Lust ServoOne User Manual
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Lust ServoOne User Manual

Canopen/ethercat
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Summary of Contents for Lust ServoOne

  • Page 1 ServoOne User Manual...
  • Page 2 The bus modules for ServoOne This guide is currently subject to approval testing and is therefore not yet final and complete. The technical data and agreed properties are therefore provisional and still subject to change in line with further technical developments.

  • Page 3: How To Use The Document

    Setting the device parameters for EtherCAT – if not, you should first consult the Operation Manual. Implemented DS402 functionality This manual applies for the position controller system ServoOne, so you will see only the abbreviation SO below. Operation modes DS402...
  • Page 4 User Manual CANopen/EtherCAT Pictograms Important! Misoperation may result in damage to the drive or malfunc- tions. Danger from electrical voltage! Improper behaviour may endanger human life. Danger from rotating parts! Drive may start up automatically. Note: Useful information...

  • Page 5: Table Of Contents

    Contents Commissioning and Configuration of CANopen ..............19 Commissioning ......................19 Commissioning sequence ....................19 .2.1 Setting the software address and Baud rate ............20 How to use the document ......................3 Commissioning instructions...................20 Pictograms .......................... Testing the higher-order controller ................20 Data handling .......................21 General Introduction ......................
  • Page 6 8.5. Object 208Fh – MRPO_OUTPUT_STATE ............. 8 Operation modes DS402 ....................49 Index ............................69 DS02 compatible operation modes ................9 9.1.1 Parameter setting of ServoOne for activation via DS02: ........9 9.1.2 Control word DS02 ..................50 9.1. Status word DS02 .....................51...

  • Page 7: General Introduction

    CAN being introduced into widespread use in automation too. The ServoOne family drive devices are quick and safe to handle. For your own safety and for the safe functioning of your device, please be sure to observe the following points:...

  • Page 8: Introduction To Ethercat

    CiA DS01 or DSP02 can change over to this new field bus technology with minimal training. In ServoOne we have combined all our past experiences in the CANopen area with this new field bus technology and achieved maximum compatibility and functionality.

  • Page 9: Mounting And Connection Of Canopen

    > 3 bs an lei tun be ac pa cit IN G Pa y ch arg e > op era en tio 3 mi tio n n to Figure Position of CAN connection on ServoOne User Manual CANopen/EtherCAT [Chapter...

  • Page 10: Meanings Of Leds

    2.2 Meanings of LEDs Dip switch 7 - ð significance 26 = 6 Dip switch 8 = Bus termination ON/OFF The CAN option of ServoOne has two diagnosis LEDs (H1, H15). Figure DIP switch Example of use of the DIP switches: Setting address ““...

  • Page 11: Installation

    Electrical installation is finished; for how to proceed further, refer to section  “Commissioning and configuration“. The CANopen interface is integrated in ServoOne. The connection is made via connec- tor X2. The interface is isolated from the drive controller electronics. The supply to the isolated secondary side is provided by the customer via connector X2.
  • Page 12 User Manual CANopen/EtherCAT Connection Spring-type terminal SPS/PLC 120 W (internal) Wave terminating resistance Activation of the bus termination in the device - Bus termination - via switch 8 in the CAN option Max. Input frequency 1 MHz CAN-B us +2 V +25 %, 50 mA Ext.
  • Page 13 2. Transmission speeds 2. Display of the operating states via 7-segment display The CAN bus can be operated at the following Baud rates: Transmission Maximum line length across Meaning Parameter speed the complete network 1) System states 1000 kBaud 25 m Factory setting Device in reset state 500 KBaud...
  • Page 14 05 = “Function for checking current parameter list“ 2.5 Hardware enable ServoOne has a control input for ENPO hardware enable on the control terminal. This input must be configured to operate the power stage at 2 V. The device also provides the function “STO (Safe Torque Off)“ (see Operation Manual or Application Manual ServoOne), category , control terminal ISDSH.

  • Page 15: Mounting And Connection Of Ethercat

     Mounting and Connection IN and OUT socket (RJ-45 input/output) of EtherCAT Each EtherCAT slave has two RJ-5 sockets. The upper port (X15) is the (IN) input and the lower port (X16) is the (OUT) output of the slave. The incoming cable (from the direction of the master) is connected using the IN port, the outgoing cable is connected to the next slave using the OUT port.

  • Page 16: Pin Assignment Of The Rj-5 Socket

    User Manual CANopen/EtherCAT .2 Pin assignment of the RJ-5 socket IMPORTANT: Errors in cabling (incorrect connection of input and output) can lead to faulty addressing by the master. The RJ-5 socket is assigned as follows: Colour Cable wire pairs Function Connecting cable white/orange TxData +...

  • Page 17: Meanings Of Leds

    . Meanings of LEDs They have the following meanings: Function Meaning There are 2 LEDs on each RJ-5 socket. off = no Link ð No connection with another user on = Link Upper Link LED ð Connection with another user exists. Currently no data ex- change.

  • Page 18: Display Of Operating States Via 7-Segment Display

    On (power is connected to the device)2) (SwitchedOn) ServoOne has a control input for ENPO hardware enable on the control terminal. This input must be configured to operate the power stage at 2 V. Drive ready (current applied to drive and ready...

  • Page 19: Commissioning And Configuration Of Canopen

     Commissioning and Configura- Step Action Note tion of CANopen Check the wiring. Please note that hardware enable ENPO (X) is not configured. .1 Commissioning Switch on the mains power and the 2 V supply to the CAN interface. The DriveManager user interface is used for general commissioning of the drive system. The DriveManager includes tools to identify motor data, provide access to a motor data- Configure the drive unit using (Inputs/outputs, software...

  • Page 20: Setting The Software Address And Baud Rate

    • There is no reply if the device has certain network states. Note: ServoOne has a default Baud rate of 1 mbit. . Testing the higher-order controller To activate changed settings the device must be switched off and back on again. When the power is connected, after an initialisation period of a few seconds the device must transmit a one-off boot-up message (ID 700h + node ID = 701h for device address 1).

  • Page 21: Data Handling

    Via DriveManager (e. g. Baud rate) using this document. In the DriveManager tree structure, select the relevant ServoOne. A pop-up menu can be opened using the right-hand mouse button and you can select the “Reset Checking the set application solution Device Setting“...

  • Page 22: Control Functions

    (using DriveManager) operation mode is always selected via DS02 object 6060h (Modes of Operation). and store the data set in the device. ServoOne supports the operation modes as per the DS02: – Profile Position Mode .7 Control functions –...

  • Page 23: Functionality Of Operation Modes

    .8.1 Functionality of operation modes modes_of_operation (6060h) Profile Position Mode Operation Profile Velocity Mode Mode Function Homing Mode modes_of_operation_display (6061h) Figure Functionality of operation modes Change modes in the diagram Users can switch between the various operation modes, as long as these are supported by the device.
  • Page 24 User Manual CANopen/EtherCAT...

  • Page 25: Commissioning And Configuration Of Ethercat

    5 Commissioning and Configura- tion of EtherCAT Commissioning via EtherCAT is possible using the XML file supplied on your controller. All further commissioning and configuration steps are independent of the controller used. For notes on this refer to the documentation provided by your control manufactu- rers.
  • Page 26 User Manual CANopen/EtherCAT...

  • Page 27: Setting The Device Parameters For Canopen

    6.1.2 Object directory of DS01 for CANopen For a full overview of the supported CAN objects of ServoOne refer to the EDS file. Here you can refer to both the CANopen objects of DS01, DS02 and also the manuf- acturer-specific objects of the device.

  • Page 28: Parameter Channel (Service Data Objects)

    User Manual CANopen/EtherCAT 6.2 Parameter channel (Service Data Objects) Object Object Object name Type Attr. Code The Service Data Object (SDO) permits write and read access to the object directory. This 0x100 1st_Receive_PDO_Parameter RECORD PDO CommPar SDO is implemented according to the CAL specification by the Multiplexed Domain CMS 0x101 2nd_Receive_PDO_Parameter RECORD...

  • Page 29: Data Types

    The CAL specification makes a basic distinction between three protocol services: The drive units support the following parameter data formats: • Download protocol (Write) Data type Value range Function • Upload protocol (Read) USIGN8 0...255 • Abort protocol (Error) USIGN16 0...6555 Unsigned USIGN2...

  • Page 30: Access To Device Parameters

    User Manual CANopen/EtherCAT 6.2. Access to device parameters 6. Examples of SDO handling By way of the Receive SDO (COB IDs: 600 h + Node-ID) the CANopen objects and the Where can I find the device parameters? parameters of the drive controller can be accessed. All device parameters are addressed by way of a parameter number.
  • Page 31 Note: - All numeric values are hexadecimal - The string “X-axis“ is to be transferred - This text is entered in ServoOne parameter  DV_DeviceAliasName TIME Direction Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments 18.9925...
  • Page 32 User Manual CANopen/EtherCAT TIME Direction Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments 1.70755 Requirement Segment 10 1.7118 Reply Segment 10 2.510 Requirement Segment 11 2.5129 Reply Segment 11 .172512 Requirement Segment 12 .172787 Reply Segment 12 .908571...

  • Page 33: Parameter Set Download

    To deactivate the logic check and to report the download of a data set, parameter 11 subindex  value 1 is written. The following data can be transferred to ServoOne via the CANopen interface: Downloading the parameter data to the drive controller •...

  • Page 34: Pdo Transmission Types

    Note: The desired transmission types are set by way of the corresponding In ServoOne every bit (or a change to it) in a TxPDO can be defined as an event. By de- CANopen objects 100h for RxPDOs and 1800h for TxPDOs.

  • Page 35: Pdo Mapping

    6.6.1 Mapping - general Name Value Description Type Variable mapping of parameters is possible on ServoOne for all  Rx and TxPDOs. EvMsk_TxPdo1L FFFFFFFFh Event mask for txpdo 1 byte 0- uint2 Mapping works as defined in the CANopen communication profile DS01.
  • Page 36 6.7 Heartbeat function Producer 6 .. 9 request indication The Heartbeat function to DS01 (V.01) is supported. ServoOne can only be used as indication indication heartbeat producer, i.e. it sends heartbeat telegrams to the controller. To this end object Heartbeat 1017H Producer Heartbeat Time is implemented.

  • Page 37: Setting The Device Parameters For Ethercat

    Application HTTP, FTP ... (DSP402 profile) In the case of ServoOne the DS02 profile is again set up on the application layer. For information on this layer refer to the sections “Implemented DS02 functionality“ and “DS02 operation modes“. Object Dictionary...
  • Page 38 User Manual CANopen/EtherCAT Mailbox Emergency ServoOne supports the CAN over EtherCAT (CoE) and Ethernet over EtherCAT (EoE) The Emergency service is designed for the transfer of error messages. In contrast to protocol. The following functions/services are implemented: CANopen, emergency messages in EtherCAT are not autonomously sent from the slave but are retrieved by the master.
  • Page 39 (optional) (OI) (PS) (SP) Notes on ServoOne:  The complete configuration of distributed clocks takes place in the controller. Safe-Operational (OP)  Multiples of 125µs (time basis of the control) must always be used as cycle (SO) (OS) times.
  • Page 40 The services described in the previous section (e. g. PDO mapping etc.) are all operated by the controller (EtherCAT master). The communication-specific parameter setting of ServoOne is performed on the basis of the supplied XML files by the Master. The parameter setting of control settings, scaling etc. can also be performed via the...

  • Page 41: Implemented Ds402 Functionality

    8 Implemented controlword (6040h) DS02 Functionality Device Controlling Remote Terminals The functions in this section relate to activation in the modes of operation of DS02 Fault Operation Mode State Machine profile modes of operation (6060h) 1 - Profile Position Mode  - Profile Velocity Mode 6 - Homing Mode statusword...
  • Page 42 User Manual CANopen/EtherCAT The following device states are possible: controlword (6040h) NOT READY TO SWITCH ON: Only control voltage is connected to the drive. The drive is initialised or is performing a self-test. State Machine Internal Events If installed, the brake engages in this state. The drive function is deactivated.
  • Page 43 QUICK STOP ACTIVE status), you cannot quit the QUICK STOP Bit combinations of the DRIVECOM state machine ACTIVE status, but you can switch to OPERATION ENABLE status with the ENABLE OPERATION command. Device control commands The following bit combinations of control bits 0- and 7 form the device control com- FAULT REACTION ACTIVE: mands for the state transitions of the state machine: Drive parameters have been changed.
  • Page 44 User Manual CANopen/EtherCAT 8.2 Option codes Device status table The bits of the DRIVECOM status word presented below indicate the current system state: The devices support option codes for four different options for shutting down the drive. The four options are : Status bit •...
  • Page 45 8. Device control objects Object Object Object Type Attr Name Code The following table lists the implemented objects to control the drive: Fault_Reaction_Option_Code 0: disable drive, motor is free to rotate Object Object Object 1: slow down on slow down ramp Type Attr 0x605E...
  • Page 46 User Manual CANopen/EtherCAT Note: The following objects are directly calculated in ServoOne: Object Object Object Type Attr. - Position Factor Name Code - Velocity Encoder Factor 0x6092 Feed_Constant ARRAY Unsigned2 - Acceleration Factor 0x609 Position_Factor ARRAY Unsigned2 The calculation is based on the objects stored in the formulae...
  • Page 47 Motor shaft revolutions Velocity unit Velocity Encoder Factor • Gear Ratio = Acceleration Factor = Drive shaft revolutions Acceleration unit Seconds • Object 6092h: Feed Constant Object 607Eh: Polarity The feed constant defines the ratio of feed in position units per driving shaft revolutions. The position reference value and position actual value are multiplied by 1 or -1 depen- This includes the gear if present.

  • Page 48: Object 2079H – Mpro_Input_State

    User Manual CANopen/EtherCAT Assignment Assignment Negative limit switch State input ISA00 Positive limit switch State input ISA01 Home switch 0 to 1 Don’t use  to 15 Reserved Table Object 2079h – MPRO_INPUT_STATE 16 to 1 Manufacturer-specific (curr. not implemented) “STO (Safe Torque Off)“...

  • Page 49: Operation Modes Ds402

    9 Operation modes DS02 9.1.1 Parameter setting of ServoOne for activation via DS02: For activation via CANopen (or CoE - EtherCAT) as per DS02 profile the following para- meters must be set in the device: 9.1 DS02 compatible operation modes...

  • Page 50: Control Word Ds02

    User Manual CANopen/EtherCAT 9.1.2 Control word DS02 Bits 0 - 3 and 7: DEVICE CONTROL COMMANDS are triggered by the following schema in the control word: Object 6040h-control word The object is also mapped in the parameter 2208-MP_Controlword. The control word Bit of the control word Transi- contains bits for:...

  • Page 51: Status Word Ds02

    Bits 4 - 6 and 8 Name Value Description The bits  - 6 and 8 are interpreted differently depending on the active operation mode (object “modes of operation display“). No function Operation mode No function Cyclic Cyclic Cyclic synchro- synchro- synchro- Inter-...
  • Page 52 User Manual CANopen/EtherCAT Status word bits Value (binary) State Description Xxxx xxxx x00x 0111 Quick stop active Xxxx xxxx x0xx 1111 Fault reaction active Ready to switch on Xxxx xxxx x0xx 1000 Fault Switched on Table Device state bits in the status word Operation enabled Fault Bit 4: Voltage enabled...

  • Page 53: Profile Velocity Mode

    9.2 Profile Velocity Mode Bits 12 and 13: These bits are dependent on OPERATION MODE - see section 6. This operation mode (mode of operation = ) is used to activate the device at a velocity The following table provides an overview: setpoint as per the DS02 profile.

  • Page 54: Mode-Dependent Bits In The Control Word

    User Manual CANopen/EtherCAT 9.2.1 Mode-dependent bits in the control word Structure of operation mode The structure presented below is based on this operation mode: Object Object Object Type Name Code Execute the motion Stop Stop axle Table Profile velocity mode bits of the status word 9.2.2 Mode-dependent bits in the status word Object Object...

  • Page 55: Homing Mode

    Figure Homing function Limit switch function ServoOne supports all 5 homing methods defined in DS02. LCW - right side HW limit switch LCCW - left side HW switch The individual homing methods are described in the device application manuals with HOMSW - reference cam regard to their function and movement sequencing.

  • Page 56: Mode-Specific Bits In The Control Word

    User Manual CANopen/EtherCAT 9..2 Mode-specific bits in the status word 9..1 Mode-specific bits in the control word Bit 10 - TARGET REACHED Bit  - HOMING OPERATION START Bit 12 - HOMING ATTAINED Bit 8 - STOP Bit 1 - HOMING ERROR Bit 1 - ROT_0 Name Value...

  • Page 57: Profile Position Mode

    9. Profile position mode Structure of operation mode In this operation mode (mode of operation =1) the axle executes relative or absolute Limit target_position [position Multiplier position Function (607Ah) units] single positioning movements. positio_range_limit (607Bh) software_position_limit position_factor (607Dh) (6093h) Object Object Object home_offset (607Ch)

  • Page 58: Mode-Specific Bits In The Control Word

    User Manual CANopen/EtherCAT 9..1 Mode-specific bits in the control word 9..2 Mode-specific bits in the status word Bit  - New setpoint Bit 10 - Target reached Bit 5 - Change set immediately Bit 12 - Set-point acknowledge Bit 6 - abs/rel Bit 1 - Following error Bit 8 - Stop Bit 1 - ROT_0...
  • Page 59 SINGLE SETPOINT: velocity When the target position is reached the drive indicates the fact to the master. Then the drive receives a new setpoint. At each target position the drive is stopped before being moved on to the next target position. The two options are controlled by way of the timing of the NEW SETPOINT and CHAN- time GE SET IMMEDIATELY bits in the control word and the SETPOINT ACKNOWLEDGE bit in...
  • Page 60 User Manual CANopen/EtherCAT...

  • Page 61: Emergency Objects

    Table Emergency telegram Note: For a detailed list of all error messages together with remedial messa- ges refer to the Application Manual ServoOne on our product CD. The decisive factors for rapid localization are the error code and error location. In byte  of the emergency telegram you will find the error code, which provides an initial 10.2 Error acknowledgment via bus system...
  • Page 62 User Manual CANopen/EtherCAT...

  • Page 63: Eds File, Object Directory Parameter List

    It contains all the CAN objects of the drive controllers. Note: ServoOne has parameters with default values in the device that may deviate from the default values in the EDS file. These are power-stage specific parameters with contents that are dependent on the size.
  • Page 64 User Manual CANopen/EtherCAT...

  • Page 65: Bibliography

    12 Bibliography Operation Manual ServoOne LUST Antriebstechnik GmbH Gewerbestrasse 5 - 9 56 Lahnau http://www.lust-antriebstechnik.de User Manual ServoOne LUST Antriebstechnik GmbH Gewerbestrasse 5 - 9 56 Lahnau http://www.lust-antriebstechnik.de CiA DS-01 (Rev. .0): Applica- http://www.can-cia.org/ tion Layer and Communication Profile CiA DSP-02 (Rev. 2.0): Device http://www.can-cia.org/...
  • Page 66 User Manual CANopen/EtherCAT...

  • Page 67: Appendix Glossary

    (e. g. variable for torque in Nm). General points on the various protocol definitions CAL: Mainly in use in Europe, LUST has currently implemented a protocol which can be activated by a CAL master. The initialisation is simpler than CAL (CCDA), for example addressing by way of jumper, which has no influence on operation.
  • Page 68 User Manual CANopen/EtherCAT...

  • Page 69: Index

    Calculation correlations 6 DEVICE CONTROL FUNCTION 1 CAL specification 8 Device controlling 1 CANopen  Device control objects 5 CANopen functionality of ServoOne 7 Device profile DS02 7 CANopen interface 11 Device states 2 CANopen option 10 Device status table ...
  • Page 70 User Manual CANopen/EtherCAT Device with EtherCAT Option 17 Functional description 58 Digital inputs 7 Functionality of operation modes 2 DIP switches 10 Function of event control  Display of operating states 1, 18 Distributed clocks 9 Documentation, further 8 General information 1 Download protocol 29 General introduction 7 DRIVECOM state machine ...
  • Page 71 Parameter channel 28 Software address 20 Parameter data formats 29 Spring-type terminal 12 Parameter set download  State control 50 Parameter setting of ServoOne 9 State machine 1, 2 PDO mapping 5 State transitions 9 PDO transfer  Status 2...
  • Page 72 User Manual CANopen/EtherCAT Status word DS02 51 STOP function  Structure of operation mode 5, 57 Structure Profile Position Mode 57 Supported EtherCAT functionality 7 SWITCHED ON 2 SWITCH ON DISABLED 2 System connection 12 System requirements 8 Terminals 9 Test higher-order controller 20 Translation of transmitted values (ASCII) 2 Transmission of TxPDO ...
  • Page 74 Lust Antriebstechnik GmbH Gewerbestraße 5-9 • 56 Lahnau Germany Tel. +9 (0) 6 1/9 66-0 Fax +9 (0) 6 1/9 66-17 Internet: www.lust-tec.de e-mail: info@lust-tec.de Lust Antriebstechnik GmbH Heinrich-Hertz-Str. 18 • 592 Unna Germany Tel. +9 (0) 2 0/77 9-0 Fax +9 (0) 2 0/77 9- 97 Internet: www.lust-tec.de...

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