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Infranor XtrapulsCD1-k Manual

Canopen communication profile, canopen drive
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Communication Profile
XtrapulsCD1-k
CANopen Drive
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CD1-k

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Summary of Contents for Infranor XtrapulsCD1-k

  • Page 1 CANopen Communication Profile XtrapulsCD1-k CANopen Drive CD1-k...
  • Page 2 This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste. INFRANOR does not assume any responsibility for physical or material damage due to improper handling or wrong descriptions of the ordered items. Any intervention on the items, which is not specified in the manual, will immediately cancel the warranty.

  • Page 3: Table Of Contents

    CD1-k – CANopen Communication Profile Content CHAPTER 1 – OVERVIEW ........................8 3.13 ..........................8 EFERENCE 1.2 - D ........................... 8 EFINITIONS 1.3 - A ..........................9 RCHITECTURE CHAPTER 2 – COMMUNICATION PROFILE ..................10 2.1 - C ......................10 OMMUNICATION BJECTS 2.1.1 - CAN Telegram ........................
  • Page 4 CD1-k – CANopen Communication Profile CHAPTER 3 – DEVICE PROFILE ......................27 3.1 - PDO M ..........................27 APPING 3.1.1 - Receive PDO ........................27 3.1.2 - Transmit PDO ........................27 3.2 - C ................27 OMMON NTRIES IN THE BJECT ICTIONARY 3.2.1 - Object Dictionary Entries .....................
  • Page 5 CD1-k – CANopen Communication Profile 3.7 - P ...................... 51 OSITION ONTROL UNCTION 3.7.1 - Object Dictionary Entries ..................... 51 3.7.2 - Object Description ....................... 51 3.7.2.1 - Object 6063h: Position Actual Value* ................... 51 3.7.2.2 - Object 6064h: Position Actual Value ..................... 51 3.7.2.3 - Object 3067h: Position Loop Deadband ..................
  • Page 6 CD1-k – CANopen Communication Profile 3.13.3 - Current Functions ......................73 3.13.3.1 - Object 30D0h: Current Offset ..................... 73 3.13.3.2 - Object 30D1h: Current Limitation ....................74 3.13.3.3 - Object 30D4h: Current Monitor ....................74 3.13.3.4 - Object 30D5h: I²t Monitor ......................74 3.13.3.5 - Object 30E0h: Voltage Monitor ....................
  • Page 7 CD1-k – CANopen Communication Profile APPENDIX 1 - OBJECT DICTIONARY ....................98 ..........................98 OMMUNICATION ..................99 OMMON NTRIES IN THE BJECT ICTIONARY ..........................100 EVICE ONTROL ........................100 OSITION SENSOR ROUP ........................100 ROFILE OSITION ........................... 100 OMING ......................101 OSITION ONTROL UNCTION...

  • Page 8: Chapter 1 - Overview

    CAN network. Process Data Object. Service Data Object. Profile Position Mode Profile Velocity Mode Homing Mode Interpolated Position Mode Profile Torque Mode Position Control Function CD1-k Infranor C range servo drive with resolver and encoder feedback input Chapter 1 - Overview...

  • Page 9: Architecture

    CD1-k – CANopen Communication Profile 1.3 - ARCHITECTURE CAN network CAN Node CD1-k Communication Profile DS-301 Drive Profile DSP-402 Device Control State machine Mode of Operation Homing Mode Position Interpolated Profile Profile Profile Mode Position Velocity Torque Mode Mode Mode Device Control: The drive starting and stopping are executed by the state machine.

  • Page 10: Chapter 2 - Communication Profile

    CD1-k – CANopen Communication Profile Chapter 2 – Communication Profile 2.1 - COMMUNICATION OBJECTS 2.1.1 - CAN TELEGRAM SOM COB-ID RT CTRL Data segment CRC ACK EOM SOM : Start Of Message COB-ID : COB-Identifier of 11 bits RTR : Remote Transmission Request CTRL: Control field...

  • Page 11: Network Management Objects (Nmt)

    2.1.4 - SYNCHRONISATION OBJECT (SYNC) The SYNC object is a broadcast message sent by the master. This message provides a network clock. The period is specified by the communication cycle period (object 1006h). The Infranor servo-drives use this SYNC message to synchronize their clock.

  • Page 12: Process Data Object (Pdo)

    Triggering modes: - Event _Driven: Message transmission by reception of SYNC. In the Infranor Servo Drives, TPDO3 is used for this purpose. Message transmission by specific event. In the Infranor Servo Drives, TPDO1 is used for this purpose. - Remotely requested: the transmission of an asynchronous PDO is initiated on reception of a remote request by any other device.

  • Page 13: Pdo Mapping

    This list of objects is called object dictionary. This object dictionary allows the client the access to all objects of the server. The Infranor Servo Drive object dictionary consists of 2 parts: the communication profile (DS-301) for the objects related to the CAN communication and the device profile (DSP- 402) for objects related to the drive functionality.

  • Page 14: Emergency Object (Emcy)

    CD1-k – CANopen Communication Profile 2.1.7 - EMERGENCY OBJECT (EMCY) The Emergency telegram consists of 8 bytes: Byte Content Emergency Error Error Manufacturer Specific Error Field Code register (object 3020h) (object 1001h) 2.1.7.1 - CD1-k Specific Error Field Fault treatment / Cycle Stop Remarks Position Limits...

  • Page 15: Network Initialisation And System Boot-Up

    CD1-k – CANopen Communication Profile 2.2 - NETWORK INITIALISATION AND SYSTEM BOOT-UP 2.2.1 - NMT STATE MACHINE The NMT state machine defines the communication status. Power On Initialisation (14) (11) Pre-operational NMT, SDO, Sync, Emcy (10) (13) Stop (12) Operational NMT, SDO, Sync, Emcy, PDO At Power on, the initialisation state is automatically entered Once the Initialisation over, Pre-Operational is automatically entered...

  • Page 16: Object Dictionary

    CD1-k – CANopen Communication Profile 2.3 - OBJECT DICTIONARY 2.3.1 - GENERAL INFORMATION 2.3.1.1 - Object 1000h: Device Type This object describes the type of a device. Index 1000h Name Device Type Object Code Data Type Unsigned32 Access PDO Mapping Default Value 00020192h Device Profile Number : 402...

  • Page 17: Object 100Ah: Manufacturer Software Version

    Device does not save parameters autonomously Device saves parameters autonomously Device does not save parameters on demand Device saves parameters on demand For the Infranor CD1-k servo drive, parameters are saved on demand, when the drive is disabled. Chapter 2 – Communication Profile...

  • Page 18: Object 1018H: Identity Object

    Description Vendor ID Data Type Unsigned32 Access PDO Mapping Default Value 00000082h The Vendor ID for Infranor is 082h. 2.3.2 - SYNC OBJECT 2.3.2.1 - Object 1005h: COB-ID Sync message Index 1005h Name COB-ID Sync message Object Code Data Type...

  • Page 19: Object 3006H: Communication Cycle Period Adjustment

    CD1-k – CANopen Communication Profile 2.3.2.3 - Object 3006h: Communication Cycle Period adjustment Index 3006h Name Communication cycle period adjustment Object Code RECORD Number of Elements Value Description Sub Index Description Cycle period adjustment limit Data Type Unsigned16 Access PDO Mapping Unit Value Range 1.5us (0xF) to 20us (0xC8)

  • Page 20: Object 1007H: Synchronous Window Length

    CD1-k – CANopen Communication Profile 2.3.2.4 - Object 1007h: Synchronous Window Length Index 1007h Name Synchronous Window Length Object Code Data Type Unsigned32 Access PDO Mapping Unit µs Value Range 1500..20000 Default Value This object defines the synchronous window in which the drive can latch the value from synchronous PDO (RPDO3).

  • Page 21: Pdo Objects

    CD1-k – CANopen Communication Profile 2.3.5 - PDO OBJECTS 2.3.5.1 - Object 1400h: 1 Receive PDO Communication Parameter Index 1400h Name Receive PDO Communication Parameter (RPDO1) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping...

  • Page 22: Rd Receive Pdo Parameter

    CD1-k – CANopen Communication Profile 2.3.5.3 - Object 1402h: 3 Receive PDO Parameter Index 1402h Name Receive PDO Communication Parameter (RPDO3) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value 400h + Node-ID Sub Index Description...

  • Page 23: Object 1601H

    CD1-k – CANopen Communication Profile 2.3.5.5 - Object 1601h: 2 Receive PDO Mapping Index 1601h Name Receive PDO Mapping Object Code RECORD Number of Elements 0..4 Value Description Sub Index Description number of mapped objects Data Type Unsigned8 Access PDO Mapping Default Value Sub Index Description...

  • Page 24: Object 1800H

    CD1-k – CANopen Communication Profile 2.3.5.7 - Object 1800h: 1 Transmit PDO Parameter Index 1800h Name Transmit PDO Communication Parameter (TPDO1) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value 180h + Node-ID Sub Index Description...

  • Page 25: Rd Transmit Pdo Parameter

    CD1-k – CANopen Communication Profile 2.3.5.9 - Object 1802h: 3 Transmit PDO Parameter Index 1802h Name Transmit PDO Communication Parameter (TPDO3) Object Code RECORD Number of Elements Value Description Sub Index Description COB-ID Data Type Unsigned32 Access PDO Mapping Default Value 380h + Node-ID Sub Index Description...

  • Page 26: Object 1A01H

    CD1-k – CANopen Communication Profile 2.3.5.11 - Object 1A01h: 2 Transmit PDO Mapping Index 1A01h Name Transmit PDO Mapping Object Code RECORD Number of Elements 0..4 Value Description Sub Index Description number of mapped objects Data Type Unsigned8 Access PDO Mapping Default Value Sub Index Description...

  • Page 27: Chapter 3 - Device Profile

    CD1-k – CANopen Communication Profile Chapter 3 – Device Profile 3.1 - PDO MAPPING By default the Infranor Servo Drive runs in interpolated position mode and the default PDO mapping is for this mode. 3.1.1 - RECEIVE PDO PDO No.

  • Page 28: Object 6410H: Motor Data

    CD1-k – CANopen Communication Profile 3.2.2.2 - Object 6410h: Motor Data This object contains information about the connected motor. The parameters "Number of Motor Pole Pairs", "Motor Phase" and "Sensor Offset" are necessary for the current commutation. These parameters can be calculated by the auto-phasing procedure. CD1-k Motor Data: Index 6410h...

  • Page 29: Object 6502H: Supported Drive Modes

    Supported Drive Modes Object Code Data Type Unsigned32 Access PDO Mapping Value 0000006D The Infranor Servo Drive can be used in following modes: Bit Number Description Profile Position Mode Profile Velocity Mode Profile Torque Mode Homing Mode Interpolated Position Mode...

  • Page 30: Object 6504H: Drive Manufacturer

    Drive Data Object Code RECORD Number of Elements Value Description Sub Index Description Drive Family Code This parameter defines the family code for Infranor drives -> BD1/k -> BD2/k 02 -> CD1-k Data Type Unsigned16 Access PDO Mapping Default Value...

  • Page 31: Object 60Fdh: Digital Inputs

    CD1-k – CANopen Communication Profile Sub Index Description Rated Current Data Type Unsigned16 Access PDO Mapping Unit Percentage of amplifier rating (3FFFh = 100%) Value Range 0000h..2000h Default Value eeprom Sub Index Description t Mode Data Type Unsigned8 Access PDO Mapping Unit Value Range 0=limiting, 1=fusing...

  • Page 32: Object 30Ffh: Specific Outputs Configuration

    CD1-k – CANopen Communication Profile Value Description Sub Index Description Physical Outputs Data Type Unsigned32 Access PDO Mapping Possible Default Value 00000000h Sub Index Description Bitmask Data Type Unsigned32 Access PDO Mapping Default Value 00000000h Bit Number Description Set brake Digital Output 0 Digital Output 1 Digital Output 2...

  • Page 33: Device Control

    CD1-k – CANopen Communication Profile 3.3 - DEVICE CONTROL 3.3.1 - DRIVE STATE MACHINE The state machine describes the status and the control sequence of the drive. Power Fault Disabled Start Fault Reaction Active Not Ready to Fault Switch On Switch On Disabled Ready to Switch...

  • Page 34: Object Description

    CD1-k – CANopen Communication Profile 3.3.3 - OBJECT DESCRIPTION 3.3.3.1 - Object 6040h: Control Word Index 6040h Name Control Word Object Code Data Type Unsigned16 Object Class Access PDO Mapping Possible Default Value 0000 Bit Number Function Switch On Disable Voltage Quick Stop Enable Operation Operation Mode Specific...

  • Page 35: Object 6041H: Status Word

    CD1-k – CANopen Communication Profile 3.3.3.2 - Object 6041h: Status Word The status word indicates the current status of the drive. It is possible to define the TPDO1 to be transmitted at every change of status word (Device Event transmission type). Index 6041h Name...

  • Page 36: Object 605Ah: Quick Stop Option Code

    CD1-k – CANopen Communication Profile 3.3.3.3 - Object 605Ah: Quick Stop Option Code Index 605Ah Name Quick Stop Option Code Object Code Data Type integer16 Object Class Access PDO Mapping Default Value Quick stop option code Action Disable drive Slow down on speed ramp Slow down on current limit The slow down speed ramp is defined in object 3300h.

  • Page 37: Position Sensor Group

    CD1-k – CANopen Communication Profile 3.4 – POSITION SENSOR GROUP 3.4.1 - UNITS The Units used in the CD1-k are the following: Position: increment (inc) Velocity: inc/s Acceleration: inc/s² Current: Percentage of amplifier rating (3FFFh = 100%) 3.4.2 - PRESENTATION The CD1-k amplifier has got 2 position sensor inputs : one for a resolver and another one for an encoder.

  • Page 38: Object 608Fh: Position Resolution

    CD1-k – CANopen Communication Profile Bit Number Description Motor Position polarity => multiply by 1 (default) => multiply by -1 resolver or encoder Motor Velocity polarity => multiply by 1 (default) => multiply by -1 resolver or encoder Position sensor polarity =>...

  • Page 39: Object 3080H: Encoder Input Selection

    CD1-k – CANopen Communication Profile 3.4.4.3 - Object 3080h: Encoder Input Selection Index 3080h Name Encoder Input Selection Object Code Data Type Unsigned16 Object Class Access PDO Mapping Default Value eeprom Value Description TTL incremental encoder configuration TTL incremental encoder + 60° HES configuration TTL incremental encoder + 120°...

  • Page 40: Object 3091H: Encoder Zero Mark Pitch

    CD1-k – CANopen Communication Profile 3.4.4.6 - Object 3091h: Encoder Zero Mark Pitch This parameter is equal to the number of encoder pulses between two successive Zero Mark signals divided by the Encoder Input Resolution value (see object 308Fh). For a rotating motor, this parameter is generally equal to 1 because the encoder has got one Zero Mark signal per motor revolution.

  • Page 41: Object 3098H: Motor Feedback Programming

    CD1-k – CANopen Communication Profile 3.4.4.8 - Object 3098h: Motor Feedback Programming Index 3098h Name Motor Feedback Programming Procedure Object Code Data Type Unsigned32 Object Class Access PDO Mapping The Motor Feedback Programming procedure modifies the encoder input selection and the motor feedback selection according to the parameters defined by objects 3070 and 3080.

  • Page 42: Profile Position Mode

    CD1-k – CANopen Communication Profile 3.5 - PROFILE POSITION MODE In this mode, a trapezoidal trajectory generator gives the drive the possibility to execute a positioning with preset parameters as target position, profile speed and acceleration. 3.5.1 - OBJECT DICTIONARY ENTRIES Index Object Name...

  • Page 43: Object 6081H: Profile Velocity

    CD1-k – CANopen Communication Profile 3.5.2.3 - Object 6081h: Profile Velocity The profile velocity is the running velocity for a positioning. If the positioning is too short, the profile velocity may not be reached. Index 6081h Name Profile Velocity Object Code Data Type Unsigned32 Object Class...

  • Page 44: Object 6086H: Motion Profile Type

    CD1-k – CANopen Communication Profile 3.5.2.7 - Object 6086h: Motion Profile Type Index 6086h Name Motion Profile Type Object Code Data Type Integer16 Object Class pp eg Access PDO Mapping Value Range 0 -> Trapezoidal profile -1 -> S-Curve Default Value The S-curve is defined by a polynomial.

  • Page 45: Object 6067H: Position Window

    CD1-k – CANopen Communication Profile Sub Index Description Max Position Limit Data Type Integer32 Object Class Access PDO Mapping Unit Inc (Revolution increments: object 608F sub-index 1) Value Range )..(2 Default Value 3.5.2.9 - Object 6067h: Position Window The "Position Window" defines a symmetrical range of accepted positions relatively to the target position. If the current position of the motor is within the position window, this target position is considered as reached (bit 10 of status word - Target Reached - is set).
  • Page 46 CD1-k – CANopen Communication Profile Speed Profile Velocity Profile Deceleration Profile Acceleration time Current Position Target Position The speed profile is trapezoidal (motion profile type = 0) or S-curve (motion profile type = -1). Change setpoint immediately Bit change_set_immediately = 1 : new set point set point acknowledgement Bit change_set_immediately = 0 :...

  • Page 47: Homing Mode

    CD1-k – CANopen Communication Profile 3.6 - HOMING MODE 3.6.1 - OBJECT DICTIONARY ENTRIES Index Object Name Type Attr. 607C Home Offset Integer32 6098 Homing Method Integer8 6099 ARRAY Homing Speeds Unsigned32 609A Homing Acceleration Unsigned32 Manufacturer Specific Objects: Index Object Name Type...
  • Page 48 CD1-k – CANopen Communication Profile Value Description Method supported: 1..14, 17..30, 33..35. Methods specific: -1, -2, -3, -4. Method Search for Switch Search for Remarks Index Pulse Negative Limit Switch Exterior Positive Limit Switch Exterior Positive Home Switch Exterior Positive Home Switch Interior Negative Home Switch Exterior...

  • Page 49: Object 6099H: Homing Speeds

    CD1-k – CANopen Communication Profile 3.6.2.3 - Object 6099h: Homing Speeds Homing Speeds defines the motor speed when searching the homing position. Index 6099h Name Homing Speeds Object Code ARRAY Number of Elements Data Type Unsigned32 Value Description Sub Index Description Speed during search of switch Object Class...

  • Page 50: Object 309Ch: Homing Current Limit

    CD1-k – CANopen Communication Profile 3.6.2.6 - Object 309Ch: Homing Current Limit The "Homing current limit" defines the limit of current during homing on the mechanical limit. The value is defined as a percentage of the drive maximum current (defined by object 6510h sub-index 5). Index 309Ch Name...

  • Page 51: Position Control Function

    CD1-k – CANopen Communication Profile 3.7 - POSITION CONTROL FUNCTION 3.7.1 - OBJECT DICTIONARY ENTRIES Index Object Name Type Attr. 6063 Position Actual Value Integer32 6064 Position Actual Value Integer32 6065 Following Error Window Unsigned 32 3067 Position loop deadband Unsigned32 60FB RECORD...

  • Page 52: Object 6065H: Following Error Window

    CD1-k – CANopen Communication Profile 3.7.2.4 - Object 6065h: Following Error Window Index 6065h Name Following Error Window Object Code Data Type Unsigned 32 Object Class pp ip hm eg Access PDO Mapping Unit Inc (Revolution increments: object 608F sub-index 1) Value Range 0..7FFF FFFFh (For the value 0 the following error protection is desactivated) Default Value...

  • Page 53: Object 3214H: Position Error

    CD1-k – CANopen Communication Profile If the following error detection mode is set at 1, the position following error fault is generated as described below: Theoretical Position Following following error reference error window Following error Position loop model Absolute Dynamic fault value gain...

  • Page 54: Object 60Fbh: Position Control Parameter Set

    CD1-k – CANopen Communication Profile 3.7.2.8 - Object 60FBh: Position Control Parameter Set KA.s² Current Offset KF2.s KF1.s Scale Filter KI/s KD.s Filter FD Velocity Position Feedforward Acceleration Feedforward Speed 1 Feedforward Speed 2 Proportional Position Gain Proportional Speed Gain Integral Speed Gain Damping Gain Derivative Gain...

  • Page 55: Interpolated Position Mode

    CD1-k – CANopen Communication Profile Sub Index Description Feedforward Speed 1 Gain Defines the feedforward term amplitude (KF1) corresponding to the speed input command (derivation of the position input command). This feedforward term allows to reduce the following error during the motor acceleration and deceleration phases. Data Type Unsigned16 Object Class...

  • Page 56: Object Description

    CD1-k – CANopen Communication Profile 3.8.2 - OBJECT DESCRIPTION 3.8.2.1 - Object 60C0h: Interpolation Submode Select Index 60C0h Name Interpolation Submode Select Object Code Data Type Integer16 Object Class Access PDO Mapping Default Value Interpolation Submode Description Select Linear interpolation PV cubic interpolation P3 cubic interpolation 3.8.2.2 - Object 60C1h: Interpolation Data Record...

  • Page 57: Object 60C4H: Interpolation Data Configuration

    CD1-k – CANopen Communication Profile When in linear interpolation mode, only the first parameter of interpolation data record is used. The data must be the position reference. When in PV cubic interpolation mode, the first parameter of interpolation data record must contain position reference and the second parameter of interpolation data record contains velocity reference.

  • Page 58: Profile Velocity Mode

    CD1-k – CANopen Communication Profile Sub Index Description Buffer Position Data Type Unsigned16 Object Class Access PDO Mapping Default Value Sub Index Description Size of Data record Data Type Unsigned8 Object Class Access PDO Mapping Sub Index Description Buffer Clear Data Type Unsigned8 Object Class...

  • Page 59: Object 606Ah: Sensor Selection Code

    CD1-k – CANopen Communication Profile 3.9.2.2 - Object 606Ah: Sensor Selection Code Index 606Ah Name Sensor Selection Code Object Code Data Type Integer16 Object Class Access PDO Mapping Default Value Sensor Selection Code Description Velocity actual value from position sensor 3.9.2.3 - Object 606Bh: Velocity Demand Value Index 606Bh...

  • Page 60: Object 606Fh: Velocity Threshold

    CD1-k – CANopen Communication Profile 3.9.2.7 – Object 606Fh: Velocity threshold Index 606Fh Name Velocity threshold: When the Actual velocity value is below the Velocity threshold longer than the Velocity threshold time, the motor is considered at standstill (bit 12 of status word – Velocity = 0 –...

  • Page 61: Object 60F9H: Velocity Control Parameter Set

    CD1-k – CANopen Communication Profile 3.9.2.11 - Object 60F9h: Velocity Control Parameter Set Index 60F9h Name Velocity Control Parameter Set Object Code RECORD Number of Elements See 3.7.2.7 for the controller diagram. Value Description Sub Index Description Proportional Speed Gain Defines the proportional regulator gain (KP2) that acts upon the speed error.

  • Page 62: Object 30F9H: Integrator Low Frequency Limit

    CD1-k – CANopen Communication Profile Sub Index Description Anti-resonance Filter Selection Enables or inhibits the anti-resonance filter. Data Type Unsigned8 Object Class pp ip hm pv eg Access PDO Mapping Value Range 0..1 Default Value eeprom Anti-resonance filter Function Selection standard filter anti-resonance filter Sub Index...

  • Page 63: Object 30Fbh: Regulator Gains Scaling

    CD1-k – CANopen Communication Profile 3.9.2.13 - Object 30FBh: Regulator Gains Scaling Index 30FBh Name This term is acting like a multiplying factor for the regulator gains (KP2, KC, KI, KD, KA, KB) in order to avoid the gain values saturation when the load/motor inertia ratio is very high.

  • Page 64: Object Description

    Unsigned32 Object Class Access PDO Mapping Default Value 1000h 3.10.2.3 - Object 6088h: Torque profile type This parameter is not used by Infranor Servo Drives, but only for compliance. Index 6088h Name Torque profile type Object Code Data Type Integer16...

  • Page 65: Object 6078H: Filtered Current Monitor

    CD1-k – CANopen Communication Profile Sub Index Description q-Loop Integral Gain Data Type Unsigned16 Object Class pp ip hm pv eg Access PDO Mapping Value Range 0..FFFFh Default Value eeprom Sub Index Description d-Loop Proportional Gain Data Type Unsigned16 Object Class pp ip hm pv eg Access PDO Mapping...

  • Page 66: Stepper Emulation Mode

    CD1-k – CANopen Communication Profile 3.11 – STEPPER EMULATION MODE The stepper motor emulation application is only possible for motors equipped with a resolver such as a position feedback sensor (see object 3070: motor feedback selection). The Pulse and Direction input configuration must be selected in the Encoder input selection (see object 3080).

  • Page 67: Functional Description

    CD1-k – CANopen Communication Profile 3.12.1 - FUNCTIONAL DESCRIPTION The specific bits of the control word (object 6040) used in electronic gearing mode are described below: Function Enable motor gearing Start offset profile reserved The specific bits of the status word (object 6041) used in electronic gearing mode are described below: Function Motor gearing OK reserved...

  • Page 68: Manufacturer Device Specific

    CD1-k – CANopen Communication Profile 3.13 - MANUFACTURER DEVICE SPECIFIC 3.13.1 - OBJECT DICTIONARY ENTRIES Index Object Name Type Attr. Error and Stop Function 3020 Drive Error Code Unsigned32 3021 Warning Code Unsigned16 3330 Fault Reaction Mask 1 Unsigned16 3331 Fault Reaction Mask 3 Unsigned16 3300...

  • Page 69: Error And Stop Function

    CD1-k – CANopen Communication Profile Auto-Phasing 3410 Auto-phasing Unsigned32 3414 Motor phasing Unsigned32 Auto-Tuning 3421 Auto-tuning Time Interval Select Unsigned16 3430 Auto-tuning Application Requirements Unsigned16 3420 RECORD Auto-tuning Encoder Output 3487 RECORD Encoder Emulation Output Cogging torque compensation 3491 Enable/Disable cogging torque compensation Unsigned16 3492 Cogging torque acquisition procedure...

  • Page 70: Object 3331H: Fault Reaction Mask 3

    CD1-k – CANopen Communication Profile Fault Position Limits Following Error EEPROM Synchro_CAN LowSpeed Procedure Current_Offset Temp. Motor Init_400V Over_Current 3.13.2.4 - Object 3331h: Fault Reaction Mask 3 This object defines which errors (when the pertaining bit is set) will trigger a stop 3. Index 3331h Name...

  • Page 71: Object 3301H: Stop 3 Parameter

    CD1-k – CANopen Communication Profile Value Description Sub Index Description Stop 1 Ramp (positive direction) Data Type Unsigned32 Object Class pp ip hm pv eg Access PDO Mapping Unit inc/s Default Value 0003D090h Sub Index Description Stop 1 Ramp (negative direction) Data Type Unsigned32 Object Class...

  • Page 72: Object 3302H: Inhibit Current Limit

    CD1-k – CANopen Communication Profile Quick stop option code Action Disable drive function Slow down on slow down ramp Slow down on current limit The slow down ramp is defined in object 3300h. The slow down current limit is defined in object 3302h. 3.13.2.8 - Object 3302h: Inhibit Current limit Index 3302h...

  • Page 73: Object 3321H: Motor Temperature Sensor Monitor

    CD1-k – CANopen Communication Profile Sub Index Description Motor Temperature Sensor Error Threshold Data Type Unsigned16 Object Class Access PDO Mapping Default Value eeprom This parameter defines the threshold of the equivalent resistor corresponding to the temperature at which an error will be triggered.

  • Page 74: Object 30D1H: Current Limitation

    CD1-k – CANopen Communication Profile 3.13.3.2 - Object 30D1h: Current Limitation This parameter defines the dynamic limitation of the current output. Index 30D1h Name Current Limitation Object Code Data Type Integer16 Object Class Access PDO Mapping Possible Unit Percentage of amplifier Max Current (3FFFh = 100%) Value Range 0 to 3FFFh Default Value...

  • Page 75: Inputs/Outputs

    CD1-k – CANopen Communication Profile 3.13.4 - INPUTS/OUTPUTS 3.13.4.1 - Object 30FDh: Digital Inputs Bitmask Index 30FDh Name Digital Input Bitmask Object Code Data Type Unsigned16 Object Class Access PDO Mapping Default Value 003Fh By default, the digital inputs of the drive are dedicated inputs with special function. All inputs can be dissociated from their function in order to be used as a simple digital input.

  • Page 76: Object 30C4H: Analog Input 1 Offset Compensation

    CD1-k – CANopen Communication Profile 3.13.4.4 - Object 30C4h: Analog input 1 offset compensation Writing to this object will execute the offset compensation procedure on analog input 1. Index 30C4h Name Offset compensation procedure Object Code Data Type Unsigned32 Object Class Access PDO Mapping In order to avoid running the offset compensation procedure by mistake, the offset compensation is only executed...

  • Page 77: Position Control Function

    CD1-k – CANopen Communication Profile 3.13.5 - POSITION CONTROL FUNCTION The motor position (object 6064h) is calculated as shown below: Pos = RawPos - Offset Offset (object 3211h) is a value calculated by the homing procedure. RawPos (object 3210h) is the position given by the internal counter of the drive. The lowest bits of RawPos allow to calculate the position over one motor revolution;...

  • Page 78: Object 3210H: Internal Raw Position

    CD1-k – CANopen Communication Profile 3.13.5.1 - Object 3210h: Internal Raw Position This object returns : - the position value of the motor sensor (resolver or encoder) if the motor sensor is selected for position loop, - the position value of the secondary sensor if the second sensor is selected for the position loop. Index 3210h Name...

  • Page 79: Object 3360H: Axis Type

    CD1-k – CANopen Communication Profile 3.13.5.5 - Object 3360h: Axis Type This parameter defines the axis type: linear or rotative. A linear axis has the software position limit active. For a rotary axis, the software position limit is inactive. Index 3360h Name Axis Type...

  • Page 80: Object 3217H: Position Reference Error Flag

    CD1-k – CANopen Communication Profile 3.13.5.8 - Object 3217h: Position reference error flag Index 3217h Name Position reference error flag Object Code Data Type Unsigned16 Object Class Access PDO Mapping Default Value The position reference error flag value is set at 1 at the logic board power up (24V). When the drive position reference for the position loop is lost, due to a position loop sensor error or a position loop couting error, the position reference error flag value is set as described below.
  • Page 81 CD1-k – CANopen Communication Profile Servo On/Off Timing Diagram Control_Word xx00h xx06h xx07h xx0Fh xx07h xx06h xx00h Brake Off Brake On Brake Cmd T_brake T_brake T_drive Servo On Servo Off Servo Status_Word xx40h xx21h xx23h xx27h xx23h xx21h xx40h Switch On Switch On Switch On Switch On...

  • Page 82: Position Capture Function

    CD1-k – CANopen Communication Profile 3.13.7 - POSITION CAPTURE FUNCTION The drive can capture the motor position and the secondary sensor position at a rate of 62,5 µs with 2 logic inputs : the CAPTURE input and the INDEX input . The chart below defines the Main capture position value and the Secondary capture position value according to the sensor feedback configuration.

  • Page 83: Object 3381H: Capture Status

    CD1-k – CANopen Communication Profile 3.13.7.3 - Object 3381h: Capture Status Index 3381h Name Capture Status Object Code Data Type Unsigned16 Object Class Access PDO Mapping Possible (16 bit length or 8 bit length) Default Value Meaning Capture at rising edge of input 1 has occurred Capture at falling edge of input 1 has occurred Capture at rising edge of input 2 has occurred Capture at falling edge of input 2 has occurred...

  • Page 84: Object 3382H: Capture Position Filter

    CD1-k – CANopen Communication Profile Index 338Ah Name Capture Time Filter Object Code Data Type Unsigned16 Object Class Access PDO Mapping Unit Sampling periods (62,5 µs) Value Range 0 to 32767 (2s) Default Value 6 (375 µs) 3.13.7.5 - Object 3382h: Capture Position Filter This parameter defines the value in distance threshold of the capture position filter.

  • Page 85: Object 3383H: Capture 1 Position

    CD1-k – CANopen Communication Profile 3.13.7.6 - Object 3383h: Capture 1 Position This object returns the position latched by input 1 at rising or/and falling edge, as defined in the capture configuration (object 3380h). Index 3383h Name Capture 1 Position Object Code Data Type Integer32...

  • Page 86: Object 3386H: Single Shot Capture Status

    CD1-k – CANopen Communication Profile 3.13.7.9 - Object 3386h: Single Shot Capture Status This parameter displays the single shot capture status. A status bit (0 to 3) is reseted when the corresponding command bit (object 3385h) is set to 1 (capture enabled). A status bit (0 to 3) is set to 1 when the capture has been performed.

  • Page 87: Tpdo3 Control

    CD1-k – CANopen Communication Profile 3.13.8 - TPDO3 CONTROL The CD1-k has a special transmission mode for the TPDO3 defined by a TPDO3_Control (object 33A1h) and a TPDO3_Count (object 33A0h). The purpose of this mode is to control the number of cyclic TPDO3 for each axis. TPDO3_Control is predefined for each axis.

  • Page 88: Object 3414H: Motor Phasing Procedure

    CD1-k – CANopen Communication Profile 3.13.9.2 - Object 3414h: Motor phasing procedure Writing to this object will execute the motor phasing procedure. This command starts the motor phasing procedure after the amplifier power up when incremental encoder types without Hall Effect Sensors are used (see CD1-k manual).

  • Page 89: Object 3420H: Auto-Tuning Procedure

    CD1-k – CANopen Communication Profile 3.13.10.3 - Object 3420h: Auto-tuning procedure Index 3420h Name Auto-tuning procedure Object Code RECORD Number of Elements Value Description Sub Index Description Bandwidth Data Type Unsigned8 Object Class Access PDO Mapping Value Range 0..8 Default Value eeprom This parameter defines the auto-tuning bandwidth: Value...

  • Page 90: Encoder Output

    CD1-k – CANopen Communication Profile 3.13.11 – ENCODER OUTPUT 3.13.11.1 - Object 3487h: Encoder Emulation Output Index 3487h Name Encoder Emulation Output Object Code RECORD Number of Elements Value Description Sub Index Description Encoder Output Resolution Data Type Unsigned16 Object Class Access PDO Mapping Value Range...
  • Page 91 CD1-k – CANopen Communication Profile Sub Index Description Encoder Output Zero Pulse Shift Data Type Unsigned16 Object Class Access PDO Mapping Value Range 0..32768 Default Value eeprom The Encoder Output Zero pulse shift parameter allows to shift the marker pulse position on channel Z with regard to the motor zero position given by the position sensor.

  • Page 92: Cogging Torque Compensation (Option)

    CD1-k – CANopen Communication Profile 3.13.12 – COGGING TORQUE COMPENSATION (OPTION) 3.13.12.1 - Object 3491h: Enable / Disable Cogging Torque Compensation The Cogging compensation option available in the CD1-k amplifier range allows to cancel the motor cogging torque effects for specific applications where torque accuracy higher than 1 % is required. The CD1 amplifier must be equipped by the factory for getting the cogging compensation option (reference CD1-k - U / I - CT).

  • Page 93: Digital Cam

    CD1-k – CANopen Communication Profile 3.13.13 - DIGITAL CAM 10 digital cams are available in the CD1-k amplifier. 3.13.13.1 - Object 2500h: Cam Configuration Register Index 2500h Name Cam Configuration Register Object Code RECORD Number of Elements Value Description Sub Index Description Cam Enable Register Data Type...

  • Page 94: Object 2501H: Cam Positions

    CD1-k – CANopen Communication Profile Cam Type = 1: Cam defined by 2 positions. Cam Position 1 Cam Position 2 Sub Index Description Cam Hysteresis Register Data Type Unsigned16 Object Class Access PDO Mapping Defaut Value 0000h Cam Hysteresis Register defines a hysteresis of the cam position. Hysteresis Cam Position 1 Cam Position 2...

  • Page 95: Object 2502H: Cam Status

    CD1-k – CANopen Communication Profile 3. 13.13.3 - Object 2502h: Cam Status Index 2502h Name Cam Status Object Code Data Type Unsigned16 Object Class Access PDO Mapping Possible Each bit (0 to 9) of Cam Status Register is the output of the corresponding cam. Important remark: Cams are fully defined with object 2500h and 2501h.

  • Page 96: Object 3215H: Absolute Encoder Position Reset Procedure

    CD1-k – CANopen Communication Profile Sub Index Name Encoder Position Actual Value Object Code Data Type Integer32 Object Class Access PDO Mapping Unit This object returns the absolute position value, for an absolute encoder type, or the incremental position value, for an incremental encoder type.

  • Page 97: Object 3218H: Absolute Position Range

    CD1-k – CANopen Communication Profile 3.13.14.4 - Object 3218h: Absolute Position Range Index 3218h Description Absolute position range Data Type Unsigned32 Access PDO Mapping Default Value This parameter defines the maximum value for the absolute position according to the user position resolution (object 608F sub index 1) and the encoder revolutions (object 3216 sub index 2) for a rotary absolute encoder.

  • Page 98: Appendix 1 - Object Dictionary

    CD1-k – CANopen Communication Profile Appendix 1 - Object Dictionary COMMUNICATION Index Sub- Name Type Attr. Default Value index 1000 Device type Unsigned32 00020192h 1001 Error register Unsigned8 1005 COB-ID SYNC Unsigned32 00000080h 1006 Communication cycle period Unsigned32 eeprom 3006 Cycle period adjustment Number of supported entries Unsigned8...

  • Page 99: Common Entries In The Object Dictionary

    Current Phase Lead Unsigned16 Hall Effect Sensors Offset Unsigned16 eeprom 6502 Supported Drive Modes Unsigned32 0000006Dh 6504 Drive Manufacturer String Infranor 6510 Drive Data RECORD Number of supported entries Unsigned8 Drive Family Code Unsigned16 Drive Option Code Unsigned16 0000h Voltage...

  • Page 100: Device Control

    CD1-k – CANopen Communication Profile DEVICE CONTROL Index Sub- Name Type Attr. Default Value Index 6040 Control Word Unsigned16 0000h Possible 6041 Status Word Unsigned16 Possible 6060 Mode of Operation Integer8 Possible 6061 Mode of Operation Display Integer8 Possible 605A Quick Stop Option Code Integer16 0003h...

  • Page 101: Position Control Function

    CD1-k – CANopen Communication Profile POSITION CONTROL FUNCTION Index Sub- Name Type Attr. Default Value Index 6063 position actual value* Integer32 6064 position actual value Integer32 Possible Integer32 Integer16 6065 Following error window Unsigned32 eeprom 3031 Following Error Dynamic Gain Unsigned16 eeprom 3033...

  • Page 102: Manufacturer Specific

    CD1-k – CANopen Communication Profile PROFILE TORQUE MODE Index Sub- Name Type Attr. Default Value Index 6071 Target Torque Integer16 Possible 6087 Torque Slope Unsigned32 6088 Torque Profile Type Integer16 0000h 60F6 Torque Control Parameter Set RECORD Number of supported entries Unsigned8 q-Loop Proportional Gain Unsigned16...

  • Page 103: Mode

    CD1-k – CANopen Communication Profile 3300 Stop 1 Parameter ARRAY Number of supported entries Unsigned8 Stop 1 Ramp Pos Unsigned32 0003D090h Stop 1 Ramp Neg Unsigned32 0003D090h 3301 Stop 2 Curent Limit Unsigned16 3FFFh 3302 Inhibit Curent Limit Unsigned16 3FFFh 3304 Amplifier Reaction Delay Unsigned16...
  • Page 104 CD1-k – CANopen Communication Profile 3487 Encoder Emulation Output RECORD Number of supported entries Unsigned8 Encoder Output Resolution Unsigned16 eeprom Encoder Output Division Ratio Unsigned16 eeprom Encoder Output Deadband Unsigned16 eeprom Encoder Output Zero Pulse Shift Unsigned16 eeprom Enable/Disable Encoder Output Unsigned16 0000h Encoder Output Programming...

  • Page 105: Appendix 2 - Quick Start

    CD1-k – CANopen Communication Profile Appendix 2 - Quick Start A2.1 - OVERVIEW The purpose of this paper is to give the user a quick overview of how to use Infranor Servo Drives. Main steps : 1. Installation - Wiring the drive...

  • Page 106: A2.3 - Operation

    A2.3.1 - START COMMUNICATION (NMT) Infranor Servo Drives are able of a minimum boot-up. This means that after a reset at power-on, they will automatically switch to "Pre-Operational" state. In this state, it is possible to change parameters via the SDO communication.

  • Page 107: A2.3.4 - Exchange Data (Pdos)

    CD1-k – CANopen Communication Profile A2.3.4 - EXCHANGE DATA (PDOS) The exchange data in Interpolated position mode are mainly the position demand value sent by the controller (via RPDO3) and the current position value sent by the drive (via TPDO3). It is possible to modify the mapping of these PDOs to exchange other data, but in interpolated position mode, the drive position demand is required for executing this function (object 60C1 sub-index 1: Interpolated data record).

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