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Maxon EPOS4 Communications Manual

Positioning controllers
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Communication Guide
EPOS4 Positioning Controllers
Communication Guide
CCMC | Edition 2019-11 | DocID rel8759

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Summary of Contents for Maxon EPOS4

  • Page 1 Communication Guide EPOS4 Positioning Controllers Communication Guide CCMC | Edition 2019-11 | DocID rel8759...

  • Page 2: Table Of Contents

    USB & RS232 COMMUNICATION EPOS4 USB & RS232 Command Reference ......7 Data Link Layer ..........12 Physical Layer.

  • Page 3: About This Document

    ABOUT THIS DOCUMENT The present document provides you with information on the EPOS4 communication interfaces. Find the latest edition of the present document as well as additional documentation and software for EPOS4 positioning controllers also on the Internet: http://epos.maxongroup.com. Intended Purpose The purpose of the present document is to familiarize you with the described equipment and the tasks on safe and adequate installation and/or commissioning.

  • Page 4: Table 1-1 Notations Used In This Document

    Take note of the following notations and codes which will be used throughout the document. Notation Explanation EPOS4 stands for “EPOS4 Positioning Controller” «Abcd» indicates a title or a name (such as of document, product, mode, etc.) refers to an item (such as part numbers, list items, etc.) ...

  • Page 5: Table 1-3 Sources For Additional Information

    The men- tioned trademarks belong to their respective owners and are protected under intellectual property rights. © 2019 maxon. All rights reserved. Subject to change without prior notice. CCMC | EPOS4 Communication Guide | Edition 2019-11 | DocID rel8759 maxon motor ag Brünigstrasse 220...
  • Page 6 About this Document • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • EPOS4 Communication Guide CCMC | 2019-11 | rel8759...

  • Page 7: Usb & Rs232 Communication

    USB & RS232 Communication EPOS4 USB & RS232 Command Reference USB & RS232 COMMUNICATION EPOS4 USB & RS232 Command Reference 2.1.1 Read Functions 2.1.1.1 ReadObject Read an object value from the Object Dictionary at the given Index and Subindex. Request Frame...
  • Page 8 USB & RS232 Communication EPOS4 USB & RS232 Command Reference 2.1.1.3 SegmentRead Read a data segment of the object initiated with the command «InitiateSegmentedRead». Request Frame OpCode BYTE 0x62 BYTE 1 (number of words) [Bit 0] ControlByte Toggle Bit BYTE [Bit 1…7]...
  • Page 9 USB & RS232 Communication EPOS4 USB & RS232 Command Reference 2.1.2 Write Functions 2.1.2.1 WriteObject Write an object value to the Object Dictionary at the given Index and Subindex. Request Frame OpCode BYTE 0x68 BYTE 4 (number of words) BYTE...
  • Page 10 USB & RS232 Communication EPOS4 USB & RS232 Command Reference 2.1.2.3 SegmentWrite Write a data segment to the object initiated with the command «InitiateSegmentedWrite». Note that gateway communication is not supported. Request Frame OpCode BYTE 0x6A BYTE 1…129 (number of words) BYTE Length (max.
  • Page 11 USB & RS232 Communication EPOS4 USB & RS232 Command Reference 2.1.3 General CAN Commands 2.1.3.1 SendLSS Send a LSS master message to the CAN bus. Request Frame OpCode BYTE 0x7A BYTE Parameters BYTE[8] LSS master message Response Frame OpCode BYTE...

  • Page 12: Data Link Layer

    The data flow while transmitting and receiving frames are as follows: Figure 2-2 USB/RS232 communication – Commands Figure 2-3 USB/RS232 communication – Sending a data frame to EPOS4 Figure 2-4 USB/RS232 communication – Receiving a response data frame from EPOS4 EPOS4 Communication Guide 2-12 CCMC | 2019-11 | rel8759...

  • Page 13: Figure 2-5 Usb/Rs232 Communication - Frame Structure

    As a reaction to a bad OpCode or CRC value, the slave sends a frame containing the corresponding error code. For an example on composition and structure of EPOS4 messages chapter “2.2.9 Example: Command Instruction” on page 2-17. EPOS4 Communication Guide...

  • Page 14: Figure 2-6 Usb/Rs232 Communication - Crc Algorithm

    //CRC = CRC XOR G(x), if carry is true shifter >>= 1; //Set BitX to next lower Bit, shifter = shifter/2 } while(shifter); return CRC Figure 2-6 USB/RS232 communication – CRC algorithm EPOS4 Communication Guide 2-14 CCMC | 2019-11 | rel8759...

  • Page 15: Table 2-4 Usb/Rs232 Communication - Timeout Handling

    500 [ms] USB Frame Timeout 0x2006 0x00 500 [ms] Table 2-4 USB/RS232 communication – Timeout handling Note To cover special requirements, the timeout may be changed by writing to the Object Dictionary! EPOS4 Communication Guide 2-15 CCMC | 2019-11 | rel8759...

  • Page 16: Figure 2-7 Usb/Rs232 Communication - Slave State Machine

    USB & RS232 Communication Data Link Layer 2.2.8 Slave State Machine Figure 2-7 USB/RS232 communication – Slave State Machine EPOS4 Communication Guide 2-16 CCMC | 2019-11 | rel8759...

  • Page 17: Figure 2-8 Usb/Rs232 Communication - Command Instruction (Example)

    USB or RS232. The command sent to the EPOS4 is “ReadObject”, it can be used to read an object with up to 4 bytes. ReadObject “Home Position” (Index = 0x30B0, Subindex = 0x00) from Node-ID 1 Figure 2-8 USB/RS232 communication –...
  • Page 18 SendStuffedData(&DataArray) Transmission order (low byte first): 0x90,0x02,0x60,0x02,0x01,0xB0,0x30,0x00,0x2E,0x62 D) WAIT FOR RECEIVE FRAME The EPOS4 will answer to the command “ReadObject” with an answer frame and the returned parameters in the data block as follows: Reception order (low byte first): 0x90,0x02,0x00,0x04,0x00,0x00,0x00,0x00,0x01,0x90,0x90,0x00,0x00,0x9A,0x5C Important: •...
  • Page 19 12) Calculate the CRC (use algorithm as to chapter “2.2.3.2 CRC Algorithm” on page 2-14). Thereby, valid value for CRC is “0” (zero): ArrayLength= Len + 2 CrcValue = CalcFieldCRC(&DataArray, ArrayLength) Valid = (0x0000 == CrcValue) G) CHECK 13) Check the EPOS4 receive frame. Response frame OpCode BYTE Read object 0x00...

  • Page 20: Physical Layer

    The RS232 standard can only be used for point-to-point communication between a master and a single EPOS4 slave. It uses negative, bipolar logic with a negative voltage signal representing a logic “1”, and pos- itive voltage representing a logic “0”. Voltages of -3…-25 V with respect to signal ground (GND) are consid- ered logic “1”, whereas voltages of +3…25 V are considered logic “0”.

  • Page 21: Can Communication

    CAN Communication General Information CAN COMMUNICATION General Information maxon EPOS4 drives’ CAN interface follows the CiA CANopen specifications… • CiA 301 V4.2: CANopen application layer and communication profile ([2]) corresponds with the international standard EN 5325-4; Industrial communications subsystem based on ISO 11898 (CAN) ([11]) •...

  • Page 22: Table 3-6 Can Communication - Abbreviations

    Abbreviation Description Process Data Object – object for data exchange between several devices Programmable Controller – can serve as a CAN Master for the EPOS4 Read Only Read Write Service Data Object – peer-to-peer communication with access to the device’s...

  • Page 23: Canopen Basics

    CANopen Basics CANopen Basics Subsequently described are the CANopen communication features most relevant to the maxon’s EPOS4 positioning controllers. For more detailed information consult above mentioned CANopen documentation. The CANopen communication concept can be described similar to the ISO Open Systems Interconnection (OSI) Reference Model.

  • Page 24: Figure 3-11 Can Communication - Can Data Frame

    The recessive bits of the End of Frame (EOF) terminate the Data Frame. Between two frames, a recessive 3-bit Intermission field must be present. With EPOS4, only the Standard Frame Format is supported. Figure 3-12 CAN communication – Standard frame format •...

  • Page 25: Canopen Application Layer

    Communication Profile Area (CiA 301) 0x2000…0x5FFF Manufacturer-specific Profile Area (maxon) 0x6000…0x9FFF Standardized profile area 1st…8th logical device 0xA000…0xAFFF Standardized network variable area (not supported on EPOS4) 0xB000…0xBFFF Standardized system variable area (not supported on EPOS4) 0xC000…0xFFFF Reserved (not supported on EPOS4) Table 3-8 CAN communication –...

  • Page 26: Figure 3-13 Can Communication - Process Data Object (Pdo)

    Network Management Objects provide services for network initialization, error control and device status control. Communication Objects Process Data Objects (PDO) Service Data Objects (SDO) Time Stamp Objects (not used on EPOS4) Special Function Objects Synchronization Objects (SYNC) Emergency Objects (EMCY) NMT Message...

  • Page 27: Figure 3-14 Can Communication - Pdo Protocol

    4 TxPDOs. The actual number of available PDOs is indicated by the CANopen device's object dictio- nary and described by its firmware specification (such as the separately available documents «EPOS2 Firmware Specification» or «EPOS4 Firmware Specification»). The PDOs correspond to entries in the Object Dictionary and serve as an interface to objects linked to real time process data of the master's application code.

  • Page 28: Figure 3-15 Can Communication - Pdo Communication Modes

    Synchronized Synchronous PDOs are triggered by the expiration of a specified transmission period synchro- nized by the reception of the SYNC object. Figure 3-15 CAN communication – PDO communication modes EPOS4 Communication Guide 3-28 CCMC | 2019-11 | rel8759...

  • Page 29: Figure 3-16 Can Communication - Service Data Object (Sdo)

    SDOs are described by the communication parameter. The default Server SDO (S_SDO) is defined in the entry “1200h”. In a CANopen network, up to 256 SDO channels requiring two CAN identifiers each may be used. Figure 3-17 CAN communication – Object dictionary access EPOS4 Communication Guide 3-29 CCMC | 2019-11 | rel8759...

  • Page 30: Figure 3-18 Can Communication - Synchronization Object (Sync)

    Asynchronous PDOs and SDOs can be transmitted at every time with respect to their priority. Hence, they may also be transmitted within the synchronous window. Figure 3-19 CAN communication – Synchronous PDO EPOS4 Communication Guide 3-30 CCMC | 2019-11 | rel8759...

  • Page 31: Figure 3-20 Can Communication - Emergency Service (Emcy)

    The behavior's definition is part of the device profile’s scope. In “Operational”, all communica- tion objects are active. Object Dictionary access via SDO is possible. However, implementation aspects or EPOS4 Communication Guide 3-31 CCMC | 2019-11 | rel8759...

  • Page 32: Figure 3-22 Can Communication - Nmt Slave States

    • Layer setting services (LSS) • Lifeguarding (Heartbeating) The command may be sent with Network Management (NMT) protocol. The EPOS4 automatically generates the transition after initialization is completed. A Boot-Up message is being sent. Remote flag Bit 9 of the Statusword. Table 3-11 CAN communication –...

  • Page 33: Figure 3-23 Can Communication - Nmt Object

    0x80 NMT State “Pre-Operational”. 0x82 0 (all) All CANopen nodes (EPOS4 devices) will reset the communication. Reset The CANopen node (EPOS4 device) with Node-ID “n” will reset the Communication 0x82 communication. 0x81 0 (all) All CANopen nodes (EPOS4 devices) will reset.

  • Page 34: Identifier Allocation Scheme

    (0481h-04FFh) 1803h PDO4 (rx) 1010 1281…1407 (0501h-057Fh) 1403h SDO1 (tx) 1011 1409…1535 (0581h-05FFh) 1200h SDO1 (rx) 1100 1537…1663 (0601h-067Fh) 1200h Table 3-13 CAN communication – Objects of the default connection set EPOS4 Communication Guide 3-34 CCMC | 2019-11 | rel8759...

  • Page 35: Layer Setting Services (Lss)

    «Vendor ID», «Product Code», «Revision Number» and «Serial Num- ber» of the CANopen «Identity object» 0x1018 (EPOS4 Firmware Specification). In the network, there must not be other LSS Slaves possessing the same LSS address.

  • Page 36: Figure 3-25 Lss - Switch State Global

    • 0x42 to submit the Revision Number, • 0x43 to submit the Serial Number («Identity object» 0x1018; EPOS4 Firmware Specification). Then, the single addressed LSS Slave changes to configuration state and answers by sending a command specifier 0x44 response. Figure 3-26 LSS –...

  • Page 37: Figure 3-27 Lss - Configure Node Id

    0 table index CAN bit rate codes protocol successfully completed error code bit timing not supported specific error always 0 Figure 3-28 LSS – Configure Bit Timing Parameters EPOS4 Communication Guide 3-37 CCMC | 2019-11 | rel8759...

  • Page 38: Figure 3-29 Lss - Activate Bit Timing Parameters

    0 Figure 3-31 LSS – Store Configuration 3.5.2.7 Inquire Identity Vendor ID Reads «Vendor ID» of a LSS Slave («Identity object» 0x1018; EPOS4 Firmware Specification). Figure 3-32 LSS – Inquire Identity Vendor ID EPOS4 Communication Guide 3-38 CCMC | 2019-11 | rel8759...

  • Page 39: Figure 3-33 Lss - Inquire Identity Product Code

    CAN Communication Layer Setting Services (LSS) 3.5.2.8 Inquire Identity Product Code Reads «Product Code» of a LSS Slave («Identity object» 0x1018; EPOS4 Firmware Specification). Figure 3-33 LSS – Inquire Identity Product Code 3.5.2.9 Inquire Identity Revision Number Reads «Revision Number» of a LSS Slave («Identity object» 0x1018; EPOS4 Firmware Specification).

  • Page 40: Figure 3-37 Lss - Identify Remote Slave

    LSS address range to the full address area first, then requests the identify remote slave. The range (which comprises one or more responded LSS Slaves) will be split in two sub-areas. The request to the sub- areas will be repeated until each LSS Slave has been identified («Identity object» 0x1018; EPOS4 Firm- ware Specification).

  • Page 41: Ethercat Communication

    EtherCAT Communication ETHERCAT COMMUNICATION The functionality of the EPOS4 can be extended with an EtherCAT communication by using an EtherCAT Card in extension slot 1 or a Connector Board with EtherCAT functionality. • ETG.1000 V1.0.4: EtherCAT Specification ([6]) corresponds with the international standard IEC 61158-x-12 Industrial communication networks –...

  • Page 42: Communication Specifications

    Sync Manager. Operation of the connected EPOS4 (the Slave) requires its prior initialization by the Master via the ESM. Within the ESM, transitions between certain states must follow a given scheme and will be initiated by the Master.

  • Page 43: Table 4-16 Ethercat Communication - Esm Conditions

    • Acyclic as well as cyclic communication is active Operational • Master and Slave exchange setpoint and actual values • EPOS4 be enabled and operated via the CoE protocol • Only FoE is possible (Mailbox) Bootstrap • Firmware download via FoE Table 4-16 EtherCAT communication –...

  • Page 44: Integration Of Esi Files

    EtherCAT communication – ESM control register Integration of ESI Files SDOs are used to access the object dictionary. The corresponding interface is CoE. The EPOS4 is described with an XML file bearing the so-called ESI (EtherCAT Slave Information). For in-detail description and examples on integration into the EtherCAT master environment separate document «EPOS4 Application Notes», chapter “EtherCAT Integration”.

  • Page 45: Gateway Communication (Usb Or Rs232 To Can)

    GATEWAY COMMUNICATION (USB OR RS232 TO CAN) Using the gateway functionality, the master can access all other EPOS4, EPOS2, or EPOS devices con- nected to the CAN Bus via the gateway device’s USB port or RS232 interface. Even other CANopen devices (I/O modules) supporting the CANopen standard CiA 301 may be accessed.
  • Page 46 Gateway Communication (USB or RS232 to CAN) • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • EPOS4 Communication Guide 5-46...

  • Page 47: Communication Error Code Definition

    Communication Error Code Definition COMMUNICATION ERROR CODE DEFINITION The following abort codes (= errors) are defined by CANopen Communication Profile CiA 301 and in use by the EPOS4. Codes greater then 0x0F00 0000 are manufacturer-specific (maxon specific). Abort code Name...
  • Page 48 Communication Error Code Definition • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • EPOS4 Communication Guide 6-48 CCMC | 2019-11 | rel8759...
  • Page 49 USB/RS232 communication – Sending a data frame to EPOS4 ....... .
  • Page 50 Communication errors ..............47 EPOS4 Communication Guide...
  • Page 51 InitiateSegmentedWrite (function) 9 Subindex cannot be written (abort code) 47 Subindex error (abort code) 47 LSS (definition) 21 Toggle error (abort code) 47 Transfer or store error (abort code) 47 Transmit (definition) 22 EPOS4 Communication Guide Z-51 CCMC | 2019-11 | rel8759...
  • Page 52 20 Value range error (abort code) 47 Write only error (abort code) 47 WriteObject (function) 9 Wrong device state error (abort code) 47 Wrong NMT state error (abort code) 47 EPOS4 Communication Guide Z-52 CCMC | 2019-11 | rel8759...
  • Page 53 Index • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • EPOS4 Communication Guide Z-53 CCMC | 2019-11 | rel8759...
  • Page 54 The mentioned trademarks belong to their respective owners and are protected under intellectual property rights. © 2019 maxon. All rights reserved. Subject to change without prior notice. CCMC | EPOS4 Communication Guide | Edition 2019-11 | DocID rel8759 maxon motor ag Brünigstrasse 220...

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