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Stober SD6 Manual

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Manual
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06/2015
ID 442637.00

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Summary of Contents for Stober SD6

  • Page 1 Manual 06/2015 ID 442637.00...

  • Page 2: Table Of Contents

    Further documentation ....... . 4 4.2.2 SD6 - Terminal X200 ......11 1.1.1 CiA specifications ..

  • Page 3: Table Of Contents

    CAN bus and CANopen ......26 STOBER-specific parameters ......53 6.1.1...

  • Page 4: General Information

    General Information Further documentation The documentation listed in the following table provides relevant information on The new SD6 drive controller offers maximum precision and productivity for the SD6 drive controller.  automation technology and machine manufacturing despite ever more You can find the latest document versions at www.stoeber.de.

  • Page 5: Cia Specifications

    SD6 – Device description • CANopen device profiles; these specifications describe the behavior of You can get an EDS file for simple integration of the drive controller SD6 in many device classes: CODESYS at www.stoeber.de. CiA DS 402 V2.0 – CANopen device profile drives and motion control,...

  • Page 6: Instructions For Use

    Before putting the CA6 communication module into operation, you have to wire Transmitted Data the SD6 drive controller and initially check its correct function. To do this, follow the instructions in the commissioning instructions of the SD6 drive controller. Trademarks...

  • Page 7: Notes On Safety

    On no account can STOBER shall assume no liability for damage resulting from failure to comply sufficient insight into the Machine Directive be given as part of this with the instruction manual or relevant regulations.

  • Page 8: Working On The Machine

    Notes on safety Manual CANopen Working on the machine Presentation of notes on safety Apply the 5 safety rules in the order stated before performing any work on the NOTICE machine: Notice 1. Disconnect. Also ensure that the auxiliary circuits are disconnected. means that property damage may occur 2.

  • Page 9: Communication Module Ca6

     Do not touch the contact surfaces. SD6 itself is parameterized via Service Data Objects (SDO) and controlled via fast cyclic Process Data Objects (PDO) that assign target positions, travel CA6 is installed on the upper slot of the drive controller.

  • Page 10: Electrical Installation

    CANopen interface and permanently activated; the second must be connected recommend using bus lines that meet the requirements stated in ISO 11898-2, to the last subscribing SD6 (X200: sliding switch set to "On"). Connecting the for example: termination resistors is also necessary for very short lines.

  • Page 11: Sd6 - Terminal X200

    Electrical installation Manual CANopen 4.2.2 SD6 - Terminal X200 4.2.1.2 Shielding Above all, suitable shielding is essential at high transfer rates. To be able to connect the drive controllers to each other, the CA6 The shielding of the CAN cable is mounted under the strain relief of the communication module has a 9-pin Sub-D connector.

  • Page 12: Mc6 - Canopen Interface

    MC6 - CANopen interface 4.2.4 States of the bus communication To connect the SD6 drive controller with the MC6 controller, MC6 provides a The state of the bus communication is apparent directly at the communication predefined CANopen interface. module. CA6 is fitted with a green and a red LED. Both LEDs display...
  • Page 13 SYNC error Check the SYNC configuration of the flash controller. Bus off The SD6 concerned no longer subscribes to the CAN communication. Check the baud rate and bus cabling and switch off the drive controller and then switch on again.

  • Page 14: Commissioning - Sd6 And Mc6 With Canopen

    To be able to configure all drive controllers of the bus system via the DriveControlSuite, you must record them as part of a project. You then define You want to operate several SD6 drive controllers in conjunction with the global CANopen settings and adapt the predefined communication objects and STOBER MC6 Motion Controller via a CANopen network.

  • Page 15: Configure Global Canopen Settings

    Commissioning - SD6 and MC6 with CANopen Manual CANopen 5.1.2 Configure global CANopen settings  A204 Specify how high the number of remaining remote Life Time Factor requests from the controller must be before the drive Requirement: controller changes to the Fault state.

  • Page 16: Check Pdo Communication

    CANopen PDO defaults. The STOBER drive controller supports a flexible assignment of the elements to be transmitted to the individual PDO. If you reconfigure this predefined PDO mapping according to your requirements, note that the entire length of the elements to be transmitted may not exceed 8 byte per channel.

  • Page 17: Transfer Project Configuration

    Commissioning - SD6 and MC6 with CANopen Manual CANopen 5.1.3.2 Check Transmit PDO 5. When you have recorded all drive controllers of your bus system in the current project, continue by saving the project configuration and transfer Requirement: to the drive controller of your bus system.

  • Page 18: Save Project Configuration

     CODESYS opens, the Devices view is active. 2. Click on Tools > Device repository > Install. 3. Navigate to the storage location of the SD6-EDS, mark it and click on Open.  The EDS file is integrated in the CODESYS library.

  • Page 19: Map Can Bus System

    Map drive controller Map your real CAN bus system in the project by integrating a corresponding Map all SD6 drive controllers that you operate in your CANopen network in the hardware module in the CODESYS device tree. project by integrating the corresponding hardware modules in the CODESYS device tree.

  • Page 20: Configure Data Exchange

    Commissioning - SD6 and MC6 with CANopen Manual CANopen Configure data exchange 5.3.2 Configure CANopen Manager Configure the communication properties of your CANopen Manager. Configure the data exchange between the drive controllers and controller via We recommend only changing the default settings when you operate outside the CAN bus system.
  • Page 21 Commissioning - SD6 and MC6 with CANopen Manual CANopen  Producer Time Time between two consecutive heartbeat 3. Sync section: (ms) messages. Enable Sync Activate this option so that the master SYNC can Default: 200 send messages.  Producing 5. TIME section: Default: deactivated ID of the SYNC messages.

  • Page 22: Configure Drive Controller

    CANopen Remote Device available to you. Default: deactivated 1. Double click in the device tree on the (first) module SD6 > Sub-tab CANopen Remote Device. 3. Nodeguarding/Heartbeat section:  The CANopen Remote Device sub-tab opens.
  • Page 23 PDO mapping ID of the EMCY messages.  COB-ID Permitted value range: 1 – 2047 1. Change to module SD6 > Sub-tab PDO Mapping. Default: $NODEID + 16#80  PDO Mapping sub-tab opens. 5. Checks at Startup section: 2. Select receive PDO (RPDO) section: ...
  • Page 24 Receive and Transmit PDO mapping Transmit PDO Mapping Transfer the configurations for the CANopen RxPDO as well as TxPDO from 6. Change to module SD6 > Sub-tab Transmit PDO Mapping. the DriveControlSuite in the current CODESYS project.  Transmit PDO Mapping sub-tab opens.

  • Page 25: Compile Project Configuration

    Commissioning - SD6 and MC6 with CANopen Manual CANopen Compile project configuration Compile the completed project configuration to check it for any errors. 1. Click on Build > Build.  The compilation run starts. 2. Click on View > Messages.

  • Page 26: More About Canopen

    More about CANopen? Manual CANopen More about CANopen? 6.1.1 CANopen – Communication CANopen is intended to bundle all bus subscribers with the same properties in The following chapter summarizes the important terms, services and the same classes. Each of these classes has its own "device profile" in which relationships concerning CANopen.

  • Page 27: Network Structure

    More about CANopen? Manual CANopen CAN message Object directory – Structure Index (hex) Object Communication via the CAN protocol occurs in the form of messages (telegrams). The structure of a standardized message "container" is 0000 Not used designated as a "Frame". The CAN bus system distinguishes between four 0001 –...

  • Page 28: Cob-Id

    More about CANopen? Manual CANopen 6.2.1 COB-ID 6.2.1.1 Predefined Connection Set The communication parameters of the drive controller are configured The COB-ID (Communication Object Identifier) determines the priority of a according to the principle of the Predefined Connection Set as supplied at message in the network (low COB-ID = high priority).
  • Page 29 More about CANopen? Manual CANopen Peer-to-Peer objects Note that the Node ID of the subscriber concerned must be between 1 and 31 and for the deactivated SDO channels SDO2, 3 and 4 for a max. of 127. Object Function code COB-ID Comm.
  • Page 30 More about CANopen? Manual CANopen 6.2.1.2 Dynamic Distribution Example You want to activate the second SDO channel and connect less than 64 In special application cases, it may be necessary to deviate from the default subscribers via the CAN bus: assignment of the COB-ID for certain communication objects and use the After the drive controller has been started with bus address 1, only SDO Dynamic Distribution service.

  • Page 31: Communication Objects

    More about CANopen? Manual CANopen Communication objects 6.3.1 Process Data Object - PDO Process Data Objects generally transfer fast cyclic data such as target The following communication objects are of significant importance for the data positions, travel speeds or acceleration specifications and are generally used transfer as part of CANopen: for data exchange in real time.
  • Page 32 • RTR (Remote Transmission Requests) The STOBER drive controllers support a flexible assignment of the elements to PDOs are sent for this transmission type only when requested by other be transmitted to the individual PDO. If you reconfigure the predefined PDO subscribers.

  • Page 33: Service Data Object - Sdo

    More about CANopen? Manual CANopen 6.3.1.3 Inhibit Time Synchronous-cyclic and synchronous-acyclic PDO transmission The transmission delay time defines the minimum time that must be waited when sending two identical PDO messages in a channel. It must be defined separately for each channel. 6.3.1.4 Event Timer The Event Time defines the interval when a bus subscriber sends a TxPDO...
  • Page 34 More about CANopen? Manual CANopen The 6th generation of drive controllers offers four independent channels for the 6.3.2.1 Expedited Transfer transmission of Service Data Objects. For an Expedited Transfer, the data is transferred according to the Intel format The first SDO channel is always active. The associated COB-ID "600 ("Little-Endian"), i.e.
  • Page 35 More about CANopen? Manual CANopen Initiate SDO Download Protocol Initiate Domain Upload Request For this message type, the controller initiates the read process of a communication parameter by an "Initiate Domain Upload Request". The 7 ... 6 3 ... 2 request is positively confirmed by an "Initiate Domain Upload Response"...
  • Page 36 More about CANopen? Manual CANopen Download SDO Segment Protocol Initiate SDO Upload Protocol Client command specifier 0 = Download segment request Client command specifier 2 = Initiate upload request Server command specifier 1 = Download segment response Server command specifier 2 = Initiate upload response Number of byte Number of bytes in "Segment data"...
  • Page 37 More about CANopen? Manual CANopen Upload SDO Segment Protocol Examples Segment download with 16 bytes of data; content 01, 02, 03 ... 10 Client: IDDReq: 21 idx x 10 00 00 00 (ccs=1, e=0=normal, s=1 -> data=no of bytes) Server: IDDRes: 60 idx x 00 00 00 00 Client: DSegReq: 00 01 02 03 04 05 06 07 (ccs=0, t=0, n=0, c=0 ->...
  • Page 38 More about CANopen? Manual CANopen 6.3.2.3 SDO – Error codes Error code Meaning If the response of an SDO service is negative – regardless of whether it is an (hex) Expedited or Segmented Transfer, the drive controller outputs in the case of an 0609 0036 Maximum value is less than minimum value error via the "Abort SDO Transfer Protocol"...

  • Page 39: Network Management Object - Nmt

    More about CANopen? Manual CANopen 6.3.3 Network Management Object - NMT Possible states Network management objects are responsible for initialization, configuration State and error handling in the CAN network. Reset application Configuration of the drive controller starts, the saved Each subscriber of a CANopen network has a NMT state machine (Network values are loaded.

  • Page 40: Error Control Objects - Error

    More about CANopen? Manual CANopen How the NMT command is made up of the byte specified in the table is shown 6.3.4 Error Control Objects - ERROR in the following example using command "NMT_Start_Remote_Node": To be able to monitor the NMT states of the individual bus subscribers, COB-ID Command specifier Node...
  • Page 41 More about CANopen? Manual CANopen Life Time Factor At regular intervals (Guard time) the master as a controller sends the query The Life Time Factor specifies how high the number of remaining Remote (Request) as remote transmit telegram (RTR) to each drive controller Frames of the controller must be before the drive controllers change to the fault (NMTslave) to be monitored.

  • Page 42: Synchronization Object - Sync

    More about CANopen? Manual CANopen 6.3.5 Synchronization Object - SYNC 6.3.4.2 Heartbeat The Heartbeat control service is an alternative to the Node/Life Guarding. The Information advantage of this service is that no remote frames must be sent. This reduces Note that no synchronization of the CANopen communication is the bus load of the CAN network.
  • Page 43 4: Voltage 36: Overvoltage specifications of the CiA/DS-301 and CiA DSP402 profiles.The fourth byte MAINS_OVERVOLTAGE contains the value of the STOBER parameter E82 Event type and the fifth byte 7303:  1: Generic 37: Motor encoder the value of the parameter E43 Event cause.
  • Page 44 More about CANopen? Manual CANopen Error code  Error register  Error code  Error register  E82 Event type E82 Event type hex: designation hex: designation dez: designation hex: designation hex: designation dez: designation 4280:  59: Temperature –  FF09: MANUFACTORER_...
  • Page 45 More about CANopen? Manual CANopen Error code  Error register  E82 Event type hex: designation hex: designation dez: designation 7304:  1: Generic 79: Motor – position RESOLVER_2_FAULT monitor 1000:  1: Generic 80: Impermissible action GENERIC_ERROR 7120:  1: Generic 81: Motor –...

  • Page 46: Object Directory - References

    1000 – 1FFF (hex), communication profile (CiA DS 301 V4.02 – Guard time in ms CANopen application layer and communication profile) as well as its mapping 100D Life time factor A204 to the corresponding STOBER-specific parameters. 1010 Store parameters — supported, highest Index Subindex...
  • Page 47 Object directory - References Manual CANopen Index Subindex Name Parameter Comment Index Subindex Name Parameter Comment (hex) (hex) STOBER (hex) (hex) STOBER 1200 server SDO — 1202 server SDO A219[1] + Node-ID parameter, highest parameter, COB-ID sub-index supported Server -> Client (tx) 600hex + ...
  • Page 48 Object directory - References Manual CANopen Index Subindex Name Parameter Comment Index Subindex Name Parameter Comment (hex) (hex) STOBER (hex) (hex) STOBER 1401 receive PDO 1600 receive PDO — parameter, COB-ID mapping, highest used by PDO sub-index supported 1401 receive PDO...
  • Page 49 Object directory - References Manual CANopen Index Subindex Name Parameter Comment Index Subindex Name Parameter Comment (hex) (hex) STOBER (hex) (hex) STOBER 1800 transmit PDO A229[0] + Node-ID 1802 transmit PDO — parameter, COB-ID parameter, highest used by PDO sub-index supported...

  • Page 50: Communication Objects - Cia Ds 402

    402 Drives and motion control device profile) as well as their mapping to the timer corresponding STOBER-specific parameters. The communication parameters are used in the STOBER applications "CiA 1A00 transmit PDO — 402 Controller Based Mode", "CiA 402 Controller Based Mode HiRes Motion"...
  • Page 51 Object directory - References Manual CANopen Index Subindex Name Parameter Comment Index Subindex Name Parameter Comment (hex) (hex) STOBER (hex) (hex) STOBER 6077 Torque actual value A564 607E Polarity A571 Bit 7 position polarity is 607A Target position A567 used for the...
  • Page 52 Object directory - References Manual CANopen Index Subindex Name Parameter Comment Index Subindex Name Parameter Comment (hex) (hex) STOBER (hex) (hex) STOBER 6099 Homing speeds, A587[0] 60C1 Interpolation data A601[1] Not used speed during search record, 2nd set-point for switch...

  • Page 53: Communication Objects - Stober- Specific Parameters

    The following table contains the communication objects of the object directory configuration, size of index range 2000 – 5FFF (hex), manufacturer-specific parameters as well as data record their mapping to the corresponding STOBER-specific parameters. 60C5 Max. acceleration A604 Index (hex)
  • Page 54 Object directory - References Manual CANopen Index (hex) STOBER parameter range 4800 – 49FF U00 – U511 4A00 – 4BFF V00 – V511 4C00 – 4DFF W00 – W511 4E00 – 4FFF X00 – X511 5000 – 51FF Y00 – Y511 5200 –...
  • Page 55 25 Fon +33 4 78989180  Fon +65 65112912 Fon +43 7613 7600-0 countries Fax +33 4 78985901 Fax +65 65112969 Fax +43 7613 7600-2525 E-Mail: info@stober.sg  E-Mail: mail@stober.fr E-Mail: office@stoeber.at Service network  www.stober.fr www.stober.sg www.stoeber.at Germany...
  • Page 56 STÖBER ANTRIEBSTECHNIK GmbH & Co. KG Technische Änderungen vorbehalten Kieselbronner Str. 12 Errors and changes excepted 75177 PFORZHEIM ID 442637.00 GERMANY Tel. +49 7231 582-0 Fax +49 7231 582-1000 442637.00 E-Mail: mail@stoeber.de www.stober.com 24h Service Hotline +49 180 5 786 323...

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