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CANopen SG5 to SG7
Manual
This document applies to the following drives:
August 2018
CANopen Interface for
SG5, SG6 and SG7
·
E12x0-xx-xx-xxx (SG5)
·
E14x0-xx-xx-xxx (SG5)
·
E14x0V2-xx-xx-xxx (SG6)
·
C11x0-xx-xx-xxx (SG7)
·
A11x0-xx-xx-xxx (SG7)
(with CANopen Interface SW installed)
Doc.: 0185-1076-E_2V3_MA_CANopenSG5toSG7
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Table of Contents
Related Manuals for LinMot CANopen SG5
Summary of Contents for LinMot CANopen SG5
- Page 1 CANopen SG5 to SG7 Manual CANopen Interface for SG5, SG6 and SG7 This document applies to the following drives: · E12x0-xx-xx-xxx (SG5) · E14x0-xx-xx-xxx (SG5) · E14x0V2-xx-xx-xxx (SG6) · C11x0-xx-xx-xxx (SG7) · A11x0-xx-xx-xxx (SG7) (with CANopen Interface SW installed) August 2018...
- Page 2 NTI AG. LinMot® is a registered trademark of NTI AG. Note The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.
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Page 3: Table Of Contents
RxPDO 1 ......................13 3.5.6 RxPDO 2 ......................13 3.5.7 RxPDO 3 ......................14 3.5.8 RxPDO 4 ......................14 NMT Error Control ....................15 3.6.1 Node Guarding Protocol ................15 3.6.2 Heartbeat Protocol ..................15 NTI AG / LinMot 3 / 55... - Page 4 Setting the UPIDs of the parameter to map to a PDO ......... 50 9.1.2 Getting UPID PDO data into PLC variables ..........50 9.1.3 Example ......................50 10. RT LEDs ....................... 52 11. Interface Error Codes ..................53 4 / 55 NTI AG / LinMot...
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Page 5: System Overview
System overview The LinMot CANopen drives comply with the following specifications: · CiA 102 DS V2.0 CAN physical layer for industrial applications · CiA 301 DS V4.0.2 – CANopen application layer and communication profile · CiA 303-3 DR V1.3: CANopen additional specification – Part 3: Indicator specification ·... -
Page 6: Pin Assignment Of The Control Connector (X42, X43)
For easy installation, the LinMot CANopen drives has built-in termination resistors, which can be activated, if the LinMot drive is at the end of the bus line, and if there is no termination in the connector. -
Page 7: Activating The Termination Resistor (E12Xx)
Switch 2: Set all drive parameters to default Switch 3: Bootstrap ( Factory setting: all switches “off” ) To activate the built-in termination resistors, switch 1 of S5 has to be set to ON. NTI AG / LinMot 7 / 55... -
Page 8: Canopen Parameters
PLC will take precedence over the configuration seen in the LinMot-Talk software! Dis-/Enable With the Dis-/Enable parameter the LinMot drive can be run without the CANopen interface going online. So in a first step the system can be configured and run without any bus connection. -
Page 9: Baud Rate Parameter Definition
Note: If 'Baud Rate Source Select' is set to 'By Hex Switch S1' and Node-ID Source Select is set to 'By Hex switch S2' and all switches are off, the Node-ID is set to the Node-ID Parameter Value (Default = 63). NTI AG / LinMot 9 / 55... -
Page 10: Pdo Configuration
RTR only) and 254 (Asynchronous with inhibit time) are supported as well. The transmission type 250 is LinMot specific (it is reserved according to DS 301). If the transmission type 250 is selected, the transmit PDO is sent immediately after reception of the corresponding receive PDO (TxPDO 1 corresponds to RxPDO 1 and so on). -
Page 11: Rxpdo 1
This defines the transmission type according to DS 301. Type 254 (Asynchronous with inhibit Time) is supported as well. The transmission type 250 is LinMot specific (its reserved according to DS 301). If the transmission type 250 is selected, the transmit PDO is sent immediately after reception of the corresponding receive PDO (TxPDO 1 corresponds to RxPDO 1 and so on). -
Page 12: Txpdo 3
The corresponding data size in TxPDO 3 is derived from the mapped UPID. For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean. 12 / 55 NTI AG / LinMot... -
Page 13: Txpdo 4
The second 4 bytes of the command parameters of the motion command interface. Motion Cmd Par Byte 8..9 [16Bit] The first half of the third 4 bytes of the command parameters of the motion command interface. NTI AG / LinMot 13 / 55... -
Page 14: Rxpdo 3
For Boolean values one byte is used in the PDO with the lowest bit being the value of the Boolean. 3.5.8 RxPDO 4 These parameters define the mapping of the receive PDO 4. Eight bytes can be mapped in total. 14 / 55 NTI AG / LinMot... -
Page 15: Nmt Error Control
The node life time is the guard time multiplied by the life time factor. Node Guarding starts with the reception of the first guarding message. 3.6.2 Heartbeat Protocol These parameters configure the heartbeat protocol. NTI AG / LinMot 15 / 55... -
Page 16: Legacy Sync Watchdog
These parameters configure the legacy watchdog of the sync telegram. This can be used together with heartbeat or node guarding. This feature is not part of the DS 301 specifications and is LinMot specific. The time between the arrival of two sync telegrams is measured. If the measured time exceeds 1.5 * LSW monitored cycle time an error is generated. -
Page 17: Canopen Variables
SyncCycle Time in [us] between the reception of two SYNC messages. CAN Bit Timing Value of the CAN Bit Timing Register. CANopen: Object Dictionary All supported object dictionary entries can be read here. NTI AG / LinMot 17 / 55... -
Page 18: Mapping Of The Pdos
Mapping parameter settings. Many applications do not require to use all resources. 5.1.3 Default Identifier The default identifiers (11 bit identifier) are allocated by the following scheme: Function Code Node ID This results in the following table: 18 / 55 NTI AG / LinMot... -
Page 19: Using The Motion Command Interface In Asynchronous Transmission Modes
Using the Motion Command Interface in asynchronous transmission modes Because the CMD interface of the LinMot drives consists of more than 8 bytes, it is necessary to link two or more RxPDOs together to ensure data consistency. This is done by the “Motion CMD Slave Header”. In order to execute a command, the toggle bits of all headers have to be changed to the same new value. -
Page 20: Object Dictionary
Synchronous window length Unsigned32 Contains the length of the time window for synchronous PDOs in µ s. It is 0 if not used. This parameter is for compatibility only, it is not used in the LinMot drive. 1008h - Manufacturer Device Name... - Page 21 Transmission type Unsigned8 Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250 (poll- request / poll-response) are supported. Type 250 is LinMot specific and not part of the CANopen standard. The Default is 1 (cyclic synchronous). 1401h - Receive PDO Communication...
- Page 22 Transmission type Unsigned8 Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250 (poll- request / poll-response) are supported. Type 250 is LinMot specific and not part of the CANopen standard. The Default is 1 (cyclic synchronous). Inhibit time Unsigned16 This time is a minimum interval for PDO transmission in asynchronous modes.
- Page 23 PDO Mapping Entry 1-8 Unsigned32 Contains the mapping for TxPDO 2 See 1600h sub 1-8h for additional details. 1A02h - Transmit PDO Mapping Parameter 2 (TxPDO 3) Number of mapped application Unsigned8 objects in PDO NTI AG / LinMot 23 / 55...
- Page 24 PDO Number of valid mapping entries. Can be between 0 and 8. 1h-8h PDO Mapping Entry 1-8 Unsigned32 Contains the mapping for TxPDO 4 See 1600h sub 1-8h for additional details. 24 / 55 NTI AG / LinMot...
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Page 25: Manufacturer Specific Profile Area (2000H - 5Fffh)
Read / Write the RAM Value of a UPID. Any UPID from a Boolean type up to an unsigned32 type can be read or written. Read RAM Value by UPID COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub-... - Page 26 Use the “RAM/ROM Write” command (sub-index 06h) to change both values at the same time. Read ROM Value by UPID COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index...
- Page 27 2000h + UPID 05h Default Value Bool - Unsigned32 The default value of the UPID is returned. Read Default Value by UPID COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index yyh yyh 05h Data...
- Page 28 UPID is sent. When the end of the list is reached, the UPID FFFFh is sent. Get Next UPID List item COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub-Index yyh yyh 21h...
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Page 29: System Commands
Set all parameters of the OS to default values. The execution of this command can take several seconds. Any data can be written for the command to be executed. Set ROM to default (OS) COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive: SDO CS Index Sub-Index... - Page 30 Set all parameters of the Application to default values. He execution of this command can take several seconds. Any data can be written for the command to be executed. Set ROM to default (Application) COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive: SDO CS Index Sub-...
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Page 31: Curve Service Commands
Any Data 6.2.3 Curve Service Commands See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of curve commands and a description of the content of the curve info and data blocks. - Page 32 RAM on SG5 devices. Any data can be written for the command to be executed. Curve Service: Delete all Curves COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive: SDO CS Index...
- Page 33 SDO write command from the PLC. The result of the last executed curve service command is given in the following format: Get Last Curve Service Command Result COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub-...
- Page 34 00h: Data Block is finished 04h: Data Block is not finished D0h: Error: Data Block was already finished Curve Service: Add Curve Data (32Bit) COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive: SDO CS Index Sub- InfoBlock Data...
- Page 35 SDO. With the commands “Get Curve Info Block” and “Get Curve Data Block” the corresponding blocks of the curve can be read afterwards. Curve Service: Get Curve COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index...
- Page 36 00h: Info Block is finished 04h: Info Block is not finished D0h: Error: Info Block was already finished Curve Service: Get Curve Info Block COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index...
- Page 37 00h: Data Block is finished 04h: Data Block is not finished D0h: Error: Info Block was already finished Curve Service: Get Curve Data Block COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index...
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Page 38: Error Log Commands
Get Error Log Entry Counter Unsigned32 This command returns the number of logged errors as well as the total number of occurred errors. Get Error Log Entry Counter COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index... - Page 39 Get Error Log Entry Error Code Unsigned32 EntryNr This command returns the corresponding error code to the entry number. Get Error Log Entry Error Code COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index...
- Page 40 Unsigned32 EntryNr This command returns the higher 32 bits of the drive's system time when the error happened. Get Error Log Entry Time high COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index...
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Page 41: Command Table Commands
6.2.5 Command Table Commands See the “LinMot 1100 Drive Configuration over Fieldbus Interfaces” for additional detail on the use of the command table and a description of the CT entry format. Index Sub- Description Access Data Type Index Type 2000h 80h... - Page 42 FLASH on SG7. On SG5 drives the command “CT: Save to Flash” has to be issued afterwards to save the CT permanentely. Command Table: Delete all Entries COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive: SDO CS Index...
- Page 43 Data”. The result of this command can be checked with the “CT: Get Last CT Service Command Result” command: 00h: No Error D1h: Invalid block size D4h: Invalid entry number Command Table: Write Entry (Entry Nr.) COB-ID 600 + Node-ID, SDO Write from PLC to LinMot Drive: SDO CS Index Sub- Block Size Index...
- Page 44 CT: Get Entry (Entry Nr.) Unsigned32 EntryNr Read the block size of a CT Entry. Command Table: Get Entry (Entry Nr.) COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index Sub- Index EntryNr 20h 85h...
- Page 45 With this command a bitfield is read, which indicates the presence of a CT entry (0 = CT entry present, 1 = No CT entry present). CT: Get Entry List (Entry 0..31) COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index...
- Page 46 SDO write command from the PLC. The result of the last executed command table service command is returned in the following format: Get Last Command Table Service Command Result COB-ID 600 + Node-ID, SDO Read from PLC to LinMot Drive: SDO CS Index...
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Page 47: Examples
10m/s 2 0064h RxPDO 1 Control MC Par Word Header Bytes 0..3 Data Byte 01 (LSB) 02 (MSB) RxPDO 2 MC Par MC Par Bytes 4..7 Bytes 8..11 Data Byte 01 (LSB) 02 (MSB) NTI AG / LinMot 47 / 55... - Page 48 In the LinMot-Talk1100 Control Panel, one can check the last executed motion command by pressing the «Read Command» button. It should look like this now that the command has been executed: 48 / 55 NTI AG / LinMot...
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Page 49: Reset Parameters To Default Values
Reset Parameters to default values There are three options to reset the parameters of a LinMot drive to default values: 1. By manipulating the two rotary hex switches (resets ALL parameters): 1. Power off the drive 2. Set the switches to FFh or set the Para Def. switch to on 3. -
Page 50: Configuration Of The Drive With An Eds File
Configuration of the drive with an EDS File The EDS file for the LinMot drives is compliant with the standard: “CiA 306 DS V1.3: Electronic data sheet specification for CANopen”. Visit http://www.can-cia.org/ for detailed information. The EDS file is part of the Lintalk1100 software which can be downloaded from http://www.LinMot.com. - Page 51 (Transmit PDO Mapping Parameter 3: PDO mapping entry 1) 1A03h sub 2h 4F080210h (Transmit PDO Mapping Parameter 3: PDO mapping entry 2) 1A03h sub 3h 4F080320h (Transmit PDO Mapping Parameter 3: PDO mapping entry 3) NTI AG / LinMot 51 / 55...
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Page 52: Rt Leds
The sequence is finished by a long off phase. Quadruple Flash: a sequence of three short flashes, separated by an off phase. The sequence is finished by a long off phase. 52 / 55 NTI AG / LinMot... -
Page 53: Interface Error Codes
0 to be deactivated). CANopen Error: Invalid Mapping More than 8 byte data mapped in RxPDO 2 into RPDO 2. Verify the mapping (by UPID should be 0 to be deactivated). NTI AG / LinMot 53 / 55... - Page 54 CANopen Error: Invalid UPID in Check the UPID, which is RxPDO 3 Mapping configured by “mapping by UPID”. CANopen Error: Invalid UPID in Check the UPID, which is RxPDO 4 Mapping configured by “mapping by UPID”. 54 / 55 NTI AG / LinMot...
- Page 55 LinMot USA Inc. N1922 State Road 120, Unit 1 Lake Geneva, WI 53147 Phone: 262-743-2555 E-Mail: usasales@linmot.com Web: http://www.linmot-usa.com/ Please visit http://www.linmot.com/contact to find the distribution close to you. Smart solutions are... NTI AG / LinMot 55 / 55...