Stober CiA 402 Operation Manual
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Stober CiA 402 Operation Manual

Stober CiA 402 Operation Manual

Controller based
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CiA 402 Controller Based
Operation manual
en
12/2015
ID 442454.02

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Summary of Contents for Stober CiA 402

  • Page 1 CiA 402 Controller Based Operation manual 12/2015 ID 442454.02...
  • Page 2 Table of contents Operation manual CiA 402 Controller Based Table of contents General Information ........

  • Page 3: Table Of Contents

    General Information Operation manual CiA 402 Controller Based General Information Overview of sections 1.1 About this manual ........

  • Page 4: General Information

    Associated with each operation mode is the corresponding control mode of the drive (position, speed, or torque/force control). In accordance with CiA 402 you can use the Touch probe function with CiA CB for the position measurement with a binary signal. ID 442454.02...

  • Page 5: Further Documentation

    General Information Operation manual CiA 402 Controller Based Technical support Further documentation If you have technical questions that are not answered by this document, please The documentation listed in the following table provides relevant information on contact: the SD6 drive controller. You can find the latest document versions at •...

  • Page 6: Important Information And Conventions

    CiA CB CiA 402 Controller Based CAN in Automation STOBER shall assume no liability for damage resulting from failure to comply Cyclic synchronous position mode with the instruction manual or relevant regulations. We reserve the right to Cyclic synchronous torque mode make technical changes for the purpose of improving the devices.

  • Page 7: Instructions For Use

    General Information Operation manual CiA 402 Controller Based Instructions for use cases, the error cannot be immediately corrected, STÖBER ANTRIEBSTECHNIK GmbH & Co. KG will provide an intermediate solution 1.5.1 Using the software which may require the customer to comply with special operation regulations.

  • Page 8: Basic Information

    2.2.3.3.10 Referencing method 21 ....27 2.1.1 Device state machine according to CiA 402 ....10 2.2.3.3.11 Referencing method 23 .
  • Page 9 Basic information Operation manual CiA 402 Controller Based 2.2.6.1 Input and output signals ..... . . 38 2.2.6.2 Control commands and status information ..39 2.2.7 Cyclic synchronous torque mode .

  • Page 10: Controller

    CiA-402-compliant Touch probe function is also included. Controller The application is based on the internationally standardized CANopen device profile CiA 402 for electrical drives. The SD6 drive controller is controlled accordingly with CiA-402-compliant control and status words. Fig. 2-1Device state machine according to CiA 402 ID 442454.02...
  • Page 11 Basic information Operation manual CiA 402 Controller Based The table below shows the conditions for changes in the state machine. Change of state Conditions Device start-up > self test Control board power supply turned on. Self test > switch on disable Self test completed without errors AND initialization complete.
  • Page 12 Basic information Operation manual CiA 402 Controller Based Change of state Conditions Operation enabled > switch on disable Enable inactive OR command Disable voltage OR safety technology active Switched on > switch on disable Enable inactive OR DC link not charged...
  • Page 13 The standard device state machine has the same states as in the device state state. The commands are given as a bit combination in the control word in machine according to CANopen device profile CiA 402. accordance with CiA402 (parameter A515 Control word). The table below...

  • Page 14: Operating Modes

    Basic information Operation manual CiA 402 Controller Based Operating modes 2.2.1 Selection of the active operation mode You can choose the desired operation mode in parameter A541 Modes of Different operation modes are available with the CiA CB application. operation. The currently active operation mode is displayed via the parameter A542 Modes of operation display.

  • Page 15: Input And Output Signals

    Basic information Operation manual CiA 402 Controller Based 2.2.2.1 Input and output signals ID 442454.02 WE KEEP THINGS MOVING...

  • Page 16: Function

    Basic information Operation manual CiA 402 Controller Based 2.2.2.2 Function If signals TipPos and TipNeg are set to 1 at the same time, the drive brakes to a complete stop: +I12 +I12 -I12 -I12 Taste Taste Taste Taste I13 Tip acceleration...

  • Page 17: Control Commands And Status Information

    Basic information Operation manual CiA 402 Controller Based 2.2.3 Homing mode 2.2.2.3 Control commands and status information To select the Jog operation mode, set the parameter A541 to the value -1. During the referencing in Homing mode, the reference system of the machine The active operation mode is output in parameter A542.

  • Page 18: Input And Output Signals

    Basic information Operation manual CiA 402 Controller Based 2.2.3.1 Input and output signals ID 442454.02 WE KEEP THINGS MOVING...

  • Page 19: Reference Position

    Basic information Operation manual CiA 402 Controller Based 2.2.3.2 Reference position The reference position is the value that is set in the reference point. The reference point is determined by the referencing method, which is described in greater detail on the following pages.

  • Page 20: Referencing Methods

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3 Referencing methods You can implement the following referencing method, which are described in greater detail on the following pages. Switch position (S) and initial direction of Referencing Reference to Description travel when the switch is not activated...
  • Page 21 Basic information Operation manual CiA 402 Controller Based Switch position (S) and initial direction of Referencing Reference to Description travel when the switch is not activated method Zero pulse Limit Torque/force (M/F) switch Centrally arranged reference switch,  — —...

  • Page 22: Referencing Method 2

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.1 Referencing method 1 2.2.3.3.2 Referencing method 2 Referencing method 1 is characterized by the following features: Referencing method 2 is characterized by the following features: • Negative limit switch • Positive limit switch •...

  • Page 23: Referencing Method 19

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.3 Referencing method 3 2.2.3.3.4 Referencing method 5 Referencing method 3 is characterized by the following features: Referencing method 5 is characterized by the following features: • Positive reference switch • Negative reference switch •...

  • Page 24: Referencing Method 23

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.5 Referencing method 7 Case II: The drive is already located on the reference switch. Referencing method 7 is characterized by the following features: 1. The drive starts in negative direction with ramp A588 and speed A587.1.

  • Page 25: Referencing Method 27

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.6 Referencing method 11 Case II: The drive is already located on the reference switch. Referencing method 11 is characterized by the following features: 1. The drive starts in positive direction with ramp A588 and speed A587.1.

  • Page 26: Referencing Method 35

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.7 Referencing method 17 2.2.3.3.8 Referencing method 18 Referencing method 17 is characterized by the following features: Referencing method 18 is characterized by the following features: • Negative limit switch • Positive limit switch •...
  • Page 27 Basic information Operation manual CiA 402 Controller Based 2.2.3.3.9 Referencing method 19 2.2.3.3.10 Referencing method 21 Referencing method 19 is characterized by the following features: Referencing method 21 is characterized by the following features: • Positive reference switch • Negative reference switch •...
  • Page 28 Basic information Operation manual CiA 402 Controller Based 2.2.3.3.11 Referencing method 23 Case II: The drive is already located on the reference switch. Referencing method 23 is characterized by the following features: 1. The drive starts in negative direction with ramp A588 and speed A587.1.
  • Page 29 Basic information Operation manual CiA 402 Controller Based 2.2.3.3.12 Referencing method 27 Case II: The drive is already located on the reference switch. Referencing method 27 is characterized by the following features: 1. The drive starts in positive direction with ramp A588 and speed A587.1.

  • Page 30: Referencing Method -1

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.13 Referencing methods 33 and 34 2.2.3.3.14 Referencing method 35 Referencing method 33 is characterized by the following features: Sequence • Encoder zero pulse The position where the drive is located is set as the reference position. No •...
  • Page 31 Basic information Operation manual CiA 402 Controller Based 2.2.3.3.16 Referencing method -1 2.2.3.3.17 Referencing method -2 Referencing method -1 is characterized by the following features: Referencing method -2 is characterized by the following features: • Torque/force stop • Torque/force stop •...

  • Page 32: Referencing Method -4

    Basic information Operation manual CiA 402 Controller Based 2.2.3.3.18 Referencing method -3 2.2.3.3.19 Referencing method -4 Referencing method -3 is characterized by the following features: Referencing method -4 is characterized by the following features: • Torque/force stop • Torque/force stop •...

  • Page 33: Control Commands And Status Information

    Basic information Operation manual CiA 402 Controller Based 2.2.3.4 Control commands and status information 2.2.4 Interpolated position mode To select the Homing mode operation mode, set the parameter A541 to the You can use Interpolated position mode to implement cyclic position value 6.

  • Page 34: Input And Output Signals

    Basic information Operation manual CiA 402 Controller Based 2.2.4.1 Input and output signals ID 442454.02 WE KEEP THINGS MOVING...

  • Page 35: Control Commands And Status Information

    Basic information Operation manual CiA 402 Controller Based 2.2.4.2 Control commands and status information 2.2.5 Cyclic synchronous position mode To select the "Interpolated position mode" operation mode, set the parameter You can use Cyclic synchronous position mode to implement cyclic position A541 to the value 7.

  • Page 36: Input And Output Signals

    Basic information Operation manual CiA 402 Controller Based 2.2.5.1 Input and output signals ID 442454.02 WE KEEP THINGS MOVING...

  • Page 37: Control Commands And Status Information

    Basic information Operation manual CiA 402 Controller Based 2.2.5.2 Control commands and status information 2.2.6 Cyclic synchronous velocity mode To select the "Cyclic synchronous position mode" operation mode, set the You can use Cyclic synchronous velocity mode to implement cyclic velocity parameter A541 to the value 8.

  • Page 38: Input And Output Signals

    Basic information Operation manual CiA 402 Controller Based 2.2.6.1 Input and output signals ID 442454.02 WE KEEP THINGS MOVING...

  • Page 39: Control Commands And Status Information

    Basic information Operation manual CiA 402 Controller Based 2.2.6.2 Control commands and status information 2.2.7 Cyclic synchronous torque mode To select the "Cyclic synchronous velocity mode" operation mode, set the You can use Cyclic synchronous torque mode to implement a cyclic torque/ parameter A541 to the value 9.

  • Page 40: Input And Output Signals

    Basic information Operation manual CiA 402 Controller Based 2.2.7.1 Input and output signals ID 442454.02 WE KEEP THINGS MOVING...

  • Page 41: Control Commands And Status Information

    Basic information Operation manual CiA 402 Controller Based 2.2.7.2 Control commands and status information To select the "Cyclic synchronous torque mode" operation mode, set the parameter A541 to the value 10. The active operation mode is output in A542 Modes of operation display. If Cyclic synchronous torque mode is active, the display contains as information 10: Cyclic synchronous torque mode.

  • Page 42: Feed Forward

    Basic information Operation manual CiA 402 Controller Based Feed forward 2.3.1 Control-unit-generated external feed forward Use control-unit-generated external feed forward if you want to change the Feed forward relieves the load on the position controller, thereby reducing the feed forward during operation to achieve optimization of movement.

  • Page 43: Drive-Generated Internal Feed Forward

    Basic information Operation manual CiA 402 Controller Based 2.3.2 Drive-generated internal feed forward 2.3.3 Without feed forward Use drive-generated internal feed forward if a feed forward should return the Select this setting if the overall setting of the drive controller is sufficiently desired results for the entire period of operation once it has been set.

  • Page 44: Interpolation

    Basic information Operation manual CiA 402 Controller Based Interpolation If no new reference value is available yet in the first cycle after the last individual increment, the reference value for the internal control must be Interpolation is relevant for the following operating modes: extrapolated with the previous step width.

  • Page 45: Additional Functions

    Basic information Operation manual CiA 402 Controller Based Additional functions 2.5.1 Touch probe The Touch probe 1 and 2 functions make it possible to apply position measurement to a binary signal. Set the source of the signal for Touch probe 1 in I110 (for example binary input 1), for Touch probe 2 in I126.
  • Page 46 Basic information Operation manual CiA 402 Controller Based Example 1 If Touch probe 1 is turned on (A594 bit 0 = 1), the acknowledgement occurs via A594 A595 bit 0 = 1. The function is set so that triggering occurs for each event (A594 bit 1 = 1).
  • Page 47 Basic information Operation manual CiA 402 Controller Based Example 2 In contrast to the first example, triggering in example 2 is only for the first event A594 (bit 1 = 0). Triggering to the positive edge of the POSI-Latch signal is turned off and triggering to the negative edge is turned on (bit 4 = 0 and bit 5 = 1).
  • Page 48 Basic information Operation manual CiA 402 Controller Based Example 3 In example 3 Touch Probe 1 is turned on twice in the time period that is shown A594 (bit 0 = 1), and in each case triggering is to the first event (bit 1 = 0). Triggering...

  • Page 49: Commissioning

    Commissioning Operation manual CiA 402 Controller Based Commissioning Overview of sections 3.1 Projecting ..........
  • Page 50 4. Option modules tab: select the EC6A communication module. 5. Device controller tab: select the CiA 402 device controller as well as EtherCAT Rx and EtherCAT Tx for the transfer of the process data. ID 442454.02 WE KEEP THINGS MOVING...
  • Page 51 Commissioning Operation manual CiA 402 Controller Based Set up Put into operation To set up the drive and the control unit, follow these steps: For commissioning of the drive and control unit, follow these steps: The following requirements apply: The following requirements apply: •...

  • Page 52: Object Directory - References

    67FF , are implemented according to CiA 402 Drives and 6071 Target torque A558 motion control device profile in the "CiA 402 Controller Based", "CiA 402 Controller Based HiRes Motion" and "CiA 402 Drive Based" applications. 6072 Max torque A559...
  • Page 53 Object directory - References Operation manual CiA 402 Controller Based Index Subindex Name STOBER Comment Index Subindex Name STOBER Comment parameter parameter address address 607B Position range A568[1] Used as circular 6091 Gear ratio, Motor A584[0] limit, Max position length.
  • Page 54 Object directory - References Operation manual CiA 402 Controller Based Index Subindex Name STOBER Comment Index Subindex Name STOBER Comment parameter parameter address address 60B8 Touch probe A594 60C2 Interpolation time – function period, Highest Only in CiA 402 sub-index...
  • Page 55 Object directory - References Operation manual CiA 402 Controller Based Index Subindex Name STOBER Comment Index Subindex Name STOBER Comment parameter parameter address address 60C4 Interpolation data A603[3] No function 60E4 Additional A620 configuration, position actual Buffer position value, 1...
  • Page 56 Object directory - References Operation manual CiA 402 Controller Based Communication objects - STOBER- Index (hex) STOBER parameter range specific parameters 4800 – 49FF U00 – U511 4A00 – 4BFF V00 – V511 The following table contains the communication objects of the object directory index range 2000 –...
  • Page 57 25 countries Austria France South East Asia STOBER S.a.r.l. STOBER Singapore Pte. Ltd. STÖBER ANTRIEBSTECHNIK Service network  131, Chemin du Bac à Traille 50 Tagore Lane, #05-06, GmbH Les Portes du Rhône...
  • Page 58 STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Technische Änderungen vorbehalten Kieselbronner Str. 12 Errors and changes excepted 75177 PFORZHEIM ID 442454.02 GERMANY 12/2015 Fon +49 7231 582-0 mail@stoeber.de 442454.02 www.stober.com 24 h Service Hotline +49 7231 5823000...

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