopen DS301 Basics CANopen profiles CANopen reference model Index Subindex Object Meaning Communication profileObject dictionary Index range Object groups Supported Hex By the drive Communication objects Communication objects COB ID with function code and node address TPDO4 Communication relationships Master slave relationships Client-server relationship SDO data exchange Service data communicationOverview SDO message 11 SDO message, example Reading and writing data Message type Data length used Bytes 14 Reading a parameter value Message type Data length used Byte Bytes 15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchange UINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR = Receive PDO RPDO4 master slave Structure of RPDO4 State machine drivectrl Operating modes modeCtrl JOG @ Warning Transmit PDO TPDO4 product to master Structure of TPDO4 20 Structure of TPDO4 Handshake with Mode Toggle Bit Bit Name Description 22 Mode Toggle Handshake, short movement Master Slave Xend Basics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy object Synchronization 25 Sync message 27 Cyclic and acyclic transmission Network management services NMT services for device control Persistent 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 device Commissioning the fieldbus network Starting fieldbus modeAddress and baud rate Troubleshooting Error Error class Cause of error Troubleshooting Selecting the CANopen master SyCon CANopen configuration softwareCreating a new network Setting the bus parameters Selecting and inserting nodes Operation Overview Operation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive data Index 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 Velocity Position setting Master --- Slave Operating mode Homing Error signaling via PDO4 Asynchronous errors Positioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnostics Messages on the device status Error diagnostics via fieldbusMessage objects Error code table CANopen error messagesError register Bit Message Meaning SDO error message Abort Error code Meaning Object code Meaning Coding Specifications for the objectsObject directory Data type Value range Data length Index Subindex Designation Obj. code Data type Access Objects, overview Device type Error registerObjects of the product Manufacturer device name Bit coding, subindex 00h1008h 100Ch Index 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 Meaning 1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaning Subindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tables Torque TemperatureRotation Moment of inertia Default value Factory setting Terms and Abbreviations Power amplifier See power stage Index Can Index IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface