Faulhaber MC 5010 Communications Manual
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Summary of Contents for Faulhaber MC 5010
- Page 1 Communications Manual MC 5010 MC 5005 MC 5004 RS232 / WE CREATE MOTION...
- Page 2 Dr. Fritz Faulhaber GmbH & Co. KG. This document has been prepared with care. Dr. Fritz Faulhaber GmbH & Co. KG cannot accept any liability for any errors in this document or for the consequences of such errors. Equally, no liability can be accepted for direct or consequential damages resulting from improper use of the equipment.
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Page 3: Table Of Contents
2.2.1.2 RS232 network operation ............10 2.2.2 Operation via the USB interface ............10 FAULHABER Motion Manager ................11 Saving and restoring parameters ................11 2.4.1 Saving parameters ................... 12 ... - Page 4 Content Trace ........................... 31 Trace recorder ......................31 4.1.1 Trace settings ................... 31 4.1.2 Reading the trace buffer ................ 33 4.1.3 Typical execution of the trace function ..........34 Trace logger ......................35 ...
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Page 5: About This Document
Description Motion Manager 6 Instruction manual for FAULHABER Motion Manager PC software Quick start description Description of the first steps for commissioning and operation of FAULHABER Motion Controllers Functional manual Description the operating modes and functions of the drive Technical manual... -
Page 6: List Of Abbreviations
1 About this document List of abbreviations Abbreviation Meaning Attr. Attribute Controller Area Network CAN in Automation e.V. COB ID Communication Object Identifier Cyclic Redundancy Check Command Specifier EEPROM Electrically Erasable Programmable Read-Only Memory EMCY Emergency FIFO First In – First Out High Byte Higher High Byte Higher Low Byte... -
Page 7: Symbols And Markers
1 About this document Symbols and markers NOTICE! Risk of damage to equipment. Measures for avoidance Instructions for understanding or optimising the operations Pre-requirement for a requested action Request for a single-step action 1. First step of a requested action ... -
Page 8: Overview
2 Overview Overview Basic structure of the Motion Controller Fig. 1: Basic structure of the Motion Controller Communication services The master communicates with the object dictionary via the interface and use of the communication services (see chap. 3.2, p. 15). The communication services are based on CANopen device systems. -
Page 9: Pre-Requirement For Communication
2 Overview Pre-requirement for communication FAULHABER drives are supplied with the node number 0xFF (unconfigured) and a RS232 transmission rate of 9600 bits/s. For operation over an RS232 or USB interface, a unique node number must be assigned and in addition for RS232 a suitable Baud rate set at commissioning (see ). -
Page 10: Rs232 Network Operation
2 Overview 2.2.1.2 RS232 network operation Multiple Motion Controllers can be operated on a single RS232 host interface. Connect the Tx cables and Rx cables to the controller in parallel. When they are in network operation the drives may not send any asynchronous messages, because these can interfere with communications with another drive. -
Page 11: Faulhaber Motion Manager
2 Overview FAULHABER Motion Manager We recommend that the first commissioning of a FAULHABER drive is performed using “FAULHABER Motion Manager“ software. The FAULHABER Motion Manager permits simple access to the settings and parameters of the connected motor controller. The graphical user interface allows configurations to be read, changed and reloaded. -
Page 12: Saving Parameters
The “Restore” command overwrites the values last saved as application parameters. If it is desired that the values currently loaded remain available after a “Restore”, these must be saved to the PC using a suitable program (such as FAULHABER Motion Manager). 15-04-2016 7000.05052... -
Page 13: Protocol Description
3 Protocol description Protocol description Introduction Entries in the object dictionary can be written or read using the protocol services. The services defined for the RS232 and USB interfaces are based on the CANopen services, but tailored to the characteristics of the RS232 interface. In CiA 301, the CiA (CAN in Automation) defines the following aspects: ... - Page 14 3 Protocol description Command codes Command code Name Function 0x00 Boot-up message / Reset Node (Receive / Request) Boot up 0x01 Read the object dictionary entry (Request / Response) SDO Read 0x02 Write an object dictionary entry (Request / Response) SDO Write 0x03 SDO error (abort request / error response)
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Page 15: Communication Services
3 Protocol description Communication services Communication Application CiA 402 Drive Control Word Statemachine Status Word Motor Control n*, Pos* Motor n, Pos EMCY Fig. 5: Communication services of the Motion Controller The following communication services are available: Boot-up message ... -
Page 16: Sdo (Service Data Object)
3 Protocol description SDO (Service Data Object) The SDO reads and describes parameters in the OD (object dictionary). The SDO accesses the object dictionary via the 16-bit index and the 8-bit sub-index. At the request of the client (PC, PLC) the Motion Controller makes data available (upload) or receives data from the client (download). -
Page 17: Writing To The Object Dictionary
3 Protocol description 3.3.1.2 Writing to the object dictionary Entries in the object dictionary can be written using the SDO Write. Telegrams are always acknowledged. Tab. 5: Request Byte Contents Description Length User data length >7 bytes Node number Node number 0x02 Command SDO Write Index LB... -
Page 18: Segmented Transfer
3 Protocol description 3.3.2 Segmented transfer 3.3.2.1 SDO Block Upload The segmented SDO block upload protocol is based on CiA301. Master Slave Request_SDOBlockReadInit(Index, Subindex) Response_SDOBlockReadInit(Index, Subindex, Data) SeqNr = 0 Request_SDOBlockReadUpload() optional [dataLen > 110] Response_SDOBlockReadUpload(SeqNr, Data) SeqNr ++ Acknowledge_SDOBlockReadUpload(AckSeq) Response_SDOBlockReadEnd(Seqnr, Data) Acknowledge_SDOBlockReadEnd(AckSeq) Fig. - Page 19 3 Protocol description Tab. 8: Response SDO Initiate Block Upload (Slave to Master) Byte Contents Description Length User data length >7 bytes Node number Node number 0x08 Command SDO Block Read Init Index LB Index of the object entry LB Index HB Index of the object entry HB Sub-index...
- Page 20 3 Protocol description Tab. 12: Response SDO Block Upload End (Slave to Master) Byte Contents Description Length User data length >5 bytes Node number Node number 0x0A Command SDO Block Read End Sequ no Sequential number of the last segment (>0) 5–N Data Data of the last segment (max.
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Page 21: Sdo Block Download
3 Protocol description 3.3.2.2 SDO Block Download The segmented SDO block download protocol is based on CiA301. Master Slave Request_SDOBlockWriteInit(Index, Subindex, Data) SeqNr = 0 Response_SDOBlockWriteInit(Index, Subindex,) optional [dataLen > 110] Request_SDOBlockWriteDownload(SeqNr, Data) SeqNr ++ Response_SDOBlockWriteDownload(AckSeq) Request_SDOBlockWriteEnd(SeqNr, Data) Response_SDOBlockWriteEnd(AckSeq) Fig. 7: Sequential diagram for the SDO block download 1) This is repeated until less than 58 bytes remain to be transmitted Tab. - Page 22 3 Protocol description Tab. 15: Response SDO Initiate Block Download (Slave to Master) Byte Contents Description User data length 7 bytes Node number Node number 0x0B Command SDO Block Write Init Index LB Index of the object entry LB Index HB Index of the object entry HB Sub-index Sub-index of the object entry...
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Page 23: Sdo Error Handling
3 Protocol description Tab. 19: Response SDO Block Download End (Slave to Master) Byte Contents Description User data length 5 bytes Node number Node number 0x0D Command SDO Block Write End Ack Sequ Sequential number received Check sum If AckSeq = 0, segment transmitted was not received correctly and the segment must be sent again. - Page 24 3 Protocol description Block transmission aborted by the master (Abort SDO telegram) Tab. 22: Request Abort SDO Transfer Byte Contents Description User data length 11 bytes Node number Node number 0x03 Command SDO Error Index LB Index of the object entry LB Index HB Index of the object entry HB Sub-index...
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Page 25: Emergency Object (Error Message)
Tab. 25, p. 26 lists all the errors that have been reported by emergency messages, providing the respective error is included in the emergency mask for the FAULHABER error register (chap. 3.7.1, p. 29). - Page 26 3 Protocol description Tab. 25: Emergency error codes Emergency message FAULHABER error register 0x2320 Error register 0x1001 Error code Designation Error mask Designation Designation 0x2321 0x0000 No error (is sent out when an – – – – – error is no longer present or has been acknowledged) –...
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Page 27: Device Control
3 Protocol description Example: An emergency message with the user data assignment inTab. 26, p. 27 is sent in the following event: In the Error Mask 0x2321, bit 1 (following error) is set under sub-index 1 (emergency mask) (see Tab. 34, p. 30). ... -
Page 28: Device Control
3 Protocol description 3.5.3 Device Control Device Control can be used to perform status changes and to read the current status. Tab. 29: Request Write controlword (object 0x6040.00 in the object dictionary) Byte Contents Description User data length 6 bytes Node number Node number 0x04... -
Page 29: Error Handling
Fault register – FAULHABER error register The FAULHABER error register contains the most recent errors in bit-coded form. The errors can be masked by selection of the desired types of error via the error mask object (0x2321). Tab. 33: Error coding... - Page 30 3 Protocol description Tab. 34: Error mask (0x2321) Index Subindex Name Type Attr. Default value Meaning 0x2321 Number of Number of object entries entries Emergency 0xFFFF Errors that trigger an emergency mask telegram Fault mask 0x0000 Errors that are treated as DSP402 errors and affect the status of the machine (error condition) Error Out mask...
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Page 31: Trace
Trace logger: On request the parameter values are requested and read continuously (see chap. 4.2, p. 35). The FAULHABER Motion Manager provides a user-friendly means of setting and evaluating the trace functions. Trace recorder The configuration and reading of data with the trace recorder is performed via the SDO. - Page 32 4 Trace Trigger source (0x2370.01), source 1 to 4 (0x2370.07 to 0A) The parameters to be recorded, source 1 to source 4, must be entered into the objects 0x2370.07 to 0x2370.0A as pointers to a corresponding object entry (index and sub-index of the desired parameter).
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Page 33: Reading The Trace Buffer
4 Trace Buffer size (0x2370.05) The length of the buffer available for recording is set in object 0x2370.05. The permissible length is dependent on the data type of the parameter to be recorded. A maximum buffer of 2 kB per data source is available. Sample time (0x2370.06) The sampling rate is stated in object 0x2370.06 as a multiple of the controller sampling time. -
Page 34: Typical Execution Of The Trace Function
4 Trace 4.1.3 Typical execution of the trace function 1. Set the trigger type and the type of the data sources (2370.04). 2. Set the trigger source and the signals to be recorded (2370.01, 07 to 0A). 3. Set the recording length (2370.05). 4. -
Page 35: Trace Logger
4 Trace Trace logger The log service allows individual trace data packets to be requested by request. In this way a continuous recording can be built up over a long period of time. For configuration of the data sources to be transmitted, the same objects are used, source 1 to source 4 of the trace recorders. -
Page 36: Communications Settings
5 Communications settings Communications settings The node numbers 1 to 127 can be set. An RS232 transmission rate in accordance with Tab. 41, p. 36 can be set by inputting the index 0 to 3. USB communication does not require specification of the transmission rate ... -
Page 37: Troubleshooting
6 Troubleshooting Troubleshooting If despite the device being used properly nevertheless unexpected malfunctions occur, please contact your responsible support partner. 15-04-2016 7000.05052... -
Page 38: Parameter Description
7 Parameter description Parameter description Communication objects to CiA 301 Device type Index Subindex Name Type Attr. Default value Meaning 0x1000 Device type 0x00420192 Indication of the device type Contains information on the device type, coded in two 16-bit fields: ... - Page 39 7 Parameter description Manufacturer’s hardware version Index Subindex Name Type Attr. Default value Meaning 0x1009 Manufacturer’s const – Hardware version hardware strin version The segmented SDO record must be read to determine the manufacturer’s hardware version. Manufacturer’s software version Index Subindex Name Type...
- Page 40 7 Parameter description NOTICE! The flash memory is designed to accommodate 10,000 write cycles. If this command is executed more than 10,000 times, the correct operation of the flash memory can no longer be guaranteed. Avoid performing frequent saves. ...
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Page 41: Manufacturer-Specific Objects
0x2320 Fault register – FAULHABER error register The FAULHABER error register contains the most recent errors in bit-coded form. The errors can be masked by selection of the desired types of error via the error mask object (0x2321). Error mask... - Page 42 7 Parameter description Trace configuration Index Subindex Name Type Attr. Default value Meaning 0x2370 Number of Number of object entries entries Trigger source Trigger source for the trigger type “Threshold” Trigger Trigger threshold threshold Trigger delay Trigger delay Trigger mode Type of trigger Buffer size Length of the buffer in sampling...
- Page 43 DR. FRITZ FAULHABER GMBH & CO. KG Antriebssysteme Daimlerstraße 23 / 25 71101 Schönaich · Germany Tel. +49(0)7031/638-0 Fax +49(0)7031/638-100 7000.05052, 15-04-2016 info@faulhaber.de © Dr. Fritz Faulhaber GmbH & Co. KG www.faulhaber.com...