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Stober CANopen SD6 Operating Manual

Stober CANopen SD6 Operating Manual

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CANopen – SD6
Operating manual
en-US
09/2019
ID 442637.01

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  • Page 1 ® CANopen – SD6 Operating manual en-US 09/2019 ID 442637.01...

  • Page 2: Table Of Contents

    Table of contents STÖBER Table of contents Foreword ..................................  4 User information ...............................  5 Storage and transfer .............................. 5 Described product.............................. 5 Timeliness ................................ 5 Original language .............................. 5 Limitation of liability .............................. 5 Formatting conventions............................ 6 2.6.1 Use of symbols............................ 6 2.6.2 Markup of text elements ........................
  • Page 3 STÖBER Table of contents 7.2.4 Parameter structure .......................... 21 7.2.5 Parameter visibility .......................... 22 Power-loss protected storage.......................... 22 Commissioning ................................  23 DS6: Configuring the drive controller ........................ 24 8.1.1 Initiating the project .......................... 24 8.1.2 Parameterizing global CANopen settings .....................  25 8.1.3 Configuring PDO transmission ......................

  • Page 4: Foreword

    STÖBER Foreword STOBER drive controllers of the SD6 series offer maximum precision and productivity for automation technology and mechanical engineering despite ever more complex functions. Drive controllers from the SD6 series can be equipped with the CA6 communication module to provide reliable...

  • Page 5: User Information

    This documentation was created taking into account the applicable standards and regulations as well as the current state of technology. STOBER shall assume no responsibility for damage resulting from failure to comply with the documentation or from use that deviates from the intended use of the product. This is especially true for damage caused by individual technical...

  • Page 6: Formatting Conventions

    2 | User information STÖBER Formatting conventions Orientation guides in the form of signal words, symbols and special text markups are used to emphasize specific information so that you are able identify it in this documentation quickly. 2.6.1 Use of symbols Safety instructions are identified with the following symbols.

  • Page 7: Markup Of Text Elements

    STÖBER 2 | User information 2.6.2 Markup of text elements Certain elements of the continuous text are distinguished as follows. Important information Words or expressions with a special meaning Interpolated position mode Optional: File or product name or other name Detailed information Internal cross-reference http://www.samplelink.com...

  • Page 8: Trademarks

    2 | User information STÖBER Trademarks The following names used in connection with the device, its optional equipment and its accessories are trademarks or registered trademarks of other companies: ® ® ® CANopen CANopen and CiA are registered European Union trademarks of CAN in ®...

  • Page 9: General Safety Instructions

    Use in potentially explosive atmospheres § Use in environments with harmful substances as specified by EN 60721, such as oils, acids, gases, vapors, dust and radiation Implementation of the following applications is permitted only after approval from STOBER: § Use in non-stationary applications §...

  • Page 10: Disposal

    3 | General safety instructions STÖBER Disposal Observe the current national and regional regulations when disposing of the product! Dispose of the individual product parts depending on their properties, e.g. as: § Electronic waste (circuit boards) § Plastic § Sheet metal §...

  • Page 11: Network Structure

    STÖBER 4 | Network structure Network structure In the standard version, CAN operates with a linear topology in which all nodes (master and slaves) are interconnected by 3 shielded lines: CAN-High and CAN-Low. A line is also provided for the reference ground between the nodes. To prevent data overlapping through signal reflections at the two bus ends and thus reduce susceptibility to faults substantially, terminal resistances of 120 Ω...

  • Page 12: Ca6 Communication Module

    5 | CA6 communication module STÖBER CA6 communication module The drive controllers of the SD6 series are connected to a controller by CANopen using CA6 communication modules, which provide the necessary fieldbus interfaces. CA6 fully corresponds to the CANopen standard and enables direct access to all relevant drive parameters and functions. Installation Installation work is permitted only when no voltage is present.

  • Page 13: Connection

    STÖBER 6 | Connection Connection To enable the connection of individual drive controllers with each other or with the controller, the CA6 communication module provides its own interface in the form of a 9-pin D-sub connector for the connection to the CAN bus system. Selecting suitable lines CAN cables There are CAN bus lines with different sheathing materials for various applications and ambient conditions.

  • Page 14: Terminal Resistances

    6 | Connection STÖBER Terminal resistances The following graphic abstracts a CANopen network consisting of a controller as master as well as multiple SD6 drive controllers as bus nodes, i.e. slaves. Note that a terminal resistance has to be provided at the first and last node. In the example, one of the two required terminal resistances is connected to the controller and the second is connected to the last participating SD6 (X200: slider at "ON").

  • Page 15: X200: Canopen

    STÖBER 6 | Connection X200: CANopen The CA6 communication module provides a 9-pin D-sub connector for connecting the drive controllers to each other. Connector Designation Function 1 | 2 | 3 | 4 | 5 — — CAN-L CAN low wire Reference ground —...

  • Page 16: Led Display

    6 | Connection STÖBER LED display STOBER drive controllers feature diagnostic LEDs that visualize the state of fieldbus communication and the states of the physical connection. 6.5.1 CAN status There are 2 LEDs on the top of the drive controller that provide information about the connection between the CANopen master and slave and about the state of the data exchange.

  • Page 17: What You Should Know Before Commissioning

    STÖBER 7 | What you should know before commissioning What you should know before commissioning The following chapters provide a quick introduction to the structure of the program interface and accompanying window designations as well as relevant information about parameters and generally saving your project configuration. Program interfaces The following chapters include an overview of the program interfaces for the described software components.

  • Page 18: Meaning Of Parameters

    7 | What you should know before commissioning STÖBER 7.1.1.2 Navigation using sensitive circuit diagrams Fig. 5: DriveControlSuite: Navigation using text links and symbols In order to illustrate graphically the processing sequence of actual and set values, the use of signals or certain drive component arrangements and to make configuring the accompanying parameters easier, they are displayed on the respective wizard pages of the workspace in the form of circuit diagrams.

  • Page 19: Parameter Groups

    STÖBER 7 | What you should know before commissioning 7.2.1 Parameter groups Parameters are assigned to individual groups by topic. The 6th generation of STOBER drive controllers differentiates between the following parameter groups. Group Topic Drive controllers, communication, cycle times...

  • Page 20: Parameter Types And Data Types

    7 | What you should know before commissioning STÖBER 7.2.2 Parameter types and data types In addition to topic-based sorting in individual groups, all parameters belong to a certain data type and parameter type. The data type of a parameter is displayed in the parameter list, properties table. The connections between parameter types, data types and their value range can be found in the following table.

  • Page 21: Parameter Types

    STÖBER 7 | What you should know before commissioning 7.2.3 Parameter types The following types of parameters are differentiated. § Simple parameters Consist of one group and one line with a defined value. Example: A21 Brake resistor R: Value = 100 ohms §...

  • Page 22: Parameter Visibility

    7 | What you should know before commissioning STÖBER 7.2.5 Parameter visibility The visibility of a parameter depends on the access level defined in the software, the dependency of other parameters, the selected application and the version of the associated firmware. Access level The access options for the individual software parameters are ranked hierarchically and divided into individual levels.

  • Page 23: Commissioning

    STÖBER 8 | Commissioning Commissioning Are you looking to operate multiple SD6 drive controllers combined with a controller over a CAN network? The following sections describe the commissioning process using the DriveControlSuite commissioning software. We put forward the following system environment as an example so that you can follow the individual commissioning steps exactly: §...

  • Page 24: Ds6: Configuring The Drive Controller

    8 | Commissioning STÖBER DS6: Configuring the drive controller Project and configure all drive controllers for your drive system in DriveControlSuite (see DS6: Structure of the program interface [} 17]). Information Always perform the steps included in the following chapters in the specified order! Some parameters of the DriveControlSuite are interdependent and do not become accessible to you until you have first configured certain settings.

  • Page 25: Parameterizing Global Canopen Settings

    STÖBER 8 | Commissioning Projecting the axis 1. Click on Axis Properties tab: Establish the connection between your circuit diagram and the axis to be projected in DriveControlSuite. Reference: Specify the reference code (equipment code) of the axis. Designation: Give the axis a unique name. Version: Version your project configuration.

  • Page 26: Configuring Pdo Transmission

    Due to the unlimited transmission rate of the CAN bus, 2 independent channels are enabled in the CANopen PDO default settings. The STOBER drive controllers support a flexible assignment of the elements to be transmitted to the individual PDOs. 8.1.3.1 Adapting the receive PDO ü...
  • Page 27 STÖBER 8 | Commissioning 8.1.3.2 Adapting the transmit PDO ü You have configured the global CANopen settings. 1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu > Wizard area.

  • Page 28: Transmitting And Saving A Project Configuration

    8 | Commissioning STÖBER 8.1.4 Transmitting and saving a project configuration Transmitting a project configuration ü The drive controllers are ready for operation. 1. In the project tree, highlight the module under which you have recorded your drive controllers and click Assignment and live firmware update in the project menu.

  • Page 29: More About Canopen

    STÖBER 9 | More about CANopen? More about CANopen? The following sections summarize the key terms, services and relationships relating to CANopen. CAN bus and CANopen CAN and communication in CAN bus The "Controller Area Network" (CAN) bus system is a real-time fieldbus for serial data transmission. The individual tasks of a CAN bus are defined in what are called the layers.

  • Page 30: Object Directory

    9 | More about CANopen? STÖBER 9.1.2 Object directory The object directory of each bus node describes its complete range of functions in the form of different data (standardized data types, objects of the CANopen communication profile and device profile, manufacturer-specific objects, etc.). Service Data Objects (SDOs) can access the entries of the object directory through an index (row address, 16-bit) and an additional subindex (column address, 8-bit).

  • Page 31: Can Message

    STÖBER 9 | More about CANopen? CAN message Communication using the CAN protocol is carried out in the form of messages (frames). A frame is the structure of a standardized message "container." The CAN bus system distinguishes between 4 different frames: §...

  • Page 32: Cob-Id

    9 | More about CANopen? STÖBER 9.2.1 COB-ID COB-ID (Communication Object Identifier) determines the priority of a message in the network (low COB-ID = high priority). COB-IDs can be changed by accessing SDOs. In a standard message (standard CAN frame), the COB-ID is defined by 11 bits, which allows for 2,032 different logical addresses to be coded and 2,048 different pieces of information to be sent.
  • Page 33 STÖBER 9 | More about CANopen? Peer-to-peer objects Note that the node IDs of the node in question must be between 1 and 31, and for the disabled SDO channels SDO 2, 3 and 4 must be no greater than 127. Object Function COB-ID...
  • Page 34 9 | More about CANopen? STÖBER 9.2.1.2 Dynamic distribution In special application cases, it may be necessary to deviate from the predefined assignment of COB-IDs to communication objects and use the dynamic distribution service. In this process, the COB-IDs are dynamically distributed by a distributor (DBT), for which a process map of all registered bus nodes in the network must be available at all times.

  • Page 35: Communication Objects

    STÖBER 9 | More about CANopen? Communication objects In general, CANopen provides for communication objects to query (i.e. read) or to change (i.e. write) the values of communication parameters. A write service is designated as "Domain Download" and a read service as "Domain Upload". The following communication objects are of key importance for data transmission as part of CANopen: §...
  • Page 36 Assignment of the associated COB-IDs corresponds to the principle of predefined connection sets. The STOBER drive controllers support a flexible assignment of the elements to be transmitted to the individual PDOs. If you want to change the configuration of the predefined PDO mapping, note that the overall length of the elements to be transmitted per channel must not exceed 8 bytes.
  • Page 37 STÖBER 9 | More about CANopen? The respective PDO transmission type is defined by the entry of a specified value in the corresponding transmission type parameters. Each channel and each direction of transmission has its own transmission type parameter. Value Cyclical Acyclical Synchronou...

  • Page 38: Service Data Object - Sdo

    9 | More about CANopen? STÖBER 9.3.2 Service data object – SDO Service data objects are used for transmitting data that is not critical with respect to time and, in general, enables each bus node to be configured. SDOs directly access the entries in the object list of a node and thus help with the parameterization of object directory entries.
  • Page 39 STÖBER 9 | More about CANopen? 9.3.2.1 Expedited transfer The simplified, expedited SDO transfer is used for transferring all parameters with a data type of maximum of 4 bytes. In this type of transmission, 4 data bytes are sent in a single frame. The data is arranged in accordance with the Intel format (little-endian), meaning that the byte with the smallest value is saved at the starting address and transmitted first (compare with big-endian or Motorola format, where the highest-value component is sent first).
  • Page 40 9 | More about CANopen? STÖBER 9.3.2.2 Segmented transfer For a segmented transfer, data is split into segments. The total number of bytes to be transmitted are sent in what is called a first initiate message ("Initiate SDO Download"); this is followed by the remaining segments ("Download SDO Segment"), each with 7 bytes.
  • Page 41 STÖBER 9 | More about CANopen? Download SDO Segment Protocol Byte 7...5 3...1 seg-data ccs=0 Master Slave Byte 7...5 3...5 reserved scs=1 Client command specifier 0 = Download segment request Server command specifier 1 = Download segment response Number of bytes Number of bytes in "Segment data"...
  • Page 42 9 | More about CANopen? STÖBER Initiate SDO Upload Protocol 1...3 4...7 Byte 7...5 4...0 scs=2 reserved Master Slave 1...3 4...7 Byte 7...6 3...2 ccs=2 Client command specifier 2 = Initiate upload request Server command specifier 2 = Initiate upload response Number of bytes Number of bytes in "Data"...
  • Page 43 STÖBER 9 | More about CANopen? Upload SDO Segment Protocol 1...7 Byte 7...5 3...0 reserved ccs=3 Master Slave 1...7 Byte 7...5 3...1 scs=0 Client command specifier 3 = Upload segment request Server command specifier 0 = Upload segment response Number of bytes Number of bytes in "Segment data"...

  • Page 44: Network Management Object - Nmt

    9 | More about CANopen? STÖBER 9.3.3 Network management object – NMT Network management objects are responsible for initialization, configuration and error handling in the CAN network. In addition to the node ID, each node of a CANopen network has an NMT state machine (Network Management State Machine), which can be in various states.
  • Page 45 STÖBER 9 | More about CANopen? State transitions CAN message Switch on the supply voltage. – (2a), (2b), (2c) After ending the internal action, keep – switching independently. (3a), (3b) NMT_Start_Remote_Node command ID = 0, received. byte 1 = 1, byte 2 = 0 (4a), (4b) NMT_Enter_Pre_Operational ID = 0,...

  • Page 46: Error Control Objects - Error

    9 | More about CANopen? STÖBER 9.3.4 Error Control Objects – ERROR To enable monitoring of the NMT states of the individual bus nodes, CANopen offers 2 ERROR CONTROL services, which are based on periodic message transmission: node/life guarding and heartbeat. Node/life guarding and heartbeat have the same COB-ID, which means the two control mechanisms cannot be used simultaneously;...
  • Page 47 STÖBER 9 | More about CANopen? Process – Node/life guarding Master Slave (controller) (drive controller) 1. Remote Transmit Request (COB-ID = 1792 + Node-ID) (Indication) Bit Bit Guard- (Confirmation) 6...0 Time 2. 1 Byte Data-Response: Life- 3. Remot Transmit Request Time (Indication) Bit Bit...
  • Page 48 9 | More about CANopen? STÖBER 9.3.4.2 Heartbeat The alternative to the life/node guarding mechanism is the heartbeat service. The advantage of this service over the life/ node guarding is that no remote frames are exchanged between the controller and drive controller—which considerably reduces the utilization of the CAN bus.

  • Page 49: Synchronization Object - Sync

    CiA/DS-301 and CiA DSP402 profiles. The fourth byte contains the value of the STOBER parameter E82 Event type, the fifth byte contains the value of the parameter E43 Event cause. Disabling the EMCY service If the parameter A83 Bus address contains the value 0, then sending EMCY objects is disabled because identifier 128 could interfere with the process data synchronization (SYNC object, also identifier 128).

  • Page 50: Appendix

    — — Highest subindex supported Number of structure elements: 4 1018 hex 1 hex — — Vendor ID STOBER manufacturer ID: B9 hex 1018 hex 2 hex — — Product code Nominal power in unit 0.1 kW 1018 hex 3 hex —...
  • Page 51 STÖBER 10 | Appendix Index Subindex TxPDO RxPDO Name Comment 1018 hex 4 hex — — Serial number E52[2] 1200 hex SDO server parameter Structure 1200 hex 0 hex — — Highest subindex supported Number of structure elements: 2 1200 hex 1 hex —...
  • Page 52 10 | Appendix STÖBER Index Subindex TxPDO RxPDO Name Comment 1600 hex 0 hex — Number of mapped Constant value of 6 ✓ application objects in RxPDO 1600 hex 1 hex – 6 hex — ✓ Application objects A225[0] - A225[5] 1601 hex 2nd RxPDO mapping parameter...

  • Page 53: Tab. 8 Cia 301 Communication Objects: 1000 Hex - 1Ffff Hex

    STÖBER 10 | Appendix Index Subindex TxPDO RxPDO Name Comment 1803 hex 0 hex — — Highest subindex supported Number of structure elements: 5 1803 hex 1 hex — COB-ID used by TxPDO A232[0] ✓ 1803 hex 2 hex — Transmission type A232[1];...

  • Page 54: Manufacturer-Specific Parameters: 2000 Hex - 53Ff Hex

    Index E200 = 8192 + (4 × 512) + 200 = 10440 = 28C8 hex Subindex E200 = 0 = 0 hex The following table includes the supported communication objects and how they are mapped to the corresponding parameters of STOBER. Index area Group...

  • Page 55: Cia 402 Drives And Motion Control: 6000 Hex - 65Ff Hex

    The following table includes the supported communication objects of the standardized profile CiA 402 Drives and motion control device profile – Part 2: Operation modes and application data for motion control, as well as how they are mapped to the corresponding parameters of STOBER. The communication objects are used in the applications...
  • Page 56 10 | Appendix STÖBER Index Subindex TxPDO RxPDO Name Comment 6091 hex 0 hex — — Highest subindex Constant value of 2 supported 6091 hex 1 hex ✓ ✓ Motor revolutions A584[0] 6091 hex 2 hex Shaft revolutions A584[1] ✓ ✓...

  • Page 57: Tab. 10 Cia 402-2 Communication Objects: 6000 Hex - 65Ff Hex

    STÖBER 10 | Appendix Index Subindex TxPDO RxPDO Name Comment 60C2 hex 1 hex — Interpolation time period A602[0] ✓ value 60C2 hex 2 hex — ✓ Interpolation time index A602[1] 60C4 hex Interpolation data configuration 60C4 hex 0 hex —...

  • Page 58: Detailed Information

    10 | Appendix STÖBER 10.2 Detailed information The documentation listed in the following table offers additional relevant information about the associated drive controllers. Current document versions can be found at http://www.stoeber.de/en/downloads/. Device/Software Documentation Contents SD6 drive controller Manual System setup, technical data, 442426 project configuration, storage, installation, connection,...

  • Page 59: Abbreviations

    STÖBER 10 | Appendix 10.3 Abbreviations Abbreviation Meaning Controller Area Network CAN in Automation COB-ID Communication Object Identifier Distributor Direct Current Deutsches Institut für Normung e. V. (German Institute for Standardization) DIN EN German acceptance of a European standard EMCY Emergency Ground International Electrotechnical Commission...

  • Page 60: Contact

    Your suggestions, opinions, wishes and constructive criticism help us to ensure and further develop the quality of our documentation. If you want to contact us for a specific reason, we would be happy to receive an e-mail from you at: documentation@stoeber.de Thank you for your interest. Your STOBER editorial team...

  • Page 61: Close To Customers Around The World

    STÖBER 11 | Contact 11.3 Close to customers around the world We offer you committed, expert advise and support in over 40 countries worldwide: STOBER AUSTRIA STOBER SOUTH EAST ASIA www.stoeber.at www.stober.sg Phone +43 7613 7600-0 sales@stober.sg sales@stoeber.at STOBER CHINA STOBER SWITZERLAND www.stoeber.cn...

  • Page 62: Glossary

    Glossary STÖBER Glossary Broadcast domain Logical grouping of network devices within a local network that reaches all nodes via broadcast. COB-ID Each message sent using a CAN bus has a COB-ID, which determines the priority of this message (low COB-ID = high priority).
  • Page 63 STÖBER List of figures List of figures Fig. 1 CANopen – network structure, using the SD6 series as an example............... Fig. 2 Connecting the terminal resistances in a CANopen network................Fig. 3 LEDs for the CAN status ..........................Fig. 4 DS6 –...
  • Page 64 List of tables STÖBER List of tables Tab. 1 Transmission rate and max. CAN bus length....................Tab. 2 X200 connection description........................... Tab. 3 Meaning of the green LED (run) ........................Tab. 4 Meaning of the red LED (error) ........................Tab. 5 Parameter groups ............................
  • Page 65 442637.01 09/2019 STÖBER Antriebstechnik GmbH + Co. KG Kieselbronner Str. 12 75177 Pforzheim Germany Tel. +49 7231 582-0 mail@stoeber.de www.stober.com 24 h-Service-Hotline +49 7231 582-3000 www.stober.com...

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