Page 1 Motion System Rotary Encoders Linear Encoders Seite 2 - 130 Page 131 - 260 MD-025-CO-CXXX CANopen Handbuch / Manual Dezentrale Stellantriebe / Decentralized positioning drives MD-025-CO-CXXX Series with CANopen interface • • Additional safety instructions Zusätzliche Sicherheitshinweise • • CANopen communication CANopen-Kommunikation •...
Page 2 Gemeinschaftsmarken der CAN in Automation e.V. CoDeSys ist ein eingetragenes Warenzeichen der 3S – Smart Software Solutions GmbH encoTRive ist ein eingetragenes Warenzeichen der TR-Electronic GmbH © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 3 CiA [2002b]: CiA Draft Standard Proposal 402. CANopen Device Profile Drives and Motion Control. Version 2.0. July 2002. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 4: Table Of Contents
4.2.3.4.2 Zustandswort ...................41 4.2.3.4.3 Geschwindigkeitsrampe ausführen ..........42 4.2.3.4.4 Relevante Parameter ..............43 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 4 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 5 4.2.4.6.18 Objekt 0x6068: Positionsfenster-Timeout ........98 4.2.4.6.19 Objekt 0x6069: Gemessene Geschwindigkeit ......98 4.2.4.6.20 Objekt 0x606B: Soll-Geschwindigkeit ...........98 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 6 6.2.2.1 Allgemeines ....................124 6.2.2.2 Profilspezifischer Fehlercode, CiA DSP 402 ..........124 6.2.2.3 Herstellerpezifischer Fehlercode ..............126 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 6 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 7 Tabelle 33: EMCY Fehlerregister, Objekt 0x1001................123 Tabelle 34: Profilspezifischer EMCY Fehlercode, Objekt 1003 ............125 Tabelle 35: Herstellerspezifischer EMCY Fehlercode, Objekt 1003........... 130 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 8 Formel 9: Default-Wert, Geschwindigkeitsfaktor................... 47 Formel 10: Beschleunigungsfaktor......................49 Formel 11: Default für Beschleunigungsfaktor ..................49 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 8 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 9: Änderungs-Index
Änderungs-Index Änderungs-Index Änderung Datum Index Erstausgabe 16.05.07 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 9 of 260...
Page 10: Allgemeines
• das kundenspezifische Benutzerhandbuch (optional), • Inbetriebnahmeanleitung für CoDeSys/PLCopen/Funktionsbausteine/Handgerät (optional) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 10 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 11: Verwendete Abkürzungen / Begriffe
Sekunde Steuerwort STW.x Bit x des Steuerworts Speicherprogrammierbare Steuerung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 11 of 260...
Page 12 Transmit PDO (Sende-PDO) Volt write only Zustandswort ZSW.x Bit x des Zustandsworts © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 12 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 13: Zusätzliche Sicherheitshinweise
Dies gilt in besonderem Maße für nur gelegentlich, z.B. bei der Parametrierung des encoTRives, tätig werdendes Personal. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 14: Dsp 402 Antriebsprofil
Anwendungen, die auf jeweils unterschiedliche Art und Weise immer das gleiche leisten. Abbildung 1: CANopen Applikationsprofile © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 14 of 260...
Page 15: Das Objektverzeichnis
DS 301 definiert, und jedes Profil spezifiziert weitere, profilspezifische Fehlernummern. Abbildung 2: Aufbau des Objektverzeichnisses © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 16: Zustandsmaschine, Status- Und Steuerwort
Die meisten Zustandsübergänge werden vom Master sequenziell veranlasst, indem dieser im Steuerwort bestimmte Befehle in Form von Bitmuster absetzt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 16 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 17: Canopen-Kommunikation
Parameterdaten unterschieden. CANopen ordnet diesen, vom Charakter her völlig unterschiedlichen Datenarten, jeweils passende Kommunikationselemente zu. Abbildung 4: Kommunikationsprofil © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 18 Network Management Object (NMO) z.B. Life / Node-Guarding Boot-Up, … Error Control Protokoll © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 18 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 19: Canopen
CANopen verwendet bei der Übertragung von Zahlenwerten stets das Little Endian Format: Das niederwertige Byte wird in der Nachricht zuerst abgelegt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 20: Rollen Und Kommunikationsbeziehungen
Bestätigung bestätigende Dienste Abbildung 5: Gegenüberstellung von PDO/SDO-Eigenschaften © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 20 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 21: Sdo (Service Data Object)
• Eine Nachricht mit COB-ID 0x670 (=0x600+0x70) entspricht einem SDO vom SDO Client an den encoTRive. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 22: Sdo-Nachrichtenformat
Im Fall eines Fehlers (SDO Response CCD = 0x80) enthält der Datenbereich einen 4-Byte-Fehlercode, der über die Fehlerursache Auskunft gibt. Die Bedeutung der Fehlercodes ist aus der Tabelle 32, Seite 122 zu entnehmen. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 22 of 260...
Page 23 SDO-Übertragung von Daten mit mehr als 4 Byte Länge. Bei dieser segmentierten Übertragung sind mehrere Nachrichten zum Datentransfer erforderlich. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 24: Pdo (Process Data Object), Sync (Synchronisation)
Empfangs-PDO 1 (RPDO1) und Empfangs-PDO 2 (RPDO2) aus Sicht des Antriebs: In RPDO1 wird nur das Objekt 0x6040 (Steuerwort) übertragen. RPDO2 besteht aus Objekt 0x6040 und zusätzlich aus dem Objekt 0x607A (Zielposition). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 24 of 260...
Page 25: Pdos Anfordern: Remote Transmission Request
Nachricht auf 1 gesetzt ist. Dies kennzeichnet eine PDO-Anforderung. Ist der PDO Producer so konfiguriert (Übertragungsart), dass er auf derartige Anforderungen reagieren soll, so sendet er die betreffende PDO, wobei das RTR-Bit auf 0 gesetzt ist. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 26: Parameter/Objekte Für Pdo-Konfigurierung
Mapping für TPDO5 0x1A05 Mapping für TPDO6 Tabelle 5: Parameter für PDO-Konfigurierung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 26 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 27: Emcy (Emergency-Dienst)
Eine EMCY-Nachricht ohne Datenfeld stellt eine Boot-Up-Nachricht dar, mit welcher ein Teilnehmer nach dem Einschalten allen anderen Teilnehmern signalisiert, dass er betriebsbereit ist. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 28: Heartbeat
Node ID Byte 0 Byte 1 Tabelle 9: NMT-Nachricht zur Gerätekontrolle © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 28 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 29: Tabelle 10: Nmt-Dienste Zur Gerätekontrolle
Pre-Operational (10) (13) Stopped (12) Operational Abbildung 7: NMT Boot-Up-Mechanismus © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 29 of 260...
Page 30: Nmt-Dienste Zur Verbindungsüberwachung
Master überwacht. Ist die Life Time = 0, ist das Life Guarding abgeschaltet. Tabelle 11: Parameter für NMT-Dienste © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 30 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 31: Antriebsspezifische Funktionen
Zustände im eingezeichneten Rechteck in den Zustand „Fehlerreaktion aktiv“. Abbildung 8: DSP 402 Zustandsmaschine Tabelle 12 auf Seite 32 erläutert die verschiedenen Zustände. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 32: Tabelle 12: Zustände
ZSW = xxxx xxxx x0xx 1000 Die Fehlerbehandlung ist abgeschlossen. Tabelle 12: Zustände © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 32 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 33 Objekt 0x605A (Quick Stop Zwischenhalt aktiv STW = xxxx xxxx 0xxx x01x Option Code) gestoppt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 34: Steuerwort Und Zustandswort
Das Steuer- und Zustandswort wird deshalb in den einzelnen Betriebsarten genauer spezifiziert. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 34 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 35: Betriebsart „Positionierrampe
Achse stoppen 9-15 nicht benutzt Tabelle 14: Steuerwort (Objekt 0x6040), Betriebsart „Positionierrampe“ © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 35 of 260...
Page 36: Zustandswort
Objekt 0x6065 vorgegebene Schleppfehler-Fenster. 14-15 nicht benutzt Tabelle 15: Zustandswort (Objekt 0x6041), Betriebsart „Positionierrampe“ © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 36 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 37: Positionierung Durchführen
Wert 1, ist die Positionierung beendet. Als Kriterium für das Ende einer Positionierung gilt, dass der aktuelle Positionswert für die Dauer des Positionsfenster-Zeitintervalls (0x6068) innerhalb des Positionsfensters (0x6067) um die Zielposition liegt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 38: Absolute- / Relative Positionierung
Istposition 1000 soll um 1000 nach links (Zielposition = -1000) positioniert werden. Dies führt dazu, dass die Positionierung bei der absoluten Position 0 endet. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 38 of 260...
Page 39: Übergabe Neuer Fahrsätze
0x605A Zwischenhalt Option Code: Verhalten bei Zwischenhalt 0x605D Halt Option Code: Verhalten bei Abbruch einer Rampe Tabelle 16: Positionierungs-Parameter © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 40: Betriebsart „Geschwindigkeitsrampe
Achse stoppen 9-15 nicht benutzt Tabelle 17: Steuerwort (Objekt 0x6040), Betriebsart „Geschwindigkeitsrampe“ © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 40 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 41: Zustandswort
Max. Schleppfehler erreicht 14-15 nicht benutzt Tabelle 18: Zustandswort (Objekt 0x6041), Betriebsart „Geschwindigkeitsrampe“ © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 41 of 260...
Page 42: Geschwindigkeitsrampe Ausführen
Eine Änderung der Zielgeschwindigkeit bewirkt während des Betriebs eine sofortige Ausführung der Rampe, die den aktuellen Geschwindigkeitswert beschleunigt oder abbremst. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 42 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 43: Relevante Parameter
0x6094 Geschwindigkeitsfaktor 0x606B Soll-Geschwindigkeit 0x606C Ist-Geschwindigkeit 0x60FF Ziel-Geschwindigkeit Tabelle 19: Geschwindigkeitsrampen-Parameter © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 43 of 260...
Page 44: Einheiten
Default 5000 Motorumdre hungen ⎣ ⎦ Formel 4: Default-Wert, Geschwindigkeitsgeberauflösung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 44 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 45: Objekt 0X6093: Positionsfaktor
Formel 7: Default-Wert, Positionsfaktor Dieser Wert entspricht zusammen mit der Geberauflösung aus Formel 2, einer Getriebeuntersetzung von 1:1 und der Positionseinheit Inkremente. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 46 / Positionsgeberauflösung x Getriebefaktor Subindex 2: 3600 / Weg pro Getriebeumdrehung ( 360 Grad ) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 46 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 47: Objekt 0X6094: Geschwindigkeitsfaktor
Die gewünschte Einheit wird nun in allen geschwindigkeitsbezogenen Objekten verwendet, mit Ausnahme von Objekt 0x6069 (Sensor Velocity), das die aktuelle Geschwindigkeit in Geschwindigkeitsinkrementen angibt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 48 / 5000) x 1 / 2000 = 2 / [(5000*2000) / 1] Auflösungsfaktor © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 48 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 49: Objekt 0X6097: Beschleunigungsfaktor
Formel 11: Default für Beschleunigungsfaktor Dieser Wert entspricht zusammen mit der Geschwindigkeitsgeberauflösung aus Formel 4 und einer Getriebeuntersetzung von 1:1 der Beschleunigungseinheit „(U/min) / sec“. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 50 / 5000) x 1 / 2000 = 2 / [(5000*2000) / 1] Auflösungsfaktor © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 50 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 51 Beschleunigungsangaben in Beschleunigungseinheiten durch Multiplikation mit dem AccelerationToPositionUnitFactor in Messsystem be- dingte Beschleunigungsangaben in Positionsinkrementen/sec² umgewandelt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 52 ) = 700000 – 2*139392 = 421216 Grad. Diese Phase dauert also 421216/15840 = 26.6 sec. Insgesamt wird die Rampe (theoretisch) in 2*17.6+26.6 = 61.8 sec abgefahren. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 52 of 260...
Page 53 ) = 1000 – 28 = 968 mm. Diese Phase dauert also 968/4 = 242 sec. Insgesamt wird die Rampe (theoretisch) in 258 sec abgefahren. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 54: Das Objektverzeichnis
Zeichenfolge aus ASCII-Zeichen Tabelle 22: CANopen-Datentypen, die von encoTRive verwendet werden © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 54 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 55: Eds-Datei
; Unit: Acceleration unit ; Def.: 3000 rpm/sec Abbildung 12: Auszug aus einer encoTRive-EDS © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 56: Erläuterungen Zur Parameterliste
PDO-Mapping ja: das Objekt kann als Teil einer PDO übertragen werden kein PDO-Mapping © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 56 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 57: Objekte Des Kommunikationsprofils Ds 301
Strom Spannung Temperatur Kommunikationsfehler (Überlauf, Zustandsfehler) geräteprofilspezifischer Fehler reserviert herstellerspezifisch © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 57 of 260...
Page 58: Objekt 0X1003: Vordefiniertes Fehlerfeld
Datentyp UNSIGNED32 Attribut Default PDO-Mapping Beschreibung Älteste Fehlermeldung (Platz 8) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 58 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 59: Objekt 0X1004: Anzahl Unterstützte Pdos
Übertragungsrichtungen. Bit 0-15: Vom encoTRive gesendete PDOs (6) Bit 16-31: Vom encoTRive empfangene PDOs (6) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 60: Objekt 0X1005: Cob-Id Der Sync-Nachricht
Das Objekt enthält den Gerätenamen, der sich aus der ASCII-Zeichenfolge 'E', 'n', 'c', 'o', 'T', 'R', 'i', 'v', 'e' zusammensetzt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 60 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 61: Objekt 0X1009: Hardware-Version Des Herstellers
Ist Life Time = 0, erfolgt keine Überwachung des Masters durch den Slave (kein Life Guarding). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 62: Objekt 0X100D: Life Time Factor
Dies ist der Zahlenwert, den die Zeichenkette „save“ ('s' : 0x73, 'a': 0x61, 'v' : 0x76, 'e': 0x65) ergibt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 62 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 63 Dies ist der Zahlenwert, den die Zeichenkette „save“ ('s' : 0x73, 'a': 0x61, 'v' : 0x76, 'e': 0x65) ergibt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 64: Objekt 0X1011: Werksvoreinstellungen Laden
Dies ist der Zahlenwert, den die Zeichenkette „load“ ('l' : 0x6C, 'o': 0x6F, 'a' : 0x61, 'd': 0x64) ergibt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 64 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 65: Objekt 0X1014: Cob-Id Der Emcy-Nachricht
Ein Knoten mit Node ID 0x70 verwendet als COB-ID für die EMCY-Nachricht 0x70+0x80 = 0xF0 (240 dez.) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 66: Objekt 0X1015: Sperrzeit Für Emcy
Node ID in den Bits 23-16 abgelegt ist, erwartet wird. Eine Heartbeat-Zeit von 0x00 bedeutet, dass keine Heartbeat- Nachricht erwartet wird. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 66 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 67: Objekt 0X1017: Heartbeat Producer Time
Nachricht fest. Ist der Parameterwert ungleich 0, arbeitet der encoTRive als Heartbeat Producer. Parameterwert 0 bedeutet, dass keine Heartbeat-Nachrichten gesendet werden. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 68: Objekt 0X1018: Identity Objekt-Geräteinformationen
Erweiterung CANopen-Verhalten encoTRive vorgenommen wird, z.B. neue Objekte. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 68 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 69 Subindex 4: Seriennummer UNSIGNED32 Datentyp Attribut Default PDO-Mapping Seriennummer des Geräts Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 69 of 260...
Page 70: Objekte 0X1400-0X1405: Kommunikation, Empfangs-Pdos
0: 11-Bit Identifier (CAN 2.0A) 1: 29-Bit Identifier (CAN 2.0B) 28-0 COB-ID © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 70 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 71: Tabelle 23: Übertragungsart (Rpdo)
SYNC- Nachricht ausgewertet. RPDO wird sofort nach Empfang ausgewertet. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 71 of 260...
Page 72: Objekte 0X1600-0X1605: Mapping, Empfangs-Pdos
Byte 3 und 4 (Subindex = 0x00) und Byte 5 bis 8 (Index = 0x6040 = Steuerwort). Die Abbildung des Steuerwortes im RPDO1 ist nicht zwingend erforderlich. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 72 of 260...
Page 73 RPDO6: Objekt 0x1405 Subindex 1 – Default-Einstellung „PDO wird nicht verwendet “. Bei Aktivierung, die Klassifizierung des Funktionscodes beachten. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 74: Objekte 0X1800-0X1805: Kommunikation, Sende-Pdos
0: 11-Bit Identifier (CAN 2.0A) 1: 29-Bit Identifier (CAN 2.0B) 28-0 COB-ID © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 74 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 75: Tabelle 24: Übertragungsart (Tpdo)
Sperrzeit in 0.1 ms-Schritten. Die nächste PDO mit gleicher COB-ID darf erst nach Ablauf dieser Zeit gesendet werden. Parameterwert 1000 = 100 ms Sperrzeit. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 76 Dieses Ereignis wirkt zusätzlich zu anderen Ereignissen, die das Senden auslösen. Parameterwert 0 deaktiviert diesen Mechanismus. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 76 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 77: Objekte 0X1A00-0X1A05: Mapping, Sende-Pdos
Byte 3 und 4 (Subindex = 0x00) und Byte 5 bis 8 (Index = 0x6041 = Statuswort). Die Abbildung des Statuswortes im TPDO1 ist nicht zwingend erforderlich. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 78 TPDO6: Objekt 0x1805 Subindex 1 – Default-Einstellung „PDO wird nicht verwendet “. Bei Aktivierung, die Klassifizierung des Funktionscodes beachten. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 78 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 79: Herstellerspezifische Objekte
Unterstützt das Laden neuer Firmware-Stände. Lesen: Firmware Verifizierung Schreiben: Firmware Update laden © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 79 of 260...
Page 80: Objekt 0X2E02: Temperatur / Busadresse / Baudrate
Fällt der Sensor aus, wird die EMCY-Nachricht „4280“ abgesetzt (siehe Kapitel „6.2 EMCY-Fehlerinformation“ ab Seite 123), und der Antrieb wird abgeschaltet. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 80 of 260...
Page 81 Attribut Default PDO-Mapping Beschreibung Einheit: Motor-Nennstrom/1000. Beschreibung siehe Subindex 6. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 81 of 260...
Page 82: Objekt 0X2E04: Kalibrierungsschlüssel
Datentyp UNSIGNED8 Attribut Default PDO-Mapping Beschreibung Anzahl der folgenden Einträge © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 82 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 83: Objekt 0X2F02: Temperaturschwellwerte
Fehlerinformation“ ab Seite 123). Ferner geht der Antrieb bei Überschreiten dieser Temperatur in den Zustand „Fehler“ und führt die Aktion aus, die im Objekt 0x605E festgelegt ist. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 84 Blindstrom in 1/1000 des Nennstromes. 0 deaktiviert die Rotorfeldaufhebung. Diese Aufhebung ist keine Schwächung des Feldes und vermindert auch nicht das Drehmoment. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 84 of 260...
Page 85: Objekt 0X2F04: Kalibrierwerte
Spannungssensor überprüft werden und wird mit Hilfe der Autokalibrierfunktion neu eingestellt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 85 of 260...
Page 86 Wenn eine Magnetbremse an einen PWM-geregelten Bremsenausgang angeschlossen wird, muss hier die entsprechende Nennspannung eingetragen werden. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 86 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 87 Um Verstärkungen zu vermeiden die zu hoch sind und Schwingungen verursachen können, sollte die Statorinduktivität beim Maximalstrom gemessen werden. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 88 Verstärkung zu hoch ist, vibriert der Antrieb stark. Wenn die Verstärkung zu niedrig ist, reagiert der Antrieb langsam und schwach und fängt an langsam zu schwingen. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 88 of 260...
Page 89 Emergency „6343“ ausgelöst. Der Vorgabewert ist 36000000 bzw. 1 Stunde. Der Maximalwert beträgt 119,3 Stunden. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 90: Objekte Des Geräteprofils Dsp 402
Beschreibung In diesem Objekt werden Befehle an den Antrieb übermittelt, siehe Abschnitte 4.2.3.2, 4.2.3.3.1 und 4.2.3.4.1. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 90 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 91: Objekt 0X6041: Statuswort (Statusword)
Default PDO-Mapping Enthält die Anzahl der Polpaare des verwendeten Motors. Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 91 of 260...
Page 92: Objekt 0X605A: Verhalten Bei Zwischenhalt
Zwischenhalt (0x6085). Nach Stillstand verbleibt der Antrieb im Zustand „Zwischenhalt“. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 92 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 93: Objekt 0X605B: Verhalten Bei Shutdown
Bedeutung Antrieb abschalten. Antrieb mit aktueller Bremsbeschleunigung in den Stillstand abbremsen. Danach Antrieb abschalten. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 94: Objekt 0X605D: Verhalten Bei Stop
(0x6085) abbremsen. Antrieb an der Stromgrenze abbremsen. Antrieb an der Spannungsgrenze abbremsen. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 94 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 95: Objekt 0X605E: Verhalten Bei Fehler
Tabelle 30: Werte für Betriebsart Wert Bedeutung Keine Betriebsart definiert Positionierrampe Geschwindigkeitsrampe © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 95 of 260...
Page 96: Objekt 0X6061: Anzeige Der Betriebsart
Positionsistwert benutzerdefinierten Beschreibung Positionseinheiten an, siehe Kapitel „4.2.3.5 Einheiten“ Seite 44. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 96 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 97: Objekt 0X6065: Schleppfehlerfenster
Positions-Istwert in diesem Intervall, wird die Zielposition als erreicht angesehen. Ein Parameterwert von 2 -1 deaktiviert die Positionsfensterüberwachung. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 98: Objekt 0X6068: Positionsfenster-Timeout
Geschwindigkeit Beschreibung Geschwindigkeitseinheiten, die sich aus dem Regleralgorithmus ergibt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 98 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 99: Objekt 0X606C: Ist-Geschwindigkeit
Beschreibung Einheit: Tausendstel des Nenndrehmoments. Der Default-Wert 1250 entspricht 125 % des Nenndrehmoments (0x6076). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 100: Objekt 0X6073: Maximalstrom
5000 PDO-Mapping Dieses Objekt gibt den Motornennstrom in mA an. Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 100 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 101: Objekt 0X6076: Motor-Nenndrehmoment
Dieses Objekt enthält den aktuellen Stromwert des Motors. Beschreibung Einheit: Tausendstel des Nennstroms (0x6075) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 102: Objekt 0X6079: Spannung Am Gleichspannungszwischenkreis
Beschreibung „4.2.3.5 Einheiten“ Seite 44. Je nach Bit „absolut/relativ“ des STW wird die Zielposition absolut oder relativ interpretiert. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 102 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 103: Objekt 0X607B: Positionsbereich
Subindex 2: Obere Positionsgrenze INTEGER32 Datentyp Attribut 262143 Default PDO-Mapping Maximaler Positionswert Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 103 of 260...
Page 104: Objekt 0X607D: Software-Positionsbereich
Subindex 2: Obere Positionsgrenze Datentyp INTEGER32 Attribut Default PDO-Mapping Beschreibung Maximaler Positionswert © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 104 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 105: Objekt 0X607E: Richtungsumkehr
Geschwindigkeitseinheiten bei einer Positionierung fest. Entscheidend für die Interpretation der Geschwindigkeitseinheit ist der Geschwindigkeitsfaktor. Dieser Defaultwert entspricht 75 U/min. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 106: Objekt 0X6080: Maximale Motorgeschwindigkeit
Beschreibung Beschleunigungsrampe an, siehe Kapitel „ 4.2.3.3 Betriebsart „Positionierrampe“ „ Seite 35. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 106 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 107: Objekt 0X6084: Bremsbeschleunigung
Beschreibung Dieser Parameter gibt die Änderung des Drehmoments an. Einheit: Tausendstel des Nenndrehmoments pro Sekunde. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 108: Objekt 0X608F: Auflösung Des Positionsgebers
Subindex 2: Motorumdrehungen Datentyp INTEGER32 Attribut Default PDO-Mapping Beschreibung Motorumdrehungen © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 108 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 109: Objekt 0X6090: Auflösung Des Geschwindigkeitsgebers
UNSIGNED32 Datentyp Attribut 5000 Default PDO-Mapping Motorumdrehungen pro Sekunde Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 109 of 260...
Page 110: Objekt 0X6093: Positionsfaktor
Subindex 2: Positionseinheiten (Nenner) UNSIGNED32 Datentyp Attribut Default 1024 PDO-Mapping Positionseinheiten Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 110 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 111: Objekt 0X6094: Geschwindigkeitsfaktor
Subindex 2: Geschwindigkeitseinheiten (Nenner) Datentyp UNSIGNED32 Attribut Default 30000000 PDO-Mapping Beschreibung Geschwindigkeitseinheiten © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 111 of 260...
Page 112: Objekt 0X6097: Beschleunigungsfaktor
Subindex 2: Beschleunigungseinheiten (Nenner) UNSIGNED32 Datentyp Attribut Default 30000000 PDO-Mapping Beschleunigungseinheiten Beschreibung © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 112 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 113: Objekt 0X60C5: Maximale Beschleunigung
Eingänge: Bit 0: unterer Positionsgrenzwert erreicht (1 = ja, 0 = nein) Bit 1: oberer Positionsgrenzwert erreicht (1 = ja, 0 = nein) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 114: Objekt 0X60Fe: Digitale Ausgänge
Ausgang freischalten / sperren: Beschreibung Bit 0 = 1: Ausgang 0 wird benutzt © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 114 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 115: Objekt 0X60Ff: Ziel-Geschwindigkeit
Dieser Parameter gibt bitkodiert die vom Antrieb unterstützten Betriebsarten an. Der Default-Wert 5 (0000 0101) bdeutet, dass encoTRive die Betriebsarten „Positionierrampe“ (Bit 0) und „Geschwindigkeitsrampe“ (Bit 2) unterstützt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 116: Beispiel Einer Positionierung Mit Telegrammabfolge
Für die einzelnen Zustandsübergänge sind die Informationen aus den Kapiteln „DSP 402 - Zustandsmaschine“ Seite 31 und „Steuerwort und Zustandswort“ Seite 34 relevant. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 116 of 260...
Page 117: Telegrammabfolge
Rx_SDO 0x5F0 0x60 0x60 0x60 0x00 0x00 0x00 0x00 0x00 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 117 of 260...
Page 118 Rx_SDO 0x5F0 0x60 0x81 0x60 0x00 0x00 0x00 0x00 0x00 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 118 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 119 0x5F0 0x4B 0x41 0x60 0x00 0x00 0x00 Rx_SDO 0x21 0x00 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 119 of 260...
Page 120 0x5F0 0x4B 0x41 0x60 0x00 0x00 0x00 Rx_SDO 0x37 0x00 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 120 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 121 0x5F0 0x4B 0x41 0x60 0x00 0x00 0x00 Rx_SDO 0x37 0x14 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 121 of 260...
Page 122: Störungsbeseitigung Und Diagnosemöglichkeiten
Objektverzeichnis vorhanden. Zum Beispiel wenn das Objektverzeichnis aus einer Datei erzeugt wird und beim Dateizugriff ein Fehler erfolgt. Tabelle 32: SDO Fehlercodes © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 122 of 260...
Page 123: Emcy-Fehlerinformation
0 herstellerspezifisch Tabelle 33: EMCY Fehlerregister, Objekt 0x1001 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 123 of 260...
Page 124: Fehlercode, Objekt 0X1003 (Bit 0-15)
0x4390 die Warngrenze (Objekt 0x2F02) gesunken ist, wird die Warnung automatisch gelöscht. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 124 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 125: Tabelle 34: Profilspezifischer Emcy Fehlercode, Objekt 1003
PDO wegen Längenfehler ignoriert 0x8220 PDO Längenüberschreitung Tabelle 34: Profilspezifischer EMCY Fehlercode, Objekt 1003 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 126: Herstellerpezifischer Fehlercode
4390 Wenn die Temperatur unterhalb der Warnschwelle abgesunken ist, wird der Fehlercode automatisch gelöscht. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 126 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 127 Getriebe, ein beschädigter Getriebesensor, ein loses Polrad oder Magnet sein. Der Antrieb muss sofort gestoppt und ausgetauscht werden. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 128 Zur Vermeidung von Duplizierungen sind deshalb die Knotenadressen und auch die konfigurierbaren COB-IDs zu überprüfen. Der Fehlercode wird sofort nach der Übertragung gelöscht. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 128 of 260...
Page 129 Timestamps oder auf RPDOs, wenn mehrere Antriebe synchron verfahren werden. Fortsetzung siehe Folgeseite. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 130: Tabelle 35: Herstellerspezifischer Emcy Fehlercode, Objekt 1003
„Schleppfehler“ gesetzt. Beide Bits und auch die EMCY-Nachricht werden gelöscht, sobald der Fehlerstatus gelöscht wurde. Tabelle 35: Herstellerspezifischer EMCY Fehlercode, Objekt 1003 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 130 of 260...
Page 131 User Manual Decentralized positioning drives MD-025-CO-CXXX © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 131 of 260...
Page 132 CAN in Automation e.V. CoDeSys is a registered trademark of 3S – Smart Software Solutions GmbH encoTRive is a registered trademark of TR-Electronic GmbH © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 133 CiA [2002b]: CiA Draft Standard Proposal 402. CANopen Device Profile Drives and Motion Control. Version 2.0. July 2002. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 134: Contents
4.2.3.4.2 Status word..................171 4.2.3.4.3 Execute speed ramp ...............172 4.2.3.4.4 Relevant parameters ...............173 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 134 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 135 4.2.4.6.18 Object 0x6068: Position window timeout ........228 4.2.4.6.19 Object 0x6069: Measured speed ..........228 4.2.4.6.20 Object 0x606B: Nominal speed.............228 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 136 6.2.2.1 General information ..................254 6.2.2.2 Profile-specific error code, CiA DSP 402 .............254 6.2.2.3 Manufacturer-specific error codes..............256 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 136 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 137 Table 33: EMCY error register, object 0x1001..................253 Table 34: Profile-specific EMCY error codes, object 1003 ..............255 Table 35: Manufacturer-specific EMCY error code, object 1003 ............260 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 138 Formula 9: Default value, speed factor ....................177 Formula 10: Acceleration factor ......................179 Formula 11: Default for acceleration factor ..................179 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 138 of 260...
Page 139: Revision Index
Revision index Revision index Revision Date Index First release 05/16/07 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 139 of 260...
Page 140: General Information
(optional), • commissioning instructions for CoDeSys/PLCopen/Function modules/Hand- held unit (optional) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 140 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 141: Abbreviations Used / Terminology
Control word STW.x Bit x of the control word Programmable Logic Controller © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 141 of 260...
Page 143: Additional Safety Instructions
Manual, particularly the chapter "Additional safety instructions". This particularly applies for personnel who are only deployed occasionally, e.g. in the parameterization of the encoTRive. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 144: Dsp 402 Drive Profile
Figure 1: CANopen application profiles © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 144 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 145: The Object Directory
DS 301, and each profile specifies further profile-specific error numbers. Figure 2: Structure of the object directory © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 146: State Machine, Status And Control Word
Most state transitions are initiated sequentially by the master transmitting certain commands in the control word in the form of bit patterns. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 146 of 260...
Page 147: Canopen Communication
CANopen assigns appropriate communication elements to these data types, which are completely different in character. Figure 4: Communication profile © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 148 Network Management Object (NMO) e.g. Life / Node-Guarding Boot-up, … Error Control protocol © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 148 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 149: Canopen
CANopen always uses Little Endian Format for the transmission of numeric values: The low value byte is stored in the message first of all. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 150: Roles And Communication Relationships
CAN pure acknowledged services no Acknowledgement Figure 5: Comparison of PDO/SDO characteristics © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 150 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 151: Sdo (Service Data Object)
• A message with COB-ID 0x670 (=0x600+0x70) corresponds to an SDO from the SDO Client to the encoTRive. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 152: Sdo Message Format
4-byte-error code, which provides information on the cause of the error. The meaning of the error codes can be found in Table 32, page 252. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 152 of 260...
Page 153 SDO transmission of data more than 4 bytes in length. With this segmented transmission, several messages are necessary for the data transfer. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 154: Pdo (Process Data Object), Sync (Synchronization)
Receive PDO 2 (RPDO2) from the viewpoint of the drive: Only object 0x6040 (control word) is transmitted in RPDO1. RPDO2 consists of object 0x6040 and also of object 0x607A (target position). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 154 of 260...
Page 155: Request Pdos: Remote Transmission Request
PDO request. If the PDO producer is configured (transmission type), so that it will react to such requests, it sends the relevant PDO, in which case the RTR bit is set to 0. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 156: Parameters / Objects For Pdo Configuration
Mapping for TPDO5 0x1A05 Mapping for TPDO6 Table 5: Parameters for PDO configuration © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 156 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 157: Emcy (Emergency Service)
An EMCY message without a data field represents a Boot-up message, with which a node indicates - after switch-on of all other nodes - that it is ready for operation. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 158: Heartbeat
Byte 0 Byte 1 Table 9: NMT message for device control © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 158 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 159: Table 10: Nmt Services For Device Control
(10) (13) Stopped (12) Operational Figure 7: NMT boot-up mechanism © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 159 of 260...
Page 160: Nmt Services For Connection Monitoring
If the Life Time = 0, Life Guarding is switched off. Table 11: Parameters for NMT services © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 160 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 161: Drive-Specific Functions
"Error reaction active" state. Figure 8: DSP 402 state machine Table 12 on page 162 explains the different states. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 162: Table 12: States
ZSW = xxxx xxxx x0xx 1000 Troubleshooting is complete. Table 12: States © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 162 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 163 0x605A Quick stop active STW = xxxx xxxx 0xxx x01x (Quick Stop Option Code). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 164: Control Word And Status Word
The control and status words are therefore specified in more detail in the individual operating modes. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 164 of 260...
Page 165: Positioning Ramp" Operating Mode
Stop axis 9-15 not used Table 14: Control word (object 0x6040), "Positioning ramp" operating mode © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 166: Status Word
14-15 not used Table 15: Status word (object 0x6041), "Positioning ramp" operating mode © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 166 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 167: Perform Positioning
(0x6067) around the target position for the duration of the position window time interval (0x6068). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 168: Absolute / Relative Positioning
1000, a positioning movement by 1000 to the left (target position = -1000) is to be performed. This means that the positioning movement ends at the absolute position 0. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 168 of 260...
Page 169: Transfer Of New Movement Records
0x605A Quick Stop Option Code: Quick stop behavior 0x605D Halt Option Code: Behavior in the event of termination of a ramp Table 16: Positioning parameter © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 170: Speed Ramp" Operating Mode
9-15 not used Table 17: Control word (object 0x6040), "Speed ramp operating mode" © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 170 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 171: Status Word
Max. tracking error reached 14-15 not used Table 18: Status word (object 0x6041), "Speed ramp" operating mode © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 172: Execute Speed Ramp
A change to the target speed during operation results in immediate execution of the ramp, which accelerates or decelerates the current speed value. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 172 of 260...
Page 173: Relevant Parameters
0x606B Nominal speed 0x606C Actual speed 0x60FF Target speed Table 19: Speed ramp parameter © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 174: Units
⎣ ⎦ Formula 4: Default value, speed encoder resolution © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 174 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 175: Object 0X6093: Position Factor
Formula 7: Default value, position factor This value, together with the encoder resolution from Formula 2, corresponds to a gear reduction of 1:1 and the position unit increments. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 176 / position encoder resolution x gear factor Subindex 2: 3600 / travel per gear revolution ( 360 degrees ) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 176 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 177: Object 0X6094: Speed Factor
The desired unit is now used in all speed-related objects, with the exception of object 0x6069 (Sensor Velocity), which specifies the current speed in speed increments. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany...
Page 178 / 5000) x 1 / 2000 = 2 / [(5000*2000) / 1] Resolution factor © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 178 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 179: Object 0X6097: Acceleration Factor
This value, together with the speed encoder resolution from Formula 4 and a gear reduction of 1:1, corresponds to the acceleration unit "(rpm) / sec". © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 180 / 5000) x 1 / 2000 = 2 / [(5000*2000) / 1] Resolution factor © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 180 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 181 Similarly, user-defined acceleration data in acceleration units is converted into measuring system-related acceleration data in position increments/sec² by multiplying with the AccelerationToPositionUnitFactor. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 182 ) = 700000 – 2*139392 = 421216 degrees still remain. This phase therefore lasts 421216/15840 = 26.6 sec. In total, the ramp is (theoretically) traveled in 2*17.6+26.6 = 61.8 sec. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 182 of 260...
Page 183 ) = 1000 – 28 = 968 mm still remain. This phase therefore lasts 968/4 = 242 sec. In total, the ramp is (theoretically) traveled in 258 sec. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 184: The Object Directory
Variable ASCII character string Table 22: CANopen data types used by encoTRive © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 184 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 185: Eds File
; Unit: Acceleration unit ; Def.: 3000 rpm/sec Figure 12: Excerpt from an encoTRive EDS © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 186: Explanations Of The Parameter List
PDO mapping Yes: The object can be transferred as part of a PDO no PDO mapping © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 186 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 187: Objects Of The Communication Profile Ds 301
Communication error (overflow, status error) Device profile-specific error reserved Manufacturer-specific © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 187 of 260...
Page 188: Object 0X1003: Predefined Error Field
Attribute Default PDO mapping Description Oldest error message (position 8) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 188 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 189: Object 0X1004: Number Of Supported Pdos
Bit 0-15: PDOs sent by encoTRive (6) Bit 16-31: PDOs received by encoTRive (6) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 190: Object 0X1005: Cob-Id Of The Sync Message
The object contains the device name, which consists of the ASCII character string 'E', 'n', 'c', 'o', 'T', 'R', 'i', 'v', 'e'. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 190 of 260...
Page 191: Object 0X1009: Manufacturer's Hardware Version
If Life Time = 0, there is no monitoring of the master by the slave (no Life Guarding). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 192: Object 0X100D: Life Time Factor
This is the numeric value resulting from the "save" character string ('s' : 0x73, 'a': 0x61, 'v' : 0x76, 'e': 0x65). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 192 of 260...
Page 193 This is the numeric value resulting from the "save" character string ('s' : 0x73, 'a': 0x61, 'v' : 0x76, 'e': 0x65). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 194: Object 0X1011: Load Factory Settings
This is the numeric value resulting from the "load" character string ('l' : 0x6C, 'o': 0x6F, 'a' : 0x61, 'd': 0x64). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 194 of 260...
Page 195: Object 0X1014: Cob-Id Of The Emcy Message
Description A node with Node ID 0x70 uses as COB-ID for the EMCY message 0x70+0x80 = 0xF0 (240 dec.) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 196: Object 0X1015: Inhibit Time For Emcy
ID is stored in bits 23-16. A heartbeat time of 0x00 means that no heartbeat message is expected. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 196 of 260...
Page 197: Object 0X1017: Heartbeat Producer Time
If the parameter value is unequal to 0, the encoTRive operates as heartbeat producer. Parameter value 0 means that no heartbeat messages are sent. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 198: Object 0X1018: Identity Object Device Information
Major Revision Number is incremented when an extension is made to the CANopen behavior of encoTRive, e.g. new objects. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 198 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 199 Attribute Default PDO mapping Serial number of the device Description © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 199 of 260...
Page 200: Objects 0X1400-0X1405: Communication, Receive Pdos
0: 11-bit identifier (CAN 2.0A) 1: 29-bit identifier (CAN 2.0B) 28-0 COB-ID © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 200 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 201: Table 23: Transmission Type (Rpdo)
SYNC message. RPDO is evaluated immediately after receipt. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 202: Objects 0X1600-0X1605: Mapping, Receive Pdos
(subindex = 0x00) and byte 5 to 8 (index = 0x6040 = control word). Mapping of the control word in RPDO1 is not strictly necessary. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 202 of 260...
Page 203 RPDO6: Object 0x1405 subindex 1 – default setting "PDO not used". In the event of activation, note the classification of the function code. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 204: Objects 0X1800-0X1805: Communication, Transmit Pdos
0: 11-bit identifier (CAN 2.0A) 1: 29-bit identifier (CAN 2.0B) 28-0 COB-ID © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 204 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 205: Table 24: Transmission Type (Tpdo)
Description COB-ID may only be sent after expiry of this time. Parameter value 1000 = 100 ms inhibit time. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 206 Parameter value 0 deactivates this mechanism. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 206 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 207: Objects 0X1A00-0X1A05: Mapping, Transmit Pdos
(subindex = 0x00) and byte 5 to 8 (index = 0x6041 = status word). Mapping of the status word in TPDO1 is not strictly necessary. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 208 Object 0x1805 subindex 1 – default setting "PDO not used". In the event of activation, note the classification of the function code. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 208 of 260...
Page 209: Manufacturer-Specific Objects
Supports loading of new firmware versions. Read: Firmware verification Write: Load firmware update © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 209 of 260...
Page 210: Object 0X2E02: Temperature / Bus Address / Baud Rate
°C. If the sensor fails, the EMCY message "4280" is issued (see chapter "6.2 EMCY error information" from page 253), and the drive is switched off. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 210 of 260...
Page 211 PDO mapping Description Unit: Rated motor current/1000. For description see Subindex 6. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 211 of 260...
Page 212: Object 0X2E04: Calibration Key
UNSIGNED8 Attribute Default PDO mapping Description Number of following entries © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 212 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 213: Object 0X2F02: Temperature Threshold Values
253). In addition, if this temperature is exceeded the drive goes into "Error" status and executes the action defined in object 0x605E. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 214 1/1000 of the rated current. 0 deactivates the rotor field cancellation. This cancellation does not weaken the field, nor does it reduce the torque. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 214 of 260...
Page 215: Object 0X2F04: Calibration Values
If this value has been changed, or before a new drive is commissioned, the bus voltage sensor must be checked and is reset with the help of the auto-calibration function. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 216 PWM-regulated brake output, corresponding rated voltage must be entered here. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 216 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 218 If the gain is too high, the drive will vibrate strongly. If the gain is too low, the drive will react slowly and weakly and start to vibrate. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 218 of 260...
Page 219 An error is indicated and emergency "6343" is triggered. The default value is 36000000 or 1 hour. The maximum value is 119.3 hours. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 220: Objects Of The Dsp 402 Device Profile
Description Commands are transmitted to the drive in this object, see sections 4.2.3.2, 4.2.3.3.1 and 4.2.3.4.1. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 220 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 221: Object 0X6041: Status Word
Default PDO mapping Contains the number of pole pairs of the motor used. Description © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 222: Object 0X605A: Quick Stop Behavior
"Quick stop" status. Decelerates with deceleration for quick stop (0x6085). After coming to a stop the drive remains in "Quick stop" status. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 222 of 260...
Page 223: Object 0X605B: Shutdown Behavior
Switches drive off. Decelerates drive to a stop with current deceleration. Then switches drive off. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 224: Object 0X605D: Stop Behavior
(0x6085). Decelerates drive at current limit. Decelerates drive at voltage limit. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 224 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 225: Object 0X605E: Fault Behavior
Value Meaning No operating mode defined Positioning ramp Speed ramp © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 225 of 260...
Page 226: Object 0X6061: Operating Mode Display
This object displays the actual position value in user-defined position units, see Description chapter "4.2.3.5 Units" page 174. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 226 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 227: Object 0X6065: Tracking Error Window
A parameter value of 2 -1 deactivates the position window monitoring. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 228: Object 0X6068: Position Window Timeout
This object contains the target speed in speed units, which results from the Description control algorithm. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 228 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 229: Object 0X606C: Actual Speed
Description Unit: Thousandths of rated torque. The default value 1250 corresponds to 125 % of the rated torque (0x6076). © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 230: Object 0X6073: Maximum Current
PDO mapping This object specifies the rated motor current in mA. Description © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 230 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 231: Object 0X6076: Rated Motor Torque
This object contains the actual current value of the motor. Description Unit: Thousandths of rated current (0x6075) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 232: Object 0X6079: Voltage At Dc Voltage Intermediate Circuit
This object contains the target position in position units, see chapter "4.2.3.5 Units" page 174. Depending on the "absolute/relative" bit of the STW, the target position is interpreted as absolute or relative. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 232 of 260...
Page 233: Object 0X607B: Position Range
Data type Attribute 262143 Default PDO mapping Maximum position value Description © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 233 of 260...
Page 234: Object 0X607D: Software Position Range
Data type INTEGER32 Attribute Default PDO mapping Description Maximum position value © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 234 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 235: Object 0X607E: Direction Reversal
Description movement. The speed factor is decisive for the interpretation of the speed unit. This default value corresponds to 75 rpm. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 236: Object 0X6080: Maximum Motor Speed
This parameter specifies in acceleration units the acceleration for the acceleration Description ramp, see chapter 4.2.3.3 "Positioning ramp" operating mode page 165 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 236 of 260...
Page 237: Object 0X6084: Deceleration
Description This parameter specifies the change in torque. Unit: Thousandths of rated torque per second. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 238: Object 0X608F: Position Encoder Resolution
Data type INTEGER32 Attribute Default PDO mapping Description Motor revolutions © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 238 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 239: Object 0X6090: Speed Encoder Resolution
Attribute 5000 Default PDO mapping Description Motor revolutions per second © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 239 of 260...
Page 240: Object 0X6093: Position Factor
Data type Attribute 1024 Default PDO mapping Description Position units © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 240 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 241: Object 0X6094: Speed Factor
Data type Attribute Default 30000000 PDO mapping Speed units Description © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 241 of 260...
Page 242: Object 0X6097: Acceleration Factor
Data type Attribute Default 30000000 PDO mapping Acceleration units Description © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 242 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 243: Object 0X60C5: Maximum Acceleration
Bit 0: lower position value reached (1 = yes, 0 = no) Bit 1: upper position value reached (1 = yes, 0 = no) © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 244: Object 0X60Fe: Digital Outputs
Description Release / block output: Bit 0 = 1: output 0 is being used © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 244 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 245: Object 0X60Ff: Target Speed
This parameter specifies the operating modes supported by the drive in bit code. The default value 5 (0000 0101) means that encoTRive supports the "Positioning ramp" (bit 0) and "Speed ramp" (bit 2) operating modes. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 246: Example Of A Positioning Movement With Frame Sequence
"DSP 402 state machine" page 161 and "Control word and status word" page 164 is relevant. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 246 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 247: Frame Sequence
0x5F0 0x60 0x60 0x60 0x00 0x00 0x00 0x00 0x00 Rx_SDO © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 247 of 260...
Page 248 0x5F0 0x60 0x81 0x60 0x00 0x00 0x00 0x00 0x00 Rx_SDO © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 248 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 249 0x5F0 0x4B 0x41 0x60 0x00 0x00 0x00 Rx_SDO 0x21 0x00 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 249 of 260...
Page 250 0x5F0 0x4B 0x41 0x60 0x00 0x00 0x00 Rx_SDO 0x37 0x00 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 250 of 260 TR - EMO - BA - DGB - 0013 - 00 05/16/2007...
Page 251 0x5F0 0x4B 0x41 0x60 0x00 0x00 0x00 Rx_SDO 0x37 0x14 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 251 of 260...
Page 253: Emcy Error Information
Device profile-specific Reserved, always 0 Manufacturer-specific Table 33: EMCY error register, object 0x1001 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00 Page 253 of 260...
Page 254: Error Code, Object 0X1003 (Bits 0-15)
Warning: Overtemperature on power board. When the temperature has fallen 0x4390 below the warning limit (object 0x2F02), the warning is deleted automatically. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 254 of 260...
Page 255: Table 34: Profile-Specific Emcy Error Codes, Object 1003
PDO ignored due to length error 0x8220 PDO length exceeded Table 34: Profile-specific EMCY error codes, object 1003 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 256: Manufacturer-Specific Error Codes
4390 When the temperature has fallen below the warning threshold, the error code is deleted automatically. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 256 of 260 TR - EMO - BA - DGB - 0013 - 00...
Page 257 731F gear, a damaged gear sensor, a loose rotor or magnet. The drive must be stopped immediately and replaced. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007 TR - EMO - BA - DGB - 0013 - 00...
Page 258 To prevent duplications, the node addresses and also the configurable COB-IDs must therefore be checked. The error code is deleted immediately after the transmission. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 258 of 260...
Page 259 COBs with the same ID from different nodes. This refers to the receipt of time stamps or to RPDOs, if several drives are moved synchronously. Continued on next page. © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany 05/16/2007...
Page 260: Table 35: Manufacturer-Specific Emcy Error Code, Object 1003
Both bits and also the EMCY message are deleted as soon as the error status has been cleared. Table 35: Manufacturer-specific EMCY error code, object 1003 © TR-Electronic GmbH 2007, All Rights Reserved Printed in the Federal Republic of Germany Page 260 of 260...

TR-Electronic encoTRive MD-025-CO-C Series Manual

Deutsch

Inhaltsverzeichnis

Änderungs-Index

1 Allgemeines

2 Zusätzliche Sicherheitshinweise

3 DSP 402 Antriebsprofil

4 Canopen-Kommunikation

5 Beispiel einer Positionierung mit Telegrammabfolge

6 Störungsbeseitigung und Diagnosemöglichkeiten

English

Contents

Revision Index

1 General Information

2 Additional Safety Instructions

3 DSP 402 Drive Profile

4 Canopen Communication

5 Example of a Positioning Movement with Frame Sequence

6 Troubleshooting and Diagnosis Options

Available languages

Quick Links

Chapters

Need help?

Questions and answers

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Summary of Contents for TR-Electronic encoTRive MD-025-CO-C Series