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Kollmorgen AKD User Manual

Can-bus communication
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AKD™
CAN-BUS Communication
Edition: H, November 2012
Valid from firmware version 1.8
Part Number 903-200004-00
Original Documentation
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users and owners of the product.

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Summary of Contents for Kollmorgen AKD

  • Page 1 AKD™ CAN-BUS Communication Edition: H, November 2012 Valid from firmware version 1.8 Part Number 903-200004-00 Original Documentation Keep all manuals as a product component during the life span of the product. Pass all manuals to future users and owners of the product.
  • Page 2 Printed in the United States of America This document is the intellectual property of Kollmorgen™. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis- tributed by electronic means without the written permission of Kollmorgen™.

  • Page 3: Table Of Contents

    AKD CANopen | Table of Contents 1 Table of Contents 1 Table of Contents 2 General 2.1 About this Manual 2.2 Target Group 2.3 Symbols used 2.4 Abbreviations used 3 Safety 3.1 Safety Instructions 3.2 Use As Directed 3.3 Prohibited Use 4 Installation and Setup 4.1 Safety Instructions...
  • Page 4 AKD CANopen | Table of Contents 6.4.4 Emergency Object (EMCY) 6.4.4.1 Application of the Emergency Object 6.4.4.2 Composition of the Emergency Object 6.4.5 Service Data Objects (SDO) 6.4.5.1 Composition of the Service Data Object 6.4.5.2 Initiate SDO Download Protocol 6.4.5.3 Download SDO Segment Protocol 6.4.5.4 Initiate SDO Upload Protocol...
  • Page 5 AKD CANopen | Table of Contents 7.2.2.9 Object 20A5h:  Latch Status Register 7.2.2.10 Object 20A6h:  Latch position 1, positive or negative edge 7.2.2.11 Object 20B8h:  Reset of changed input information 7.2.2.12 Object 345Ah: Brake Control 7.2.2.13 Object 3474h: Parameters for digital inputs 7.2.2.14 Object 3475h: Parameters for digital outputs...
  • Page 6 AKD CANopen | Table of Contents 7.6 Profile Velocity Mode (pv) (DS402) 7.6.1 General Information 7.6.1.1 Objects that are defined in this section 7.6.1.2 Objects that are defined in other sections 7.6.2 Object description 7.6.2.1 Object 606Ch: Velocity actual value (DS402) 7.6.2.2 Object 60FFh: Target velocity (DS402)
  • Page 7 8.1.3 Manufacturer specific SDOs 8.1.4 Profile specific SDOs 8.2 Examples 8.2.1 Examples, setup 8.2.1.1 Basic testing of the connection to the AKD controls 8.2.1.2 Example: Operating the Status Machine 8.2.1.3 Example: Jog Mode via SDO 8.2.1.4 Example: Torque Mode via SDO 8.2.1.5 Example: Jog Mode via PDO...
  • Page 8 AKD CANopen | Table of Contents This page intentionally left blank. Kollmorgen™ | November 2012...

  • Page 9: General

    AKD CANopen | 2   General 2 General 2.1 About this Manual 2.2 Target Group 2.3 Symbols used 2.4 Abbreviations used Kollmorgen™ | November 2012...

  • Page 10: About This Manual

    Kollmorgen™ website. Related documents for the AKD series include: AKD Quick Start (also provided in hard copy). This guide provides instructions for initial drive setup and con- nection to a network. AKD Installation Manual (also provided in hard copy for EU customers). This manual provides instructions for installation and drive setup.

  • Page 11: Symbols Used

    AKD CANopen | 2   General 2.3 Symbols used Warning Symbols Symbol Indication Indicates a hazardous situation which, if not avoided, will result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

  • Page 12: Abbreviations Used

    AKD CANopen | 2   General 2.4 Abbreviations used Abbreviation Meaning BTB/RTO Ready to operate (standby) Communication Object COB-ID Communication Object Identifier EEPROM Electrically erasable/programmable memory Electromagnetic compatibility EMCY Emergency Objects International Standardization Organization 1000 m Light-emitting diode Low significant Byte (or Bit)

  • Page 13: Safety

    AKD CANopen | 3   Safety 3 Safety 3.1 Safety Instructions 3.2 Use As Directed 3.3 Prohibited Use Kollmorgen™ | November 2012...

  • Page 14: Safety Instructions

    Please observe the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual. The CANopen interface serves only for the connection of the AKD to a master via the CAN bus. 3.3 Prohibited Use Other use than that described in chapter “Use as directed”...

  • Page 15: Installation And Setup

    AKD CANopen | 4   Installation and Setup 4 Installation and Setup 4.1 Safety Instructions 4.2 CAN-Bus Interface (X12/X13) 4.3 Guide to Setup Kollmorgen™ | November 2012...

  • Page 16: Safety Instructions

    AKD CANopen | 4   Installation and Setup 4.1 Safety Instructions Never undo any electrical connections to the drive while it is live. There is a danger of electrical arcing with damage to contacts and serious personal injury. Wait at least seven minutes after disconnecting the drive from the main supply power before touch- ing potentially live sections of the equipment (e.g.

  • Page 17: Can-Bus Interface (X12/X13)

    AKD CANopen | 4   Installation and Setup 4.2 CAN-Bus Interface (X12/X13) Two 6-pin RJ-12 connectors X12/X13 are used for CAN-Bus connection. Conn. Pin Signal Conn. Pin Signal Internal Termination Resistor Internal Termination Resistor CAN Shield CAN Shield CANH in CANH out...

  • Page 18: Can-Bus Activation With Akd-Cc Models

    CC drive models are delivered with EtherCAT set active. To activate CANopen, the DRV.TYPE parameter must be changed 1. by software: connect the PC to the AKD and change the parameter DRV.TYPE in the WorkBench terminal screen (see DRV.TYPE parameter documentation) or 2.

  • Page 19: Baudrate For Can-Bus

    1. Disable the drive. Set the rotary switches to one of the addresses 90 to 94 (see above table). Set S1 to 9 and S2 to either 0 or 4 2. Push the button B1 on the AKDfor at least 3 seconds until the rotary switch setting is displayed on the AKD- display.

  • Page 20: Node Address For Can-Bus

    4.2.4 CAN-Bus Termination  The last bus device on both ends of the CAN-Bus system must have termination resistors. The AKD has built-in 132 ohms resistors that can be activated by connecting pins 1 and 6. An optional termination plug is available for AKD (P-AKD-CAN-TERM).

  • Page 21: Can-Bus Wiring

    AKD CANopen | 4   Installation and Setup 4.2.6 CAN-Bus Wiring Kollmorgen™ | November 2012...

  • Page 22: Guide To Setup

    5. Start up communication. The altered parameters will only become effective after a reboot (switch off 24V and switch on again). Adjust the transmission rate of the AKD to match the master. 6. Test communication. Check for the bootup-message, when you switch on the drive. Do an SDO read access on index 0x1000 subindex 0 (DeviceType).

  • Page 23: Canopen Basics

    AKD CANopen | 5   CANopen Basics 5 CANopen Basics 5.1 Basic Features implemented by CANopen 5.2 Transmission Rate and Procedure 5.3 Response to BUSOFF Communication Faults 5.4 Important Configuration Parameters Kollmorgen™ | November 2012...

  • Page 24: Basic Features Implemented By Canopen

    Transmission rate: max. 1Mbit/s Possible settings for the drive: 125 (default), 250, 500 and 1000 kbit/s The baudrate is set with the AKD - parameter FBUS.PARAM01. It gets effective by saving this parameter to NVRAM and re-starting the drive. Kollmorgen™ | November 2012...

  • Page 25: Response To Busoff Communication Faults

    Faulty cable termination causes reflections on the cable. A BUSOFF is only signaled by the AKD, if another CAN node is connected and at least one object was suc- cessfully transmitted to start off with. The BUSOFF condition is signaled by the error message 702. If the output stage is enabled at the moment when this fault occurs, the output stage is disabled.

  • Page 26: Canopen Communication Profile

    AKD CANopen | 6   CANopen Communication Profile 6 CANopen Communication Profile 6.1 General Description of CAN 6.2 Construction of the Communication Object Identifier 6.3 Definition of the Used Data Types 6.4 Communication Objects Kollmorgen™ | November 2012...

  • Page 27: General Description Of Can

    6.1 General Description of CAN  This chapter describes the basic services and communication objects of the CANopen communication profile DS 301, which are used in the AKD. It is assumed that the basic operating functions of the communication profile are known, and available as reference documentation.

  • Page 28: Construction Of The Communication Object Identifier

    RPDO 4 1010 1281..1407 501..57F 1403 SDO (tx*) 1011 1409..1535 581..5FF SDO (rx*) 1100 1537..1663 601..67F Nodeguard 1110 1793..1919 701..77F (100E) *tx = direction of transmission: AKD => Master rx = direction of transmission: Master => AKD Kollmorgen™ | November 2012...

  • Page 29: Definition Of The Used Data Types

    AKD CANopen | 6   CANopen Communication Profile 6.3 Definition of the Used Data Types This chapter defines the data types that are used. Each data type can be described by bit- sequences. These bit- sequences are grouped into "Octets” (bytes). The so-called "Little – Endian” format (a.k.a. Intel format) is used for numerical data types (see also: DS301 Application Layer "General Description of Data Types and Encoding...

  • Page 30: Signed Integer

    AKD CANopen | 6   CANopen Communication Profile 6.3.1.2 Signed Integer Data in the basic data type INTEGERn define both positive and negative integers. The value range is from  -2 -1 to 2 -1. The bit sequence b = b to b...

  • Page 31: Extended Data Types

    Unconfirmed services PDO Confirmed services SDO All services require faultless operation of the Data Link and Physical Layer. AKD supports communication objects that are described in detail in the following sections: Network Management Objects (NMT) Synchronization Object (SYNC) Emergency Object (EMCY)

  • Page 32: Network Management Objects (Nmt)

    The usage of this protocol is explained in the appendix from page . You can use the SYNC object to start motion task of several axes simultaneously for example. 6.4.3 Time-Stamp Object (TIME) This communication object is not supported by the AKD. Kollmorgen™ | November 2012...

  • Page 33: Emergency Object (Emcy)

    The manufacture-specific area is set to zero. Transition3: A new error has occurred. The AKD remains in the error status and transmits an EMCY. Object with the corresponding error code. The new error code is entered into bytes 0 and 1.

  • Page 34: Service Data Objects (Sdo)

    The control byte determines whether the SDO should write or read the content of the entry in the Object Dic- tionary. A description of the complete Object Dictionary for AKD=> p. 119. Data exchange with the AKD is gov- erned by the CMS multiplexed domain protocols standard, as described in the CAN standard DS 202.
  • Page 35 These components are used for the exchange of user data. In read-request telegrams to the AKD they are set to 0. They have no content in a write confirmation from the AKD if the transfer was successful, but if the write oper- ation was faulty they contain an error =>...

  • Page 36: Initiate Sdo Download Protocol

    AKD CANopen | 6   CANopen Communication Profile 6.4.5.2 Initiate SDO Download Protocol The Initiate SDO Download protocol is used for write access to objects with up to 4 bytes of user data (expedited transfer) or to initiate a segment transfer (normal transfer).

  • Page 37: Process Data Object (Pdo)

    Transmission is carried out unconfirmed without a protocol "overhead”. This communication object uses the unconfirmed communication service. PDOs are defined via the Object Dictionary for the AKD. Mapping is made during the configuration phase, with the help of SDOs. Length is defined with the mapped objects.

  • Page 38: Transmission Modes

    AKD CANopen | 6   CANopen Communication Profile 6.4.6.1 Transmission modes The following PDO transmission modes are distinguished: Synchronous transmission Asynchronous transmission The pre-defined SYNC Object is transmitted periodically (bus clock), to synchronize the drives. Synchronous PDOs are transmitted within a pre-defined time window immediately following the SYNC Object.

  • Page 39: Nodeguard

    AKD CANopen | 6   CANopen Communication Profile 6.4.7 Nodeguard The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is accessed at reg- ular intervals by the CANopen master. The maximum time interval that is permitted between two Nodeguard telegrams is given by the product of the Guard Time (Object 100Ch) and the Life Time Factor (Object 100Dh).

  • Page 40: Heartbeat

    AKD CANopen | 6   CANopen Communication Profile 6.4.8 Heartbeat The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat Producer transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication. The rela- tionship between producer and consumer is configurable via Object 1016h/1017h.

  • Page 41: Canopen Drive Profile

    AKD CANopen | 7   CANopen Drive Profile 7 CANopen Drive Profile 7.1 CANopen Emergency Messages and Error Codes 7.2 General Definitions 7.3 PDO Configuration 7.4 Device Control (dc) 7.5 Factor Groups (fg) (DS402) 7.6 Profile Velocity Mode (pv) (DS402) 7.7 Profile Torque Mode (tq) (DS402) 7.8 Position Control Function (pc) (DS402)

  • Page 42: Canopen Emergency Messages And Error Codes

    AKD CANopen | 7   CANopen Drive Profile 7.1 CANopen Emergency Messages and Error Codes Emergency messages are triggered by internal equipment errors. They have a high ID-priority to ensure quick access to the bus. An emergency message contains an error field with pre-defined error/fault numbers (2 bytes), an error register (1byte), the error category (1 byte), and additional information.
  • Page 43 AKD CANopen | 7   CANopen Drive Profile Error Fault/Warning Description Code Code 0x5183 F510 5V0 over voltage 0x5184 F513 +12V0 over voltage 0x5185 F515 -12V0 over voltage 0x5186 F517 Analog 3V3 over voltage 0x5510 F201 Internal RAM failed. 0x5530 F105 Hardware memory, non-volatile memory stamp invalid.
  • Page 44 AKD CANopen | 7   CANopen Drive Profile Error Fault/Warning Description Code Code 0x73A5 F429 Feedback 2 incremental low 0x73A6 F430 Feedback 2 incremental high 0x73A7 F431 Feedback 2 halls 0x73A8 F432 Feedback 2 communication 0x73A9 Reserved 0x73AA Reserved 0x73C0 F473 Wake and Shake.
  • Page 45 AKD CANopen | 7   CANopen Drive Profile Error Fault/Warning Description Code Code 0x86A1 F158 Homing Reference Switch not found 0x86A2 F159 Failed to set motion task parameters 0x86A3 F160 Motion Task Activation Failed 0x86A4 F161 Homing Procedure Failed 0x86A5 F139 Target Position Over Short due to invalid Motion task activation.

  • Page 46: General Definitions

    AKD CANopen | 7   CANopen Drive Profile 7.2 General Definitions This chapter describes objects with a general  validity (e.g. Object 1000h Device Type). The next section explains the free configuration of Process Data Objects ("free mapping”). 7.2.1 General objects 7.2.1.1 Object 1000h: Device Type (DS301) This object describes the device type (servo drive) and device functionality (DS402 drive profile).

  • Page 47: Object 1001H: Error Register (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.2 Object 1001h: Error register (DS301) This object is an error register for the device. The device can map internal errors into this byte. It is a part of an Emergency object. Index...

  • Page 48: Object 1002H: Manufacturer Status Register (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.3 Object 1002h: Manufacturer Status Register (DS301) The manufacturer status register contains important drive informations. Index 1002h Name Manufacturer Status Register Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range...

  • Page 49: Object 1003H: Predefined Error Field (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.4 Object 1003h: Predefined Error Field (DS301) The object 1003h provides an error history with a maximum size of 10 entries. Subindex 0 contains the number of errors which have occured since the last reset of the error history, either by startup of the drive or resetting the error history by writing 0 to subindex 0.

  • Page 50: Object 1005H: Cob-Id Of The Sync Message (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301) This object defines the COB-Id of the synchronisation object (SYNC). Index 1005h Name COB-ID for the SYNC message Object code Data type UNSIGNED32 Category...

  • Page 51: Object 1008H: Manufacturer Device Name (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.7 Object 1008h: Manufacturer Device Name (DS301) The device name consists of four ASCII characters in the form Yzzz, whereby Y stands for the mains voltage (L, M, H or U, e.g. H for High Voltage) zzz stands for the power stage current.

  • Page 52: Object 100Ch: Guard Time (Ds301)Response Monitoring

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.10 Object 100Ch: Guard Time (DS301)Response monitoring The arithmetical product of the Objects 100Ch Guard Time and 100Dh Lifetime Factor is the response monitoring time. The Guard Time is given in milliseconds. The response monitoring is activated with the first Nodeguard object.

  • Page 53: Object 1010H: Store Parameters (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.12 Object 1010h: Store Parameters (DS301) This object supports the saving of parameters to a flash EEPROM. Only the subindex 1 for saving of all param- eters, which can also be saved in the parameter files via the GUI, is supported.

  • Page 54: Object 1011H: Restore Default Parameters Ds301

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.13 Object 1011h: Restore Default Parameters DS301 With this object the default values of parameters according to the communication or device profile are restored. The AKD gives the possibility to restore all default values. Index 1011h...

  • Page 55: Object 1014H: Cob-Id For Emergency Message (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301) This object defines the COB-ID of the Emergency message. Index 1014h Name COB-ID emergency message Object code Data type UNSIGNED32 Category conditional; mandatory, if Emergency is supported...

  • Page 56: Object 1017H: Producer Heartbeat Time

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.16 Object 1017h: Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat in ms. If it’s 0, it is not used. Index 1017h Name Producer heartbeat time Object code...
  • Page 57 CAN-version the minor revision number is not used in the AKD. The firmware version can be retrieved as a string via object 0x100A or as numbers voa object 0x2018 subindex 1 to 4.

  • Page 58: Object 1026H: Os Prompt

    AKD CANopen | 7   CANopen Drive Profile 7.2.1.18 Object 1026h: OS Prompt The OS prompt is used to build up an ASCII - communication channel to the drive. Index 1026h Name OS Prompt Object code ARRAY Data type UNSIGNED8 Category...

  • Page 59: Manufacturer Specific Objects

    AKD CANopen | 7   CANopen Drive Profile 7.2.2 Manufacturer specific objects 7.2.2.1 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch off the monitoring for individual bits in the PDO.

  • Page 60: Object 2018H: Firmware Version

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.2 Object 2018h: Firmware Version This object gives all information regarding the firmware version. Example: Firmware version M_01_00_01_005 would show the numbers 1, 0, 1, 5 in the sub-indices 1 to 4. Index...

  • Page 61: Object 2026H: Ascii Channel

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.3 Object 2026h: ASCII Channel This object is used to build up an ASCII - communication channel to the drive with 4-byte ASCII-strings. Index 2026h Name ASCII Channel Object code ARRAY Data type...

  • Page 62: Object 20A0H: Latch Position 1, Positive Edge

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.4 Object 20A0h: Latch position 1, positive edge This object is used to output the position or a time, depending on CAP0.MODE, at which the first positive edge occurred on a signal, which can be configured with the command CAP0.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5).

  • Page 63: Object 20A3H:  Latch Position 2, Negative Edge

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.7 Object 20A3h:  Latch position 2, negative edge This object is used to output the position or a time, depending on CAP0.MODE, at which the first negative edge occurred on a signal, which can be configured with the command CAP0.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5).

  • Page 64: Object 20A5H:  Latch Status Register

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.9 Object 20A5h:  Latch Status Register The latch status register is used to look for the states of the capture engines 0 and 1. Index 20A5h Name Latch Status Register Object code Data type...

  • Page 65: Object 20B8H:  Reset Of Changed Input Information

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.11 Object 20B8h:  Reset of changed input information This object is used in PDOs to reset the state change information for the digital inputs shown in the Bits 24 to 30 in the object 60FD. Bit 0 to 6 are used to reset the information of the digital input 1 to 7.

  • Page 66: Object 345Ah: Brake Control

    When fieldbus control is disabled, the drive will control the brake as defined by existing AKD brake related param- eters. As soon as fieldbus control is enabled, the Brake Command received over the field bus will take effect. So, if the Brake Command is set to APPLY and the current state is RELEASE, the brake will begin to apply .
  • Page 67 AKD CANopen | 7   CANopen Drive Profile Subindex Name Brake Control Command Category optional Access PDO Mapping possible Value Range UNSIGNED16 Default Value 0 With subindex 1 the brake is controlled. Bit definition: Name Description Enable fieldbus control 0 - brake is not controlled via this object 1 - enable fieldbus control via this object.

  • Page 68: Object 3474H: Parameters For Digital Inputs

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.13 Object 3474h: Parameters for digital inputs This set of objects is used to set extended parameters for some digital input functions. The parameters can be used for different DINx.MODEs. Therefore thescaling might be different or no scaling is used at all.

  • Page 69: Object 3475H: Parameters For Digital Outputs

    AKD CANopen | 7   CANopen Drive Profile 7.2.2.14 Object 3475h: Parameters for digital outputs This set of objects is used to set extended parameters for some digital output functions. The parameters can be used for different DOUTx.MODEs. Therefore the scaling might be different or no scaling is used at all.

  • Page 70: Object 3496H: Fieldbus Synchronization Parameters

    This set of objects is used to set or read parameters for the fieldbus synchronization used in the interpolated posi- tion mode (7) and the cyclic-modes 8 etc. The synchronization between a fieldbus master and the AKD is similar in all the supported fieldbus systems.
  • Page 71 Default value 70000 [ns] Sub 3 is a window, which is used in order to consider the drive as being synchronized. The AKD is considered as synchronized in the following case: FBUS.SYNCDIST – FBUS.SYNCWND < FBUS.SYNCACT < FBUS.SYNCDIST + FBUS.SYNCWND...

  • Page 72: Profile Specific Objects

    AKD CANopen | 7   CANopen Drive Profile 7.2.3 Profile specific objects 7.2.3.1 Object 60B8h: Touch probe function This object indicates the configured function of the touch probe. Index 60B8h Name Touch probe function Object code Variable Data type UNSIGNED16 Category...

  • Page 73: Object 60B9H: Touch Probe Status

    AKD CANopen | 7   CANopen Drive Profile 7.2.3.2 Object 60B9h: Touch probe status This object indicates the status of the touch probe. Index 60B9h Name Touch probe status Object code Variable Data type UNSIGNED16 Category optional Access PDO Mapping yes...

  • Page 74: Object 60Bah: Touch Probe 1 Positive Edge

    AKD CANopen | 7   CANopen Drive Profile 7.2.3.3 Object 60BAh: Touch probe 1 positive edge This object provides the position value of the touch probe 1 at positive edge. Index 60BAh Name Touch probe 1 positive edge Object code Variable...

  • Page 75: Object 60Bdh: Touch Probe 2 Negative Edge

    AKD CANopen | 7   CANopen Drive Profile 7.2.3.6 Object 60BDh: Touch probe 2 negative edge This object provides the position value of the touch probe 2 at negative edge. Index 60BDh Name Touch probe 2 negative edge Object code Variable...

  • Page 76: Object 60Fdh: Digital Inputs (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.2.3.8 Object 60FDh: Digital inputs (DS402) This index defines simple digital inputs for drives. The manufacturer bits 16 to 22 are used to mirror the digital inputs 1 to 7. The manufacturer bits 24 to 30 are used to show the change of the state of the digital inputs 1 to 7.

  • Page 77: Object 60Feh: Digital Outputs (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.2.3.9 Object 60FEh: Digital outputs (DS402) This index defines simple digital outputs for drives. The manufacturer bits 16 and 17 are used to mirror the digital outputs 1 and 2. Index 60FEh Name...

  • Page 78: Object 6502H: Supported Drive Modes (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.2.3.10 Object 6502h: Supported drive modes (DS402) A drive can support more then one and several distinct modes of operation. This object gives an overview of the implemented operating modes in the device. This object is read only.

  • Page 79: Pdo Configuration

    AKD CANopen | 7   CANopen Drive Profile 7.3 PDO Configuration PDOs are used for process data communication. There are two types of PDOs: Receive PDOs (RPDOs) and transmit PDOs (TPDOs). The content of the PDOs is pre-defined (see descriptions on pages => p. 80 and => p. 83). If the data content is not appropriate for a special application the data objects in the PDOs can be remapped freely.

  • Page 80: Receive Pdos (Rxpdo)

    AKD CANopen | 7   CANopen Drive Profile 7.3.1 Receive PDOs (RXPDO) Four Receive PDOs can be configured in the drive: - configuration of the communication (Objects 1400-1403h) - configuration of the PDO-contents (mapping, Objects 1600-1603h) 7.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)

  • Page 81: Objects 1600-1603H: 1St - 4Th Rxpdo Mapping Parameter (Ds301)

    AKD CANopen | 7   CANopen Drive Profile Subindex Name transmission type Category mandatory Access PDO Mapping not possible Value Range UNSIGNED8 Default Value Subindex 2 contains the transmission type of the PDO. There are two ways of setting: the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and taken into...

  • Page 82: Default Rxpdo Definition

    AKD CANopen | 7   CANopen Drive Profile 7.3.1.3 Default RXPDO definition RXPDO 1: Subindex Value Meaning One PDO-mapping entry 60 40 00 10 Control word RXPDO 2: Subindex Value Meaning Two PDO-mapping entries 60 40 00 10 Control word 60 60 00 08 Modes of Operation...

  • Page 83: Transmit Pdos (Txpdo)

    AKD CANopen | 7   CANopen Drive Profile 7.3.2 Transmit PDOs (TXPDO) Four Transmit PDOs can be configured in the drive: - configuration of the communication (Objects 1800-1803h) - configuration of the PDO-contents (mapping, Objects 1A00-1A03h) 7.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)
  • Page 84 AKD CANopen | 7   CANopen Drive Profile Subindex Name reserved Category optional Access PDO Mapping not possible Value Range Default Value Subindex Name event timer Category optional Access PDO Mapping not possible Value Range UNSIGNED16 (0=not used, ms) Default Value...

  • Page 85: Objects 1A00-1A03H: 1St - 4Th Txpdo Mapping Parameter (Ds301)

    AKD CANopen | 7   CANopen Drive Profile 7.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301) Index 1A00h - 1A03h for TXPDO 1 .. 4 Name transmit PDO mapping Object Code RECORD Data Type PDO Mapping Category mandatory Subindex...

  • Page 86: Default Txpdo Definition

    AKD CANopen | 7   CANopen Drive Profile 7.3.2.3 Default TXPDO definition TXPDO 1: Subindex Value Meaning One PDO-mapping entry 60 41 00 10 Status word TXPDO 2: Subindex Value Meaning Two PDO-mapping entries 60 41 00 10 Status word 60 61 00 08 Modes of Operation display...

  • Page 87: Device Control (Dc)

    7.4 Device Control (dc) The device control of the AKD can be used to carry out all the motion functions in the corresponding modes. The control of the AKD is implemented through a mode-dependent status machine. The status machine is controlled through the control word (=>...

  • Page 88: States Of The Status Machine

    7.4.1.1 States of the Status Machine State Description Not Ready for Switch On AKD is not ready to switch on, there is no operational readiness (BTB/RTO) sig- naled from the controller program. Switch On Disable AKD is ready to switch on, parameters can be transferred, the DC-link voltage can be switched on, motion functions cannot be carried out yet.

  • Page 89: Transitions Of The Status Machine

    AKD CANopen | 7   CANopen Drive Profile 7.4.1.2 Transitions of the status machine The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in the control word (bits 0,1,2,3,7). Transition Event Action...

  • Page 90: Object Description

    AKD CANopen | 7   CANopen Drive Profile 7.4.2 Object Description 7.4.2.1 Object 6040h: Control word (DS402) The control commands are built up from the logical combination of the bits in the control word and external sig- nals (e.g enable output stage). The definitions of the bits are shown below:...

  • Page 91: Object 6041H: Status Word (Ds402)

    AKD CANopen | 7   CANopen Drive Profile Mode-dependent bits in the control word The following table shows the mode-dependent bits in the control word. Only manufacturer-specific modes are supported at present. The individual modes are set by Object 6060 Modes of operation.
  • Page 92 AKD CANopen | 7   CANopen Drive Profile States of the status machine State Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 switch on quick stop fault operation switched ready to disabled enabled switch on Not ready to switch on...

  • Page 93: Object 6060H: Modes Of Operation (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.4.2.3 Object 6060h: Modes of Operation (DS402) This object is used to set the mode, which can be read out by Object 6061h. Two types of operating mode are used: manufacturer-specific operating modes operating modes as per CANopen drive profile DS402 These operating modes are defined in the CANopen drive profile DS402.

  • Page 94: Object 6061H: Modes Of Operation Display (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.4.2.4 Object 6061h: Modes of Operation Display (DS402) This object can be used to read the mode that is set by Object 6060h. An operating mode only becomes valid when it can be read by Object 6061h (see also Object 6060h).

  • Page 95: Objects For Velocity Scaling

    AKD CANopen | 7   CANopen Drive Profile 7.5.2 Objects for velocity scaling 7.5.2.1 Object 204Ch: PV Scaling Factor This object shall indicate the configured numerator and denominator of the pv scaling factor. The pv scaling fac- tor serves to modify the resolution or directing range of the specified setpoint. It is aso included in calculation of the vl velocity demand, and vl velocity actual value.

  • Page 96: Objects For Position Calculation

    AKD CANopen | 7   CANopen Drive Profile 7.5.3 Objects for position calculation 7.5.3.1 Object 608Fh: Position encoder resolution (DS402) The position encoder resolution defines the ratio of encoder increments per motor revolution on the CANopen end. Encoder increments are set either directly by subindex 1 (only powers of 2 available) or implicit by writing to the parameter FB1.PSCALE.

  • Page 97: Object 6091H: Gear Ratio (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.5.3.2 Object 6091h: Gear Ratio (DS402) The gear ratio defines the ratio of feed in position units per driving shaft revolutions. This includes the gear if present. gear ratio = motor shaft revolutions / driving shaft revolutions...

  • Page 98: Object 6092H: Feed Constant (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.5.3.3 Object 6092h: Feed constant (DS402) The feed constant defines the ratio of feed in position units per driving shaft revolutions. This includes the gear if present. Index 6092h Name Feed constant Object Code...

  • Page 99: Profile Velocity Mode (Pv) (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.6 Profile Velocity Mode (pv) (DS402) 7.6.1 General Information The profile velocity mode enables the processing of velocity setpoints and the associated accelerations. 7.6.1.1 Objects that are defined in this section Index Object Name...

  • Page 100: Object 60Ffh: Target Velocity (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.6.2.2 Object 60FFh: Target velocity (DS402) The speed setpoint (target velocity) represents the setpoint for the ramp generator. Index 60FFh Name target velocity, VL.CMDU Object code Data type INTEGER32 Mode Access PDO mapping possible...

  • Page 101: Profile Torque Mode (Tq) (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.7 Profile Torque Mode (tq) (DS402) 7.7.1 General Information The profile torque mode enables the processing of torque setpoints and the associated current. 7.7.1.1 Objects that are defined in this section Index Object Name...

  • Page 102: Object 6071H: Target Torque (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.7.2.3 Object 6071h: Target torque (DS402) This parameter is the input value for the torque controller in profile torque mode and the value is given per thou- sand (1‰) of rated torque. Index...

  • Page 103: Position Control Function (Pc) (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.8 Position Control Function (pc) (DS402) 7.8.1 General Information This section describes the actual position values that are associated with the position controller of the drive. They are used for the profile position mode.

  • Page 104: Object 6064H: Position Actual Value (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.8.2.2 Object 6064h: position actual value (DS402) The object position actual value  provides the actual position. The resolution can be altered by the gearing factors of the position controller (Object 6091/6092). Index 6064h Name position actual value, PL.FB...

  • Page 105: Interpolated Position Mode (Ip) (Ds402)

    7.9.1.2 Objects defined in other sections 7.9.2 Object description 7.9.2.1 Object 60C0h: Interpolation sub mode select In the AKD, both linear interpolation between position setpoints and Cubic polynomial interpolation between posi- tion/velocity/time setpoints are supported. Index 60C0h Name...

  • Page 106: Object 60C1H: Interpolation Data Record

    7.9.2.2 Object 60C1h: Interpolation data record In the AKD, a single setpoint (target position, Subindex 1) is supported for the linear interpolation. For cubic poly- nomial interpolation 3 setpoints is supported, target position, time and velocity (Subindex1 to Subindex3). After the last item of an interpolation data record is written to the devices input buffer, the pointer of the buffer is auto- matically incremented to the next buffer.

  • Page 107: Object 60C2H: Interpolation Time Period

    AKD CANopen | 7   CANopen Drive Profile 7.9.2.3 Object 60C2h: Interpolation time period The interpolation time period is used for the PLL (phase locked loop) synchronized position modes. The unit (sub- interpolation time index index 1) of the time is given in 10 seconds.

  • Page 108: Object 60C4H: Interpolation Data Configuration

    AKD CANopen | 7   CANopen Drive Profile 7.9.2.4 Object 60C4h: Interpolation data configuration In the AKD, for linear interpolation, only the value 1 in Subindex 5 is possible. For cubic interpolation, Subindex 1 and Subindex 2 is possible for manage the buffer of cubic interpolation.
  • Page 109 AKD CANopen | 7   CANopen Drive Profile Subindex Description Buffer position Category mandatory Access PDO mapping not possible Value range UNSIGNED16 Default value Subindex Description Size of data record Category mandatory Access PDO mapping not possible Value range 1 to 254...

  • Page 110: Homing Mode (Hm) (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.10 Homing Mode (hm) (DS402) 7.10.1 General information This section describes the various parameters which are required to define a homing mode. 7.10.1.1 Objects that are defined in this section  Index Object Name...
  • Page 111 AKD CANopen | 7   CANopen Drive Profile Description of the homing methods Choosing a homing method by writing a value to homing method (Object 6098h) will clearly establish: the homing signal (P-Stop, N-Stop, reference switch) the direction of actuation and where appropriate the position of the index pulse.

  • Page 112: Object 6099H: Homing Speeds (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.10.2.3 Object 6099h: Homing speeds (DS402) Index 6099h Name homing speeds Object code ARRAY Data type UNSIGNED32 Subindex Description speed during search for switch, HOME.V Mode Access PDO mapping not possible Unit velocity units...

  • Page 113: Homing Mode Sequence

    AKD CANopen | 7   CANopen Drive Profile 7.10.2.5 Homing Mode Sequence The homing movement is started by setting Bit 4 (positive edge). The successful conclusion is indicated by Bit 12 in the status word (" Object 6041h: Status word (DS402)" (=> p. 91)). Bit 13 indicates that an error occurred during the homing movement.

  • Page 114: Profile Position Mode (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.11 Profile Position Mode (DS402) 7.11.1 General Information The overall structure for this mode is shown in this figure: The special handshake procedure for the control word and status word is described in "Functional Description"...

  • Page 115: Object Description

    AKD CANopen | 7   CANopen Drive Profile 7.11.2 Object Description 7.11.2.1 Object 607Ah: Target position (DS402) The object target position defines the target position for the drive. The target position is interpreted as a relative distance or an absolute position, depending on Bit 6 of the control word. The type of relative movement can be fur- ther defined by the manufacturer-specific parameter 35B9h Subindex 0 and 1.

  • Page 116: Object 6081H: Profile Velocity (Ds402)

    AKD CANopen | 7   CANopen Drive Profile 7.11.2.3 Object 6081h: Profile velocity (DS402) The profile velocity is the final velocity that should be reached after the acceleration phase of a motion task. Index 6081h Name profile velocity, MT.V Object code...

  • Page 117: Functional Description

    After reaching the target_position, the drive device immediately processes the next target position, which results in a move where the velocity of the drive normally is not reduced to zero after achieving a setpoint. With AKD, this is only possible if trapezoidal ramps are used.
  • Page 118 AKD CANopen | 7   CANopen Drive Profile In the figure below this mechanism results in a velocity of zero after ramping down to reach a target_position X1 at t1. After signaling to the host, that the setpoint has been reached as described above, the next target_position is processed at t2 and reached at t3.

  • Page 119: Appendix

    AKD CANopen | 8   Appendix 8 Appendix 8.1 Object Dictionary   The following table describes all objects reachable via SDO or PDO. (i.p. = in preparation). Abbreviations: = UNSIGNED = Read only = INTEGER = Read and Write VisStr = Visible String...
  • Page 120 AKD CANopen | 8   Appendix Index Sub- DataType Float Access PDO Description ASCII object index Scaling mapp. 1016h Number of entries — 1016h Consumer heartbeat time — 1017h Producer heartbeat time — 1018h RECORD Identity Object — 1018h Number of entries —...
  • Page 121 AKD CANopen | 8   Appendix Index Sub- DataType Float Access PDO Description ASCII object index Scaling mapp. 1800h RECORD TXPDO1 communication parameter — 1800h Number of entries — 1800h TXPDO1 COB—ID — 1800h Transmission type TXPDO1 — 1800h Inhibit time —...

  • Page 122: Manufacturer Specific Sdos

    AKD CANopen | 8   Appendix 8.1.3 Manufacturer specific SDOs Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 2014h ARRAY Mask TxPDO Channel 1 — 2014h Mask (Byte 0..3) — 2014h Mask (Byte 4..7) — 2015h ARRAY Mask TxPDO Channel 2 —...
  • Page 123 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 3405h Calculation method for BiQuad VL.ARTYPE4 filter 4 3406h ARRAY VL BiQuad — 3406h Number of entries — 3406h 1000:1 Natural frequency of pole of anti- VL.ARPF1...
  • Page 124 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 3420h 1000:1 Sets the foldback fault level. IL.FOLDFTHRESH 3421h 1000:1 Sets the user value for the fold- IL.FOLDFTHRESHU back fault level. 3422h 1000:1 Sets friction compensation value. IL.FRICTION...
  • Page 125 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 3456h 1000:1 Sets the stator winding resist- MOTOR.R ance phase-phase in ohms 3457h REC- Induction Motor parameter — 3457h Number of entries — 3457h...
  • Page 126 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 3474h ARRAY DINx.PARAM — 3474h Number of entries — 3474h Lower 32-bit part of input param- DIN1.PARAM eter 1 3474h Lower 32-bit part of input param- DIN2.PARAM...
  • Page 127 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 3482h INT32 Maximum value of following error HOME.PERRTHRESH in homing 3483h INT32 Sets the position error warning PL.ERRWTHRESH level 3484h INT32 Specification of an additional HOME.DIST...
  • Page 128 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 34A0h INT32 Limit switch 1 compare value PLS.P1 34A0h INT32 Limit switch 2 compare value PLS.P2 34A0h INT32 Limit switch 3 compare value PLS.P3...
  • Page 129 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 352Ah INT32 Direction of movements DRV.DIR 3533h Resolution of motor encoder FB1.ENCRES 3534h Mode of EEO connector DRV.EMUEMODE 3535h Resolution of EEO DRV.EMUERES 3537h Location of EEO index pulse DRV.EMUEZOFFSET...
  • Page 130 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 35B4h INT32 Operating Mode DRV.OPMODE 35BC- INT32 Next Task Number for Motion MT.MTNEXT Task 0 35C2h INT32 Select regen resistor REGEN.REXT 35C5h INT32 Actual Following Error PL.ERR...
  • Page 131 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 3683h Delay for wake and shake timing WS.TDELAY1 3685h Sets delay for wake and shake WS.TDELAY2 timing 36D0h Sets wake and shake current-vec- WS.T...
  • Page 132 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 5060h UINT32 Sets the fault relay mode. DOUT.RELAYMODE 5080h UINT32 Default state of the software ena- DRV.ENDEFAULT ble. 5083h UINT32 Continuous rated current value.
  • Page 133 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 5175h UINT32 Service motion current 1; active in SM.I1 opmode 0 (torque) only. 5176h UINT32 Service motion current 2; active in SM.I2 opmode 0 (torque) only.
  • Page 134 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 51E8h UINT32 Modbus User Units Output param- MODBUS.POUT eter. 51E9h UINT32 Feedback Resolution (per rev) MODBUS.PSCALE over Modbus. 51EC- UINT32 Secondary feedback (FB2) res- FB2.ENCRES...
  • Page 135 AKD CANopen | 8   Appendix Index Sub- DataType Float Acces- Description ASCII object Scal- map- index 5264h UINT32 Delay time between inactive Hard- DRV.HWENDELAY ware Enable input and drive dis- able. 5265h UINT32 Index into the Current Loop Gain IL.KPLOOKUPINDEX Scheduling Table.

  • Page 136: Profile Specific Sdos

    AKD CANopen | 8   Appendix 8.1.4 Profile specific SDOs Index Sub- DataType Float Access PDO Description ASCII object index Scaling mapp. 6040h Control word — 6041h Status word — 6060h INT8 Modes of Operation — 6061h INT8 Modes of Operation Display —...
  • Page 137 AKD CANopen | 8   Appendix Index Sub- DataType Float Access PDO Description ASCII object index Scaling mapp. 6099h Speed while searching for zero HOME.FEEDRATE mark 609Ah Homing acceleration HOME.ACC, HOME.DEC 60B1h INT32 Velocity offset VL.BUSFF 60B2h INT16 Torque offset (PDO only)

  • Page 138: Examples

    8.2.1.1 Basic testing of the connection to the AKD controls When the AKD is switched on, a boot-up message is transmitted over the bus. The telegram continues to be transmitted, as long as it has not yet found a suitable receiver in the bus system.

  • Page 139: Example: Operating The Status Machine

    (except for state “switched on”) is not possible. When the AKD is switched on and the boot-up message has been detected, communication via SDOs can be ini- tiated. For example: all the parameters can be read out or written to, or the status machine for the drive can be controlled.

  • Page 140: Example: Jog Mode Via Sdo

    AKD CANopen | 8   Appendix 8.2.1.3 Example: Jog Mode via SDO The motor shall work with constant velocity. COB-ID Control Index Sub- byte Low byte High byte index Data Comment 03 00 00 00 Mode of operation “Profile Velocity” 00 00 00 00 response telegram...

  • Page 141: Example: Jog Mode Via Pdo

    AKD CANopen | 8   Appendix 8.2.1.5 Example: Jog Mode via PDO It is useful to disable unused PDOs. In Operation Mode "Digital Velocity" a digital speed setpoint is transmitted via RXPDO. Actual position and actual speed is read via a TXPDO triggered by SYNC.
  • Page 142 AKD CANopen | 8   Appendix COB-ID Control Index Sub- Data Comment byte Low byte High byte index send SYNC FE 45 01 00 response A6 AB 1A 00 0F 01 00 00 intermediate stop 00 00 00 00 response telegram...

  • Page 143: Example: Torque Mode Via Pdo

    AKD CANopen | 8   Appendix 8.2.1.6 Example: Torque Mode via PDO It is useful to disable unused PDOs. The first TX_PDO shall transmit the actual current value with every SYNC. COB-ID Control Index Sub- Data Comment byte Low byte High byte index 04 00 00 00 Mode of operation “Torque”...

  • Page 144: Example: Homing Via Sdo

    8.2.1.7 Example: Homing via SDO When the AKD is operated as a linear axis, a reference/homing point must be defined before positioning tasks can be executed. This must be done by executing a homing run in the Homing mode (0x6).
  • Page 145 AKD CANopen | 8   Appendix Homing type (6098h) COB-ID Control Index Sub- Data Comment byte Low byte High byte index 06 00 00 00 mode of operation = homing 00 00 00 00 response telegram 00 00 00 00 read profile status, response: 0250h Voltage...

  • Page 146: Example: Using The Profile Position Mode

    AKD CANopen | 8   Appendix 8.2.1.8 Example: Using the Profile Position Mode This example shows the operation of the Profile position mode. For this, the PDOs are set as follows: First RPDO. No special mapping necessary, because the default mapping enters the controlword RXPDO1.
  • Page 147 AKD CANopen | 8   Appendix The second TPDO should be sent with every SYNC by the servoamplifier. COB-ID Control Index Sub- Data Comment byte Low byte High byte index 01 00 00 00 TPDO2 with every SYNC 00 00 00 00 response telegram...
  • Page 148 AKD CANopen | 8   Appendix Now the homing can be set and started. COB-ID Control Index Sub- Data Comment byte Low byte High byte index 06 00 00 00 Operation mode = homing 00 00 00 00 response telegram 0C 00 00 00 homing type 12, negative direction (DS402)

  • Page 149: Example: Ascii Communication

    AKD CANopen | 8   Appendix Setpoint COB-ID Data Comment 20 4E 00 00 Pos 8CA0 =36000µm ; V= 20000 µm/s send a SYNC BB F8 FF FF response telegram Set controlword with „new setpoint“ by bit (bit 4) COB-ID Data Comment...

  • Page 150: Test For Sync Telegrams

    AKD CANopen | 8   Appendix 8.2.1.10 Test for SYNC telegrams Configuration Assign Target Position and Profile Velocity to a PDO (2nd receive-PDO) Assign Actual Position to a PDO (1st transmit-PDO), generated with every 2nd SYNC. Assign Status word and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every 3rd SYNC.

  • Page 151: Examples, Special Applications

    AKD CANopen | 8   Appendix Emergency-Object If, for instance, the resolver connector is disconnected, a serious error will be caused in the controller. This results in an Emergency telegram. COB-ID Emergency error Error register High 00 00 00 00 motor temperature, temperature, manufacturer specific 00 00 00 00 8.2.2 Examples, special applications...
  • Page 152 AKD CANopen | 8   Appendix Action Do the RPDO2-mapping for both axis: Axis 1: COB-ID Control Index Sub- Data Comment byte Low byte High byte index 00 00 00 00 RPDO2: delete mapping 00 00 00 00 20 01 C1 60 RPDO2, entry 1:...
  • Page 153 AKD CANopen | 8   Appendix Mapping configuration for axis 1: COB-ID Control Index Sub- Data Comment byte Low byte High byte index 00 00 00 00 TPDO2: delete mapping 00 00 00 00 20 00 63 60 TPDO2, entry 1:...
  • Page 154 AKD CANopen | 8   Appendix In order to be able to make trajectory movements, both drives must be operating in the appropriate mode. This is set through Index 6060h: COB-ID Control Index Sub- Data Comment byte Low byte High byte index...
  • Page 155 AKD CANopen | 8   Appendix The configuration above now enables a cyclical sequence, as shown in the diagram: RPDO 2 can now be used to supply trajectory data for both axes, e.g.: COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 to 3) and the second axis receives a trajectory value of 1000 increments.

  • Page 156: Example: Pvt Interpolation

    AKD CANopen | 8   Appendix 8.2.2.2 Example: PVT Interpolation This example shows the possible application for PVT. The PVT feature is cubic polynomial interpolation using tar- get position, velocity and time from CAN bus. All data in this example is hexadecimal. Make sure that the firm- ware in your drive supports the PVT feature.
  • Page 157 Step 5: Configure parameters for PVT segments This step is optional depending on the application. It serves to modify the resolution or range of the PVT seg- ments. AKD have default values for these two objects. The following example sets the default values. COB-ID Control...
  • Page 158 AKD CANopen | 8   Appendix This page intentionally left blank. Kollmorgen™ | November 2012...

  • Page 159: Index

    AKD CANopen | 9   Index 6060h 6061h 9 Index 6063h 6064h 6065h 606Ch 6071h 1000h 6073h 1001h 6077h 1002h 607Ah 1003h 607Ch 1005h 607Dh 1006h 6081h 1008h 6083h 1009h 6084h 100Ah 608Fh 100Ch 6091h 100Dh 6092h 1010h 6098h 1011h 6099h...
  • Page 160 AKD CANopen | 9   Index Data types Receive PDOs Device control Response monitoring Emergency Messages Safety Instructions Emergency Object Electrical Installation Examples General Examples, setup SDO abort codes Examples, special applications Service Data Object Extended data types Signed Integer Status machine...
  • Page 161 AKD CANopen | This page intentionally left blank. Kollmorgen™ | November 2012...
  • Page 162 About KOLLMORGEN  Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry- leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. ...

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