Leadshine Technology EM-CAN Instruction Manual
  1. Manuals
  2. Brands
  3. Leadshine Technology Manuals
  4. DC Drives
  5. EM-CAN
  6. Instruction manual

Leadshine Technology EM-CAN Instruction Manual

Canopen protocol
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
EM-CAN
CANopen Protocol Instruction Manual
Revision 1.0
©2016 China Leadshine Technology Co., Ltd.
Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District,
Shenzhen, Guangdong, 518055, China
Tel: (86)755-26409254
Fax: (86)755-26402718
Web:
Sales:
www.leadshine.com
sales@leadshine.com
Support:
tech@leadshine.com

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EM-CAN and is the answer not in the manual?

Questions and answers

Related Manuals for Leadshine Technology EM-CAN

Summary of Contents for Leadshine Technology EM-CAN

  • Page 1 EM-CAN CANopen Protocol Instruction Manual Revision 1.0 ©2016 China Leadshine Technology Co., Ltd. Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District, Shenzhen, Guangdong, 518055, China Tel: (86)755-26409254 Fax: (86)755-26402718 Web: Sales: www.leadshine.com sales@leadshine.com Support: tech@leadshine.com...
  • Page 2 CANopen Protocol Instruction Manual Notice Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding installation requirements. This manual is not for use or disclosure outside of Leadshine except under permission.

  • Page 3: Table Of Contents

    2.6 P (PDO)........................15 ROCESS BJECTS 2.7 S (SDO)........................17 ERVICE BJECTS 2.8 E ............................18 MERGENCY BJECT 3 DS402 CONTROL OF EM-CAN ........................20 3.1 B EM-CAN D .....................20 ASIC OVEMENT TEPS FOR RIVES 3.2 402 S ............................21 TATE ACHINE 3.3 D...

  • Page 4: Port Connection And Settings

    CANopen Protocol Instruction Manual 1 Port Connection and Settings 1.1 CAN Bus Connectors EM556-CAN's CAN port adopt double couplet belt shielded RJ45 terminal (Adopt standard RJ45 norm). RJ45 port PIN sequence Function PIN No. Signal definition description CAN_H CAN signal high CAN_L CAN signal low CAN signal...

  • Page 5: Canopen Communication

    CANopen Protocol Instruction Manual Baud rate can be set by external DIP switch, specific settings as below: Communica Baud Rate tion range Default(100K, can use upper computer to 550m preset value) 250K 250m 500K 100m 1M(factory setting) EM556-CAN adopt built-in terminal resistance, can select by SW8, the SW8 of the drive which is at the end of bus must be switch to "on".

  • Page 6: Canopen Communication Services

    CANopen Protocol Instruction Manual CANopen protocol provides a standard group of communication object: contains PDO(Process Data Objects), SDO(Service Data Objects) and some specific function Time Stamp, synchronous information (Sync message), E mergency message ； also formulate network management data, such as Boot-up message, network management information (NMT message) and Error Control message.

  • Page 7: Object Directory (Od)

    CANopen Protocol Instruction Manual 11bits CAN－ID, contains 4 bits function code and 7 bits Node-ID , as shown below: Function code Node ID Node-ID range is 1-127(0 are not allowed to be used). Predefined connection group defines 3 receive PDO(RXPDO), 1transmit PDO(TXPDO), 1 SDO (occupy 2 CAN-ID), 1 emergency object and 1 node error control ID.
  • Page 8 CANopen Protocol Instruction Manual 0000H Unused The standard data type, such as Bool, Integer16 etc. 0001H——001FH Complex data type, such as PDO Communication 0020H——003FH Parameters (PDOCommpar) etc. Manufacturer defined responsible data type 0040H——005FH Standard data type regulated by device profile 0060H——007FH 0080H——009FH Complex data type regulated by device profile...
  • Page 9 CANopen Protocol Instruction Manual variable, such as Bool, Integer 8 bits etc ARRAY Array, lots of the same type of data RECORD Record, can be a lot of different types of data 2.4.4 Accessing Properties Property Specification read-write write only read only CONST Constant, read only...
  • Page 10 CANopen Protocol Instruction Manual Data type Integer 32 bits Accessing Properties PDO mapping Cannot mapping Value range 0-232-1 Default Values 0x20192 1001H: Error Register Index 1001H Name error register Object Type Data type Integer 8 bits Accessing Properties PDO mapping Cannot mapping Value range 0-28-1...
  • Page 11 CANopen Protocol Instruction Manual Value range 0-232-1 Default Values 1007H: PDO Time Window Index 1007H Name PDO Time Window Object Type Data type Integer 32 bits Accessing Properties PDO mapping Cannot mapping Value range 0-232-1 Default Values 1008H: Device name Index 1008H Name...
  • Page 12 CANopen Protocol Instruction Manual Data type Integer 16 bits Accessing property PDO mapping Cannot mapping Value range 0-216-1 Default value 1018H: Identity object Index 1018H Name Identity object Object type RECORD Data type Integer 32 bits Sub-index Sub-index Description Sub-index quantity Accessing property PDO mapping Cannot mapping...
  • Page 13 CANopen Protocol Instruction Manual Sub-index Description Sub-index quantity Accessing property PDO mapping Cannot mapping Value range Default value Sub-index Sub-index Description COB-ID(user to server) Accessing property PDO mapping Cannot mapping Value range 0-232-1 Default value 0x600+Node-ID Sub-index Sub-index Description COB-ID(server to user) Accessing property PDO mapping Cannot mapping...
  • Page 14 CANopen Protocol Instruction Manual Description Forbidden time Accessing property PDO mapping Cannot mapping Value range 0-216-1 Default value Sub-index Sub-index Description Event Timer Accessing property PDO mapping Cannot mapping Value range 0-216-1 Default value 1600H-1605H: Receive PDO mapping Index 1400H-1405H Name Receive PDO mapping Object type...
  • Page 15 CANopen Protocol Instruction Manual 0x1802: 0x00000380+ Node-ID 0x1803: 0x00000480+ Node-ID 0x1804: 0x80000000 0x1805: 0x80000000 Sub-index Sub-index Description Transmit type Accessing property PDO mapping Cannot mapping Value range 0x1800:255(asynchronou mode, refer Default value appendix: 1 Sub-index Sub-index Description Forbidden time Accessing property PDO mapping Cannot mapping Value range...

  • Page 16: Network Management (Nmt)

    CANopen Protocol Instruction Manual Default value Sub-index Sub-index 0x1-0x8 Description PDO Mapping object quantity Accessing property PDO mapping Cannot mapping Value range Default value 2.5 Network Management (NMT) NMT provide network management services. This service is realized by master-slave communication mode. (have only one NMT master node). 2.5.1 NMT Modular Control Only NMT master node can transmit NMT modular control packet, all slave node must support NMT NMT modular controlservice.
  • Page 17 CANopen Protocol Instruction Manual 0x700+Node-ID Bit 6:0 status The data includes a trigger bit(bit7),.trigger bit must set to be "0" or "1" during each time of Node protection response alternately. trigger bit must set to be "0" in the first time of node protection request.

  • Page 18: Process Data Objects (Pdo)

    CANopen Protocol Instruction Manual (1) After power on, enter into initialized status automatically A: NMT (2) Automatically enter into pre-operation status B: Node Guard (3) (6) Activate the remote node C: SDO (4) (7) Enter into pre-operation status D: Emergency (5) (8) Stop the remote node E: PDO (9) (10) (11) Reset the node...
  • Page 19 CANopen Protocol Instruction Manual Relationship between PDO parameter(1400H) and PDO mapping(1600), PDO data's transmit process as below (Take node2 for example) . The direction of the arrow in the figure shows master station data processing direction. The master station receive feedback packet which return from slave station:...

  • Page 20: Service Data Objects (Sdo)

    CANopen Protocol Instruction Manual Relationship between PDO parameter(1800H) and PDO mapping(1A00H), PDO data's transmit process as below (Take node2 for example) . The direction of the arrow in the figure shows slave station data processing direction. 2.7 Service Data Objects (SDO) SDO is used for accessing a device's object dictionary.

  • Page 21: Emergency Object

    CANopen Protocol Instruction Manual requested service are referred as server. Client's CAN packet and server's reply CAN packet always contain 8bits data.( Although, no all data bytes always have certain meaning ). A client's request must have a response from the server. Its basic structure is as follows: Client Server/Server...
  • Page 22 CANopen Protocol Instruction Manual Device can map inner error into this status byte, and can quickly check the wrong type. The table below for error register's byte definition: Byte Error type General Error Current Voltage Temperature Communication Device protocol specified error Recerved Manufacturer specified error...

  • Page 23: Ds402 Control Of Em-Can

    CANopen Protocol Instruction Manual 3 DS402 Control of EM-CAN 3.1 Basic Movement Steps for EM-CAN Drives...

  • Page 24: 402 State Machine

    CANopen Protocol Instruction Manual 3.2 402 State Machine Figure 3.1 The 402-state machine of the EM-CAN Status EM-CAN driver action The drive is powered and initialization begins; if there is a holding Not ready to start brake, the holding brake is locked; the axis is not enabled Initialization complete, parameters initialized, no fault;...
  • Page 25 CANopen Protocol Instruction Manual The transition of the 402 state machine is done by relying on the master to operate the control word (6040h) of the EM-CAN stepper driver, refer to section 3.4.6 for details. Table 3.2 Correspondence table of state transitions...
  • Page 26 CANopen Protocol Instruction Manual Cancel start output command received from the master Motor shaft Receive Allow operation -> not enabled master power 0006h 22×1h Ready to start Turn off main off command power No voltage Motor shaft output Allow operation -> not enabled command 0000h...

  • Page 27: Device Control Object Dictionary

    60FFH Signed 32-bit 3.4 Operation mode setting The EM-CAN series only supports non-synchronous modes: Protocol Position (PP) mode, Protocol Velocity (PV) mode and Home Position (HM) mode, this chapter introduces the relevant settings and operation methods of each mode. 1）Operation mode setting (6060h)

  • Page 28: Common Functions In Operation Mode

    Set the operation mode, defined as follows. 1: Protocol Location Mode 3: Protocol speed mode 6: Origin mode EM-CAN series drives currently only support these three motion modes, setting other values is not valid 2）Operation mode display (6061h) Object Data...
  • Page 29 CANopen Protocol Instruction Manual For non-clearable faults, this bit is held at 1 and other control command operations are invalid PV mode, falling edge trigger operation, rising edge stop operation, Abort repeatedly switchable operation stop 9~10 Reserved Reserved Manufacturer Manufacturer customization 11~15 customization Note.
  • Page 30 CANopen Protocol Instruction Manual Voltage output Quick Stop Not started None Reserved, undefined Manufacturer Reserved, undefined customization 0: Node invalid Remote Control 1: CANopen remote control mode 0: Not reached the target position or speed Location Arrival 1: Reach the target location or speed Internal position 0: Hardware limit is invalid overrun...
  • Page 31 CANopen Protocol Instruction Manual 3.5.3 Digital input and output related settings and status The settings and status indications related to the digital IO of the EM-CAN product are described as follows. 1) Input settings Index Factory Data Type Accessibility Data Range...
  • Page 32 CANopen Protocol Instruction Manual bit16: The current status of the fast stop signal (Note: the DMA882-CAN has 4 inputs to have this signal) Bit17~bit21 corresponds to the input level of IN1~IN5 custom function Object Data Accessi Related Data Factory Name Index Structure Type...
  • Page 33 CANopen Protocol Instruction Manual 3.5.4 Rotation direction setting Index Factory Data Type Accessibility Data Range Definition 2051 value Uint32 Description: This parameter sets the initial rotation direction of sub-i Motor rotation the motor ndex direction setting 0: in the same direction as the command. 1: opposite direction to the command.

  • Page 34: Operation Modes Of Em-Can

    4 Operation Modes of EM-CAN 4.1 Motor Enable Control Example - How to enable This section describes how to enable the motor axes controlled by the EM-CAN driver using the Control Word (6040h)/Status Word (6041h) command toggle/status judgment. The steps are as follows.
  • Page 35 CANopen Protocol Instruction Manual Step 4: Write 15 (decimal) to control word 6040h, then press the bit with 0x273 whether it is equal to 0x237 The pseudo code is as follows. IF (if) 6041h & (bit with) 0x23F is equal to 0x218 //judge focus on whether bit 3 is equal to 1 The driver is reporting an error and error handling is required ElSE...

  • Page 36: Profile Position Mode

    CANopen Protocol Instruction Manual Caution: (1) In general, the motor is not enabled by default after power-up, so the motor needs to be enabled and controlled first. (2) Before carrying out enabling control, please ensure that the current value of the drive is set reasonably and saved to avoid excessive heating of the motor or motor burnout due to excessive rated current setting, especially when matching small current motors, please pay extra attention.

  • Page 37: Home Mode

    CANopen Protocol Instruction Manual ▲ Can set the query speed feedback(606CH) to get the real-time speed. 4.4 Home Mode 4.4.1 Motion Settings ☆Set the operating mode (6060H) to be Profile Velocity mode (value is 6). ☆ Set the homing method(6098H).EM556-CAN is open loop drive, support partial Cia402 homing method (6098H can be set to 17-30).
  • Page 38 CANopen Protocol Instruction Manual Appendix A Control word(6040H) switchover under various operating modes: Control word (6040H) definition under Profile position mode(operating mode 6060H is 1): Byte 15:9 Absolut Effective Quic Voltag Definiti Error e/relativ New set Null immediatel Start reset point stop output...
  • Page 39 CANopen Protocol Instruction Manual The current motion not over yet, new motion information sent to the drive, the fourth digit of control ward(6040H) change from 0 to 1 to start a multipoint motion. Remark: PP motion of absolute position perform similar processing. Control word(6040H) data bits' definition under Profile Velocity mode(operation mode 6060H is 3) 15:9...
  • Page 40 CANopen Protocol Instruction Manual...
  • Page 41 CANopen Protocol Instruction Manual Appendix B PDO Transmission type definition table PDO transmission mode transmiss synchr asynch remote ion code cyclic acyclic onous ronous frame √ √ 1-240 √ √ 241-251 reserved √ √ √ √ √ √ Transmission code 1-240 represent synchronization information quantity between 2 PDO transmission.
  • Page 42 CANopen Protocol Instruction Manual Appendix C Emergency error code table Emergency error code Code function description 0000H No Error 8110H CAN overflow 8120H Error passive mode 8130H Lifetime protect/heartbeat errors 8140H Forced offline to recover fault 8141H Forced offline 8150H Transmit COB-ID conflict 8210H PDO length error undisposed...
  • Page 43 CANopen Protocol Instruction Manual Appendix D SDO suspend transmit code table Suspend Code function description code 0503 0000H Trigger byte does not alternating change 0504 0000H SDO Profile timeout 0504 0001H Illegal/unknown command word 0504 0002H Invalid block size (only block transmission mode) 0504 0003H Invalid serial number (only block transmission mode) 0504 0004H...

Table of Contents