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Kollmorgen S300 Manual

Canopen can-bus fieldbus interface
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CAN-Bus
Fieldbus Interface
Edition: December 2019
Translation of the original manual
For safe and proper use, follow
these instructions.
Keep them for future reference.
for S300 / S700

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  • Page 1 ® CAN-Bus Fieldbus Interface for S300 / S700 Edition: December 2019 Translation of the original manual For safe and proper use, follow these instructions. Keep them for future reference.

  • Page 2: Object 2409H: Safety Card Error Stack Error Parameter

    Technical changes which improve the performance of the device may be made without prior notice! 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 distributed by electronic means without the written permission of Kollmorgen.

  • Page 3: Table Of Contents

    S300-S700 CANopen | Table of Contents 1 Table of Contents 1 Table of Contents 2 General Information 2.1 About this manual 2.2 Target group 2.3 Using the PDF Format 2.4 Use as directed 2.5 Symbols Used 2.6 Abbreviations used 2.7 Basic features implemented by CANopen 2.8 Transmission rate and procedure...

  • Page 4: Object 240Bh: Safety Card Error Stack Error Parameter

    S300-S700 CANopen | Table of Contents 5.2 General Definitions 5.2.1 General Objects 5.2.1.1 Object 1000h: Device Type (DS301) 5.2.1.2 Object 1001h: Error register (DS301) 5.2.1.3 Object 1002h: Manufacturer Status Register (DS301) 5.2.1.4 Object 1003h: Predefined Error Field (DS301) 5.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301) 5.2.1.6 Object 1006h: Communication Cycle Period (DS301)
  • Page 5 S300-S700 CANopen | Table of Contents 5.3.2.3 Default TXPDO definition 5.4 Device control (dc) 5.4.1 Status Machine (DS402) 5.4.1.1 States of the Status Machine 5.4.1.2 Transitions of the status machine 5.4.2 Object Description 5.4.2.1 Object 6040h: Control word (DS402) 5.4.2.2 Object 6041h: Status word (DS402) 5.4.2.3 Object 6060h: Modes of Operation (DS402)
  • Page 6 S300-S700 CANopen | Table of Contents 5.9 Interpolated Position Mode (ip) (DS402) 5.9.1 General information 5.9.2 Objects that are defined in this section 5.9.3 Object description 5.9.3.1 Object 60C0h: Interpolation sub mode select 5.9.3.2 Object 60C1h: Interpolation data record 5.9.3.3 Object 60C2h: Interpolation time period 5.9.3.4 Objekt 60C3h: Interpolation sync definition...
  • Page 7 6.3.5 Example: Jog Mode via PDO 6.3.6 Example: Torque Mode via PDO 6.3.7 Example: Homing via SDO 6.3.8 Example: Start Motion Task from the internal memory of S300/S700 via SDO 6.3.9 Example: Using the Profile Position Mode 6.3.10 Example: ASCII Communication via SDO 6.3.11 Test for SYNC telegrams...
  • Page 8 S300-S700 CANopen | --- / --- Kollmorgen | kdn.kollmorgen.com | December 2019...

  • Page 9: Table Of Contents

    2.1 About this manual This manual describes the setup, range of functions and software protocol of the Kollmorgen S300/S700 servo amplifiers with the CANopen communication profile. It forms part of the com- plete documentation for the S300/S700 families of servo amplifiers.

  • Page 10: Use As Directed

    S300-S700 CANopen | 2   General Information 2.4 Use as directed Please observe the chapters "Use as directed” and "Prohibited use" in the instructions manual for the servo amplifier. The CANopen interface serves only for the connection of the servo amplifier to a master via the CAN-bus.

  • Page 11: Basic Features Implemented By Canopen

    A BUSOFF is only signaled by the S300/S700 if another CAN node is connected and at least one object was successfully transmitted to start off with. The BUSOFF condition is signaled by the error message F23.

  • Page 12: Installation / Setup

    Software limit-switches are not a substitute for the hardware limit-switches in the machine. Assemble the servo amplifier as described in the instructions manuals for S300/S700. Observe all safety instructions in the instructions manual that belong to the servo amplifier. Follow all the notes on mounting position, ambient conditions, wiring, and fusing.

  • Page 13: Can-Bus Interface (X6)

    S300-S700 CANopen | 3   Installation / Setup 3.3 CAN-Bus interface (X6) The interface for connection to the CAN-bus (default : 500 kBaud). The interface is at the same electrical potential as the RS232 interface. The analog setpoint inputs can still be used.

  • Page 14: Guide To Setup

    It is required, that the software protocol ( see from (➜ # 27)) is imple- mented in the master. Adjust the transmission rate of the S300/S700 to match the master. 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 15: Canopen Communciation Profile

    4 CANopen Communciation Profile This chapter describes the basic services and communication objects of the CANopen com- munication profile DS 301, which are used in the S300/S700. It is assumed that the basic operating functions of the communication profile are known, and available as reference documentation.

  • Page 16: Construction Of The Communication Object Identifier (Cob-Id)

    1281..1407 501h..57Fh 1403h SDO (tx*) 1011 1409..1535 581h..5FFh SDO (rx*) 1100 1537..1663 601h..67Fh Nodeguard 1110 1793..1919 701h..77Fh (100Eh) *tx = direction of transmission: S300/S700 → Master rx = direction of transmission: Master → S300/S700 Kollmorgen | kdn.kollmorgen.com | December 2019...

  • Page 17: Definition Of The Used Data Types

    S300-S700 CANopen | 4   CANopen Communciation Profile 4.3 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”...

  • Page 18: Extended Data Types

    Unconfirmed services PDO Confirmed services SDO All services require faultless operation of the Data Link and Physical Layer. S300/S700 supports communication objects that are described in detail in the following sections: Network Management Objects (NMT) Synchronization Object (SYNC) Emergency Object (EMCY)

  • Page 19: Network Management Objects (Nmt)

    (➜ # 117). You can use the SYNC object to start motion task of several axes simultaneously for example. 4.4.3 Time-Stamp Object (TIME) This communication object is not supported by S300/S700. 4.4.4 Emergency Object (EMCY) EMCY is event-triggered and generated by an internal fault/error situation. This object is trans- mitted afresh for every error.

  • Page 20: Application Of The Emergency Object

    0. After initialization, the error-free status is taken up if no errors are detected. No error signal is generated in this condition. 1. The S300/S700 detects an internal error and indicates this in the first three bytes of the emer- gency telegram (error code in Bytes 0,1 and error register in Byte 2). Since the S300/S700 can distinguish between different types of error, Byte 3 of the manufacturer specific error field is used to indicate the error category.

  • Page 21: Service Data Objects (Sdo)

    The control byte determines whether the SDO should write or read the content of the entry in the Object Dictionary. A description of the complete Object Dictionary for S300/S700 (➜ # 103). Data exchange with the S300/S700 is governed by the CMS multiplexed domain protocols stand- ard, as described in the CAN standard DS 202.

  • Page 22: Initiate Sdo Download Protocol

    These components are used for the exchange of user data. In read-request telegrams to the S300/S700 they are set to 0. They have no content in a write confirmation from the S300/S700 if the transfer was successful, but if the write operation was faulty they contain an error code (➜...

  • Page 23: Abort Sdo Protocol

    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 S300/S700. Mapping is made during the con- figuration phase, with the help of SDOs. Length is defined with the mapped objects.

  • Page 24: Transmission Modes

    S300-S700 CANopen | 4   CANopen Communciation Profile 4.4.6.1 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 25: Nodeguard

    S300-S700 CANopen | 4   CANopen Communciation Profile 4.4.7 Nodeguard The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is accessed at regular 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 (➜...

  • Page 26: Heartbeat

    S300-S700 CANopen | 4   CANopen Communciation Profile 4.4.8 Heartbeat The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heart- beat Producer transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication. The relationship between producer and consumer is configurable via object 1016h (➜...

  • Page 27: Canopen Drive Profile

    S300-S700 CANopen | 5   CANopen Drive Profile 5 CANopen Drive Profile 5.1 Emergency Messages 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 numbers (2 bytes), an error register (1byte), the error category (1 byte) and additional inform- ation (➜...

  • Page 28: General Definitions

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2 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”). 5.2.1 General Objects 5.2.1.1 Object 1000h: Device Type (DS301) This object describes the device type (servo drive) and device functionality (DS402 drive profile).

  • Page 29: Object 1002H: Manufacturer Status Register (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.3 Object 1002h: Manufacturer Status Register (DS301) The manufacturer status register contains important drive information. Index 1002h Name Manufacturer Status Register Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range...

  • Page 30: Object 1003H: Predefined Error Field (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.4 Object 1003h: Predefined Error Field (DS301) The object 1003h provides an error history with a maximum size of 8 entries. Subindex 0 contains the number of errors which have occured since the last reset of the error his- tory, either by startup of the drive or resetting the error history by writing 0 to subindex 0.

  • Page 31: Object 1005H: Cob-Id Of The Sync Message (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.5 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 32: Object 1009H: Manufacturer Hardware Version

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.8 Object 1009h: Manufacturer Hardware Version The object gives the layout version of the drive. Index 1009h Name manufacturer hardware version Object code Data type Visible String Category Optional Access const PDO mapping...

  • Page 33: Object 1010H: Store Parameters (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.12 Object 1010h: Store Parameters (DS301) This object supports the saving of parameters to a flash EEProm. Only the subindex 1 for saving of all parameters, which can also be saved in the parameter files via the GUI, is supported.

  • Page 34: Object 1011H: Restore Default Parameters Ds301

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.13 Object 1011h: Restore Default Parameters DS301 With this object the default values of parameters according to the communication or device profile are restored. The S300/S700 gives the possibility to restore all default values. Index 1011h...

  • Page 35: Object 1016H: Consumer Heartbeat Time

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.15 Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time and has to be higher than the corresponding producer heartbeat time configured on the device producing this heart- beat.

  • Page 36: Object 1018H: Identity Object (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.17 Object 1018h: Identity Object (DS301) The Identity Object contains general device information. Index 1018h Name Identity Object Object code RECORD Data type Identity Category mandatory Subindex Description number of entries Data type...

  • Page 37: Object 1026H: Os Prompt

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.18 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 38: Object 2000H: Manufacturer Warnings

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.19 Object 2000h: Manufacturer Warnings This object provides information about drive internal warnings. Index 2000h Name Manufacturer Warnings Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range UNSIGND32 Default value...

  • Page 39: Object 2014-2017H: 1St-4Th Mask 1 To 4 For Transmit-Pdo

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.20 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. In this way it can be arranged, for instance, that actual position values are only signaled once per turn.

  • Page 40: Object 2040H: Gearing Factor For Electronic Gearing

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.22 Object 2040h: Gearing factor for electronic gearing This object defines the gearing factor for the electronic gearing between a master and a slave drive, which are connected via ROD. These objects are relevant only for the OPMODE 4 respect- ively the CANopen mode 0x84.

  • Page 41: Object 2041H: Electric Gearing Actual Value

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.23 Object 2041h: Electric gearing actual value This object is used to display the input master speed, the internal slave setpoint speed as a con- trol variable for the slave of the electric gearing, and the internal control word for enabling/dis- engaging synchronisation of the electric gearing.

  • Page 42: Object 2051H: Configuration Of Position Registers

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.24 Object 2051h: Configuration of Position Registers This object is used to enable and set the trigger type and the polarity of the 16 position registers. Objects 2052h and 2053h are used to specify whether the absolute position, or the position rel- ative to the actual position should be evaluated.

  • Page 43: Object 2052H: Position Registers, Absolute

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.25 Object 2052h: Position Registers, absolute This object is used to enter the values of the 16 position registers P1 - P16 as absolute positions. Index 2052h Name Position registers, absolute Object code...

  • Page 44: Object 2061H: Current Limitation For Velocity Mode

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.27 Object 2061h: Current limitation for velocity mode This object is used for rapid current limitation in velocity mode (0x3). A value of 3280 represents the maximum device current that can be queried using DIPEAK. This object acts on the ASCII parameter DPRILIMIT.

  • Page 45: Object 2082H: Copy Motion Tasks

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.30 Object 2082h: Copy motion tasks With the help of this object motion tasks can be copied in the drive. The motion task addressed in the low word is copied to the motion task addressed in the high word.

  • Page 46: Object 20A0H: Latch Position 1, Positive Edge

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.33 Object 20A0h: Latch position 1, positive edge This object is used to output the position at which the first positive edge occurred on digital input 1 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process.

  • Page 47: Object 20A3H: Latch Position 2, Negative Edge

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.36 Object 20A3h:  Latch position 2, negative edge This object is used to output the position at which the first negative edge occurred on digital input 2 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process.

  • Page 48: Object 20B1H: Control Word Digital Inputs 5

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.39 Object 20B1h:  Control Word Digital Inputs 5...20 The lower 16 bits of this object can be used to control the digital software inputs 5 to 20. Index 20B1h Name Control word digital inputs 5 .. 20...

  • Page 49: Object 2100H: Write Dummy

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.41 Object 2100h: Write Dummy Index 2100h Name Write-Dummy variables for mapping Object code RECORD Data type UNSIGNED32 Category optional Access PDO mapping possible Value range UNSIGNED32 Default value 5.2.1.42 Object 2101h: Read Dummy...

  • Page 50: Object 6502H: Supported Drive Modes (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.2.1.44 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 51: Receive Pdos (Rxpdo)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.3.1 Receive PDOs (RXPDO) Four Receive PDOs can be configured in the servo amplifier: configuration of the communication (Objects 1400-1403h) configuration of the PDO-contents (mapping, Objects 1600-1603h) 5.3.1.1 Objects 1400-1403h: 1st - 4th RxPDO communication parameter (DS301) Index 1400h, 1401h, 1402h, 1403h for RXPDO 1 ...

  • Page 52: Objects 1600-1603H: 1St - 4Th Rxpdo Mapping Parameter (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.3.1.2 Objects 1600-1603h: 1st - 4th RxPDO mapping parameter (DS301) Index 1600h, 1601h, 1602h, 1603h for RxPDO 1 to 4. Name receive PDO mapping Object Code RECORD Data Type PDO Mapping Category mandatory...

  • Page 53: Transmit Pdos (Txpdo)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.3.2 Transmit PDOs (TXPDO) Four Transmit PDOs can be configured in the servo amplifier: configuration of the communication (Objects 1800-1803h) configuration of the PDO-contents (mapping, Objects 1A00-1A03h) 5.3.2.1 Objects 1800-1803h: 1st - 4th TxPDO communication parameter (DS301) Index 1800h, 1801h, 1802h, 1803h for TxPDO 1 to 4.
  • Page 54 S300-S700 CANopen | 5   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, n*1/10ms) Default Value...

  • Page 55: Objects 1A00-1A03H: 1St - 4Th Txpdo Mapping Parameter (Ds301)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.3.2.2 Objects 1A00-1A03h: 1st - 4th TxPDO mapping parameter (DS301) Index 1A00h, 1A01h, 1A02h, 1A03h for TxPDO 1 to 4. Name transmit PDO mapping Object Code RECORD Data Type PDO Mapping Category mandatory...

  • Page 56: Device Control (Dc)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.4 Device control (dc) The device control of the S300/S700 can be used to carry out all the motion functions in the cor- responding modes. The control of the S300/S700 is implemented through a mode-dependent status machine.

  • Page 57: Transitions Of The Status Machine

    S300-S700 CANopen | 5   CANopen Drive Profile 5.4.1.2 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 58: Object Description

    S300-S700 CANopen | 5   CANopen Drive Profile 5.4.2 Object Description 5.4.2.1 Object 6040h: Control word (DS402) The control commands are built up from the logical combination of the bits in the control word and external signals (e.g enable output stage). The definitions of the bits are shown below:...
  • Page 59 S300-S700 CANopen | 5   CANopen Drive Profile Mode-dependent bits in the control word The following table shows the mode-dependent bits in the control word. Only manufacturer-spe- cific modes are supported at present. The individual modes are set by Object 6060h Modes of operation.

  • Page 60: Object 6041H: Status Word (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.4.2.2 Object 6041h: Status word (DS402) The current state of the state machine can be read out with the aid of the status word. Index 6041h Name Status word Object code Data type...

  • Page 61: Object 6060H: Modes Of Operation (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.4.2.3 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.

  • Page 62: Object 6061H: Modes Of Operation Display (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.4.2.4 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 63: Objects For Position Calculation

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.2 Objects for position calculation 5.5.2.1 Object 6089h: position notation index (DS402) Index 6089h Name position notation index Object code Data type INTEGER8 Category mandatory Access PDO mapping not possible Value range INTEGER8 Default value The "position notation index"...

  • Page 64: Object 608Fh: Position Encoder Resolution (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.2.3 Object 608Fh: Position encoder resolution (DS402) The position encoder resolution defines the ratio of encoder increments per motor revolution. This object is used in the same way for Object 6090 (velocity encoder resolution).

  • Page 65: Object 6091H: Gear Ratio (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.2.4 Object 6091h: Gear Ratio (DS402) The gear ratio defines the ratio of motor shaft revolution per driving shaft revolutions. This includes the gear if present. gear ratio = motor shaft revolutions / driving shaft revolutions...

  • Page 66: Object 6092H: Feed Constant (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.2.5 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. feed constant = feed / driving shaft revolutions...

  • Page 67: Object 6093H: Position Factor (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.2.6 Object 6093h: Position factor (DS402) The position factor converts the desired position (in position units) into the internal format (in incre- ments). These values are calculated via the Objects 608F and 6091.

  • Page 68: Object 6094H: Velocity Encoder Factor (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.2.7 Object 6094h: Velocity encoder factor (DS402) Object 6094 is supported as read-only object just for compatibility reasons. It converts the velocity to the internal S300/S700 data format (increments). Scaling according to object 6093 subindices 1 and 2.

  • Page 69: Objects For Velocity Calculations

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.3 Objects for velocity calculations 5.5.3.1 Object 608Bh: velocity notation index (DS402) Index 608Bh Name velocity notation index Object code Data type INTEGER8 Category mandatory Access PDO mapping not possible Value range INTEGER8 Default value The "velocity notation index"...

  • Page 70: Objects For Acceleration Calculations

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.4 Objects for acceleration calculations 5.5.4.1 Object 608Dh: acceleration notation index (DS402) Index 608Dh Name acceleration notation index Object code Data type INTEGER8 Category mandatory Access PDO mapping not possible Value range INTEGER8 Default value The "acceleration notation index"...

  • Page 71: Object 6097H: Acceleration Factor (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.5.4.3 Object 6097h: Acceleration factor (DS402) The acceleration factor converts the acceleration (in acceleration units / s) into the internal format (in increments / s). This factor is actually calculated from Object 6093 and readable only.

  • Page 72: Profile Velocity Mode (Pv) (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.6 Profile Velocity Mode (pv) (DS402) 5.6.1 General Information The profile velocity mode enables the processing of velocity setpoints and the associated accel- erations. 5.6.2 Objects that are defined in this section Index...

  • Page 73: Profile Torque Mode (Tq) (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.7 Profile Torque Mode (tq) (DS402) 5.7.1 General Information The profile torque mode enables the processing of torque setpoints and the associated current. 5.7.2 Objects that are defined in this section Index Object...

  • Page 74: Position Control Function (Pc) (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.8 Position Control Function (pc) (DS402) 5.8.1 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 75: Object 6064H: Position Actual Value (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.8.4.2 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 6092). Index 6064h...

  • Page 76: Object 6068H: Position Window Time (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.8.4.5 Object 6068h: Position window time (DS402) When the actual position is within the position window during the defined position window time which is given in multiples of milliseconds, the corresponding bit 10 "target reached" in the status- word will be set to one.

  • Page 77: Interpolated Position Mode (Ip) (Ds402)

    60C4h RECORD Interpolation data configuration Interpolation data configuration record record 5.9.3 Object description 5.9.3.1 Object 60C0h: Interpolation sub mode select In the S300/S700 the linear interpolation between position setpoints is supported. The only allowed value is 0. Index 60C0h Name Interpolation sub mode select...

  • Page 78: Object 60C1H: Interpolation Data Record

    S300-S700 CANopen | 5   CANopen Drive Profile 5.9.3.2 Object 60C1h: Interpolation data record In the S300/S700 a single setpoint is supported for the interpolated position mode. For the linear interpolation mode each interpolation data record simply can be regarded as a new position set- point.

  • Page 79: Object 60C2H: Interpolation Time Period

    S300-S700 CANopen | 5   CANopen Drive Profile 5.9.3.3 Object 60C2h: Interpolation time period The interpolation time period is used for the PLL (phase locked loop) synchronized position interpolation time index modes. The unit (subindex 1) of the time is given in 10 seconds.

  • Page 80: Objekt 60C3H: Interpolation Sync Definition

    Value range UNSIGNED8 Default value 5.9.3.5 Object 60C4h: Interpolation data configuration Only a single position setpoint is supported in the S300/S700. Therefore only the value 1 in Subindex 5 is possible. All other subindices are set to 0. Index 60C4h...
  • Page 81 S300-S700 CANopen | 5   CANopen Drive Profile Subindex Description Actual buffer size Category mandatory Access PDO mapping possible Value range UNSIGNED32 Default value Subindex Description Buffer organization Category mandatory Access PDO mapping possible Value range UNSIGND8 Default value Subindex Description...

  • Page 82: Homing Mode (Hm) (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.10 Homing Mode (hm) (DS402) 5.10.1 General information This section describes the various parameters which are required to define a homing mode. 5.10.2 Objects that are defined in this section Index Object Name...

  • Page 83: Object 6098H: Homing Method (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.10.4.2 Object 6098h: Homing method (DS402) Index 6098h Name homing method Object code Data type INTEGER8 Mode Access PDO mapping possible Unit position units Value range -128 to 127 Default value EEPROM The following homing methods are supported:...

  • Page 84: Object 6099H: Homing Speeds (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile Description of the homing methods Choosing a homing method by writing a value to homing method (Object 6098h) will clearly estab- lish: the homing signal (P-Stop, N-Stop, reference switch) the direction of actuation and where appropriate the position of the index pulse.

  • Page 85: Homing Mode Sequence

    S300-S700 CANopen | 5   CANopen Drive Profile 5.10.5 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 (see Object 6041h). Bit 13 indicates that an error occurred during the homing movement.

  • Page 86: Object Description

    S300-S700 CANopen | 5   CANopen Drive Profile 5.11.4 Object description 5.11.4.1 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 further defined by the manufacturer-specific parameter 35B9h Sub 1.

  • Page 87: Object 607Fh: Max Profile Velocity (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.11.4.3 Object 607Fh: Max profile velocity (DS402) The maximum profile velocity is the maximum allowed speed in either direction during a profiled move. It is given in the same units as profile velocity.

  • Page 88: Object 6083H: Profile Acceleration (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.11.4.6 Object 6083h: Profile acceleration (DS402) The acceleration ramp (profile acceleration) is given in units that are defined by the user (position units per s²). They can be transformed with the acceleration factor defined by Object 6097sub1&2.

  • Page 89: Object 6086H: Motion Profile Type (Ds402)

    S300-S700 CANopen | 5   CANopen Drive Profile 5.11.4.9 Object 6086h: Motion Profile Type (DS402) The type of acceleration ramp can be selected by this object as a linear or as sin² ramp. Index 6086h Name Motion Profile Type Object code...

  • Page 90: 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 achiev- ing a setpoint. With S300/S700, this is only possible if trapezoidal ramps are used. Single setpoints: After reaching the target_position, the drive device signals this status to a host computer and then receives a new setpoint.
  • Page 91 S300-S700 CANopen | 5   CANopen Drive Profile If the bit change_set_immediately is "0” a single setpoint is expected by the drive (1). After data is applied to the drive, a host signals that the data is valid by changing the bit new_setpoint to "1"...

  • Page 92: Appendix

    S300-S700 CANopen | 6   Appendix 6 Appendix 6.1 The Object Channel 6.1.1 Objects >3500h Manufacturer specific object channel The Object Dictionary has been expanded beyond Index 3500h (reserved object range 3500h ... 3900h) for all Device Objects that can be described in up to 4 bytes of user data. This range can be dynamically extended, i.e.
  • Page 93 S300-S700 CANopen | 6   Appendix Subindex Description read the default value Unit see corresponding ASCII command Access PDO mapping not possible Data type see corresponding ASCII command Value range see corresponding ASCII command EEPROM — Default value — Subindex Description...

  • Page 94: Ascii Command Reference

    S300-S700 CANopen | 6   Appendix 6.1.2 ASCII command reference MLC=multi-line return command, ro=read only, rw=read/write CAN Object ASCII ASCII number Command Type Description 3501 (hex) Variable rw Acceleration Ramp 3502 (hex) ACCR Variable rw Acceleration Ramp for homing/jog modes 3503 (hex)
  • Page 95 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 3541 (hex) Command Scope: output data 3542 (hex) Variable rw Position Control Loop: Proportional Gain 3545 (hex) GPFFV Variable rw Position Control Loop: Feed Forward for Velocity...
  • Page 96 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 3584 (hex) MAXTEMPE Variable rw Ambient Temperature Switch off Threshold 3585 (hex) MAXTEMPH Variable rw Heat Sink Temperature Switch off Threshold 3586 (hex) MAXTEMPM Variable rw Motor Temperature Switch off Threshold...
  • Page 97 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 35BF (hex) Variable rw Target Speed for Motion Task 0 35C0 (hex) PBAL Variable ro Actual Regen Power 35C1 (hex) PBALMAX Variable rw Maximum Regen Power 35C2 (hex)
  • Page 98 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 3600 (hex) SWCNFG Variable rw Configuration of software limit switches 3604 (hex) SWE1 Variable rw SW limit switch (smalest position) 3606 (hex) SWE2 Variable rw SW limit switch (biggest position)
  • Page 99 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 364E (hex) Variable rw Fast Position Register 364F (hex) Variable rw Fast Position Register 3650 (hex) Variable rw Fast Position Register 3651 (hex) Variable rw Fast Position Register...
  • Page 100 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 36D1 (hex) WSAMPL Variable rw Minimum Move of W&S Mode 36D2 (hex) NREFMT Variable rw Homing wih following motion task 36D7 (hex) AUTOHOME Variable rw 36D8 (hex)
  • Page 101 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 38C8 (hex) GVS2 Variable rw high velocity threshold (velocity loop) 38CA (hex) CSCNFG Variable rw configuration Variable for safety card 38CB (hex) CSENID Variable rw reactive current impression...
  • Page 102 S300-S700 CANopen | 6   Appendix CAN Object ASCII ASCII number Command Type Description 3902 (hex) QTAB2TV Variable rw Derivative time 2 for servo pump loop 3903 (hex) QTAB3TV Variable rw Derivative time 3 for servo pump loop 3904 (hex) QTAB4TV...

  • Page 103: Object Dictionary

    S300-S700 CANopen | 6   Appendix 6.1.3 Object Dictionary Index Sub- Data Type Access Description ASCII mapp. object Index 1000h UNSIGNED32 — Device type — 1001h UNSIGNED8 — Error register — 1002h UNSIGNED32 Manufacturer specific status register — ARRAY Pre-defined error field —...
  • Page 104 S300-S700 CANopen | 6   Appendix Index Sub- Data Type Access Description ASCII mapp. object Index 1602h RECORD RXPDO3 mapping parameter — UNSIGNED8 — Number of entries — 1...8 UNSIGNED32 — Mapping for n-th application object — 1603h RECORD RXPDO4 mapping parameter —...
  • Page 105 S300-S700 CANopen | 6   Appendix Index Sub- Data Type Access Description ASCII mapp. object Index 2016h ARRAY — Mask TxPDO Channel 3 — UNSIGNED32 — Mask (Byte 0..3) — UNSIGNED32 — Mask (Byte 4..7) — 2017h ARRAY — Mask TxPDO Channel 4 —...
  • Page 106 S300-S700 CANopen | 6   Appendix Index Sub- Data Type Access Description ASCII mapp. object Index 2053h ARRAY Position registers, relative UNSIGNED8 Number of entries INTEGER32 Position register 1, relative INTEGER32 Position register 2, relative INTEGER32 Position register 3, relative INTEGER32...
  • Page 107 S300-S700 CANopen | 6   Appendix Index Sub- Data Type Access Description ASCII mapp. object Index 2404h RECORD Safety card error stack error number — UNSIGNED8 — Number of entries — 1-128 UNSIGNED32 — Error Stack – Error Number 1...128 —...
  • Page 108 S300-S700 CANopen | 6   Appendix Index Sub- Data Type Access Description ASCII mapp. object Index 607Dh ARRAY Software position limit UNSIGNED8 — Number of entries INTEGER32 — Software position limit 1 SWE1 INTEGER32 — Software position limit 2 SWE2 607Fh UNSIGNED32 —...
  • Page 109 S300-S700 CANopen | 6   Appendix Index Sub- Data Type Access Description ASCII mapp. object Index 60C0h INTEGER8 — Interpolation submode select — 60C1h ARRAY Interpolation data record — UNSIGNED8 — Number of entries — INTEGER32 x1, first parameter of ip function —...

  • Page 110: Canopen Sdos For Safety Expansion Card S1/S2/S1-2/S2-2

    S300-S700 CANopen | 6   Appendix 6.2 CANopen SDOs for Safety Expansion Card S1/S2/S1-2/S2-2 The Safety expansion cards S1, S2, S3, S4 can be used with S700 from Hardware Revision 2.10 only. 6.2.1 Object 2400h: Safety card serial number The serial number of the safety card must be filled in the configurator software. The number is prin- ted on the safety card front cover.

  • Page 111: Object 2402H: Safety Card I/O Status

    S300-S700 CANopen | 6   Appendix 6.2.3 Object 2402h: Safety card I/O status Index 2402h Name Safety card I/O status Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range UNSIGNED32 Default value — Meaning Status input ‘SS1 Activate’...

  • Page 112: Object 2403H: Safety Card Error Register

    S300-S700 CANopen | 6   Appendix 6.2.4 Object 2403h: Safety card error register Index 2403h Name Safety card error register Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range UNSIGNED32 Default value Meaning Error with safety function ‘Safe Stop 1’ SS1 Error with safety function ‘Safe Stop 2’...

  • Page 113: Object 2404H: Safety Card Error Stack Error Number

    S300-S700 CANopen | 6   Appendix 6.2.5 Object 2404h: Safety card error stack error number Error numbers of the entries. The error stack can be requested by SDOs 2404h to 240Bh. Identical subindices always cor- responds to each other. A complete entry would be for example 2404h to 240Bh always with subindex 5.

  • Page 114: Object 2406H: Safety Card Error Stack Error Index

    S300-S700 CANopen | 6   Appendix 6.2.7 Object 2406h: Safety card error stack error index Detailled error code (suberror code). Index 2406h Name Safety card error stack error index Object code Record Category optional Subindex Description number of entries Data type...
  • Page 115 S300-S700 CANopen | 6   Appendix 6.2.9 Object 2408h: Safety card error stack error parameter 1 Error specific additional information. Index 2408h Name Safety card error stack error parameter 1 Object code Record Category optional Subindex Description number of entries Data type...

  • Page 116: Object 240Ah: Safety Card Error Stack Error Parameter 3

    S300-S700 CANopen | 6   Appendix 6.2.11 Object 240Ah: Safety card error stack error parameter 3 Error specific additional information. Index 240Ah Name Safety card error stack error parameter 3 Object code Record Category optional Subindex Description number of entries Data type...

  • Page 117: Object 240Ch: Actual Speed

    6.3.1 Basic testing of the connection to the S300/S700 controls When the S300/S700 is switched on, a boot-up message is transmitted over the bus. The tele- gram continues to be transmitted, as long as it has not yet found a suitable receiver in the bus sys- tem.

  • Page 118: Example: Operating The Status Machine

    The status machine must be used sequentially during boot-up period. Leaving out a status is not possible. When the S300/S700 is switched on and the boot-up message has been detected, communica- tion via SDOs can be initiated. For example: all the parameters can be read out or written to, or the status machine for the drive can be controlled.

  • Page 119: Example: Jog Mode Via Sdo

    S300-S700 CANopen | 6   Appendix 6.3.3 Example: Jog Mode via SDO The motor shall work with constant velocity. Index Sub- COB- Control Data Comment High index byte byte byte 03 00 00 00 Mode of operation “Profile Velocity” 00 00 00 00...

  • Page 120: Example: Jog Mode Via Pdo

    S300-S700 CANopen | 6   Appendix 6.3.5 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 speed are read via a TXPDO triggered by SYNC.

  • Page 121: Example: Torque Mode Via Pdo

    S300-S700 CANopen | 6   Appendix 6.3.6 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. Index Sub- COB- Control Data Comment High index byte byte...

  • Page 122: Example: Homing Via Sdo

    S300-S700 CANopen | 6   Appendix 6.3.7 Example: Homing via SDO When the S300/S700 is operated as a linear axis, a homing point must be defined before pos- itioning tasks can be executed. This must be done by executing a homing run in the Homing mode (0x6).

  • Page 123: Example: Start Motion Task From The Internal Memory Of S300/S700 Via Sdo

    S300-S700 CANopen | 6   Appendix 6.3.8 Example: Start Motion Task from the internal memory of S300/S700 via SDO This example needs a defined motion task (can be done with the setup software) saved in the ser- voamplifier and homing must be done before starting absolute motion tasks.

  • Page 124: Example: Using The Profile Position Mode

    S300-S700 CANopen | 6   Appendix 6.3.9 Example: Using the Profile Position Mode This example shows the operation of the Profile position mode. For this, the PDOs are set as fol- lows: First RPDO No special mapping necessary, because the default mapping enters the controlword RXPDO1.
  • Page 125 S300-S700 CANopen | 6   Appendix Disable unused TPDOs Index Sub- COB- Control High index Data Comment byte byte byte 83 03 00 C0 disable TPDO3 00 00 00 00 83 04 00 C0 disable TPDO4 00 00 00 00 Disable unused RPDOs...
  • Page 126 S300-S700 CANopen | 6   Appendix Finish homing with Controlword 1_RPDO COB- Data Comment 0F 00 Switch to Profile Position Mode and set ramps for positioning Index Sub- COB- Control Data Comment High index byte byte byte 01 00 00 00 Profile Positioning Mode...

  • Page 127: Example: Ascii Communication Via Sdo

    S300-S700 CANopen | 6   Appendix 6.3.10 Example: ASCII Communication via SDO This example sets P gain of the velocity controller to 6. The ASCII command for this is "GV 6". Index Sub- COB- Control Data Comment High index byte byte...

  • Page 128: Test For Sync Telegrams

    S300-S700 CANopen | 6   Appendix 6.3.11 Test for SYNC telegrams Configuration Targets: 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 Statusword and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every 3rd SYNC.

  • Page 129: Application: Electric Gearing

    S300-S700 CANopen | 6   Appendix 6.3.12 Application: Electric Gearing When using the electric gearing mode via the CANopen interface, the following parameters are relevant for setting the slave of the electric gearing: GEARI Object 2040 sub 1 GEARO Object 2040 sub 2...

  • Page 130: Application: External Trajectory With Interpolated Position Mode

    S300-S700 CANopen | 6   Appendix 6.3.13 Application: External Trajectory with Interpolated Position Mode This example shows the possible application for giving two axes position setpoints within one PDO. Controller structure for the position controller within the servo amplifier: Description All data are hexadecimal. In the example, the two axes in the system have the station addresses 1 and 2.
  • Page 131 S300-S700 CANopen | 6   Appendix Action Do the RPDO2-mapping for both axis: Axis 1: Index Sub- COB- Control Data Comment High index byte byte byte 00 00 00 00 RPDO2: delete mapping 00 00 00 00 20 01 C1 60...
  • Page 132 S300-S700 CANopen | 6   Appendix Here it is assumed that both drives accept new trajectory values with every SYNC command, and have to return their incremen tal position and manufacturer status values. The communication parameters must be set accordingly. Axis 1:...
  • Page 133 S300-S700 CANopen | 6   Appendix To start up the axes, the servo amplifiers must be put into the operational status (operation enable) and the network management functions must be started. The network management functions enable the application of the Process Data Objects (PDOs)
  • Page 134 S300-S700 CANopen | 6   Appendix SYNC telegram COB-ID Afterwards, both axes send back their incremental positions and the contents of their status registers when the SYNC Object with the COB-ID for the 2nd TPDO is received: COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comment...

  • Page 135: Index

    S300-S700 CANopen | 7   Index 240Ah 240Bh 7 Index 240Ch 3500h to 39xxh 1000h 1001h 1002h 1003h 6040h 1005h 6041h 1006h 6060h 1008h 6061h 1009h 6063h 100Ah 6064h 100Ch 6065h 100Dh 6067h 1010h 6068h 1011h 606Ch 1014h 6071h 1016h 6073h...
  • Page 136 S300-S700 CANopen | 7   Index Basic data types PDO Configuration Basic features Position Control Function (pc) Process Data Object (PDO) Profile Position Mode (pp) Profile Torque Mode (tq) Cable Profile Velocity Mode (pv) Communciation Profile Communication faults Communication Objects Configuration parameters...
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