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SIEB & MEYER SD2 Manual

Drive system can bus connection
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SIEB & MEYER
Drive System SD2
CAN Bus Connection
P-TD-0000324.2
2015-09-30

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Summary of Contents for SIEB & MEYER SD2

  • Page 1 SIEB & MEYER Drive System SD2 CAN Bus Connection P-TD-0000324.2 2015-09-30...
  • Page 2 Fairfield, OH 45014 Kwei-Shan Hsiang 333 Tao-Yuan Hsien Phone: +1 513 563 0860 Taiwan Fax: +1 513 563 7576 Phone: +886 3 311 5560 info@sieb-meyerusa.com Fax: +886 3 322 1224 http://www.sieb-meyer.com smasia@ms42.hinet.net http://www.sieb-meyer.com Drive System SD2 - CAN Bus Connection...
  • Page 3 Chapter Overview About this Manual CAN-Bus Parameterization Telegrams Device Control Acc. to Drive Profile DS402 Example Drive System SD2 - CAN Bus Connection...
  • Page 4 Chapter Overview Drive System SD2 - CAN Bus Connection...

  • Page 5: Table Of Contents

    Structure of the Status Word (Object 67 ) ..........Device States .................... Control of SD2 ..................5.7.1 Switch On Sequence ..................... 5.7.2 Switch Off Sequence ..................... 5.7.3 Fault Reset Sequence ................... Example ................Drive System SD2 - CAN Bus Connection...
  • Page 6 Content Drive System SD2 - CAN Bus Connection...

  • Page 7: About This Manual

    About this Manual About this Manual This manual describes the connection of the device series SD2 to the CAN bus. For information on the device series SD2 please refer to the according hardware and soft‐ ware documentation. If you need a basic description of the CAN bus, please refer to general manuals about this topic.
  • Page 8 About this Manual Drive System SD2 - CAN Bus Connection...

  • Page 9: Can-Bus

    The limiting value is between 32 and 100 bus nodes. depending on the used cable and transmission rate. For further information on the maximum number of bus nodes refer to the document "CAN Physical Layer" by the user organization CiA e. V. Drive System SD2 - CAN Bus Connection...
  • Page 10 CAN-Bus Drive System SD2 - CAN Bus Connection...

  • Page 11: Parameterization

    Each communication protocol supported by the drive has an individual function code in the CAN bus. The sum of function code and node-ID make the individual address of each communication object in the CAN bus. This address is called COB-ID. Drive System SD2 - CAN Bus Connection...
  • Page 12 Via the parameter "Heartbeat Producer Time" you can enter the time interval between two heartbeat milliseconds . protocols in When heartbeat monitoring is active, node guarding is not possible. Drive System SD2 - CAN Bus Connection...

  • Page 13: Pdo 0 / Pdo 1

    The interval is set via the additional parameter "Cycle time" in milliseconds . ▶ At receive of RPDO 0: The drive sends the adjacent data when requested by a Receive PDO from the master. ▶ At change of a marked value: Drive System SD2 - CAN Bus Connection...
  • Page 14 Via the additional parameter "Minimum cycle time" you milliseconds , in which the data will be sent. This setting prevents define the time in overloading the CAN bus due to frequently sending the PDO. Drive System SD2 - CAN Bus Connection...

  • Page 15: Telegrams

    Process Data Objects (PDO) 4.2.1 Reference Value PDO in ‘S&M Velocity Mode’ Receive PDO 0: The telegram is sent cyclically from the host to the drive. It is 8 bytes in length and structured as follows. Drive System SD2 - CAN Bus Connection...

  • Page 16: Control Word

    "Configuration ÿ Motor measurement system ÿ Velocity scaling". 4.2.1.3 Current Limitation SPG_TARGET_TORQUE_LIMIT: 16-bit value The value 0x3FFF corresponds to the peak current of the drive, which is indicated in drivemaster2 in "Configuration ÿ Drive ÿ Peak current". the software Drive System SD2 - CAN Bus Connection...

  • Page 17: Actual Value Pdo In 'S&M Velocity Mode

    Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Reserved for S&M Remote operation Target reached Internal limit active Speed zero Max target torque reached Reserved Reserved VCTRL_VELOCITY_ACTUAL_VALUE Actual speed Drive System SD2 - CAN Bus Connection...

  • Page 18: Status Word

    Via the object browser of the objects. All objects provided in the object browser can also be read-out and written via the SDO object access. Drive System SD2 - CAN Bus Connection...

  • Page 19: Read Object

    Index: 16 bit value; Index of the object in the object directory that is to be described ▶ Subindex: 8 bit value; Subindex of the object in the object directory that is to be described ▶ Data: 16 bit or 32 bit value Drive System SD2 - CAN Bus Connection...

  • Page 20: Error Codes During Object Access

    Data can not be transmitted or saved in the application due to the device reset. 0x9D Dynamic generation of the object directory not possible or no object directory available (e.g.object directory generated from file and generation fails because of a file error). Drive System SD2 - CAN Bus Connection...

  • Page 21: Node Guarding Message

    Heartbeat Consumer Message When heartbeat consumer is activated and the network management NMT of the drive is in the state "operational", the drive expects to receive heartbeat messages periodi‐ cally from the host. Drive System SD2 - CAN Bus Connection...

  • Page 22: Emergency Message

    CANopen specification that allows monitoring of up to 127 bus devices, the drive system SD2 can monitor only one bus device. The host sends: An empty data telegram with the COB-ID = 0x0700 + heartbeat consumer node-ID.

  • Page 23: Device Control Acc. To Drive Profile Ds402

    Description of the status and the possible control sequences of the drive. The control sequences in turn depend on the status of the drive. ▶ Representation of the different states of the drives and switching of operating states. Drive System SD2 - CAN Bus Connection...

  • Page 24: States Of The Finite State Automaton

    ─ loading of the drive parameters ▶ Power unit disabled. ▶ Switch-on is disabled. ▶ Drive function is disabled. ▶ Motor holding brake, if present, is activated. ▶ CAN connection is available. Drive System SD2 - CAN Bus Connection...

  • Page 25: Switch On Disabled

    Drive error has been detected. ▶ Power supply is provided. ▶ Drive function is enabled. ▶ Fault reaction is being executed. ▶ Power unit is on, the reference values are generated by the fault reaction. Drive System SD2 - CAN Bus Connection...

  • Page 26: Fault

    Enable operation Drive function is to be enabled (→status: operation enabled). Mode 0 This control command depends on the current operating mode. Mode 1 This control command depends on the current operating mode. Drive System SD2 - CAN Bus Connection...

  • Page 27: Structure Of The Status Word (Object 67 D )

    Status display depending on the current operation mode Res. Reserved Res. Reserved Bits 0–5 and 6: Representation of the device status or the finite state automaton Bits 7 and 10–13: Additional information on the drive (depending on the operating mode) Drive System SD2 - CAN Bus Connection...

  • Page 28: Device States

    Quick stop Fault Operation Switched on Ready to disabled enabled switch on Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick stop Fault reaction active Fault Drive System SD2 - CAN Bus Connection...

  • Page 29: Control Of Sd2

    Device Control Acc. to Drive Profile DS402 Control of SD2 5.7.1 Switch On Sequence switch on is represented via the device control commands as follows: The sequence Fig. 3: Switch on Drive System SD2 - CAN Bus Connection...

  • Page 30: Switch Off Sequence

    Device Control Acc. to Drive Profile DS402 5.7.2 Switch Off Sequence switch off is represented via the device control commands as follows: The sequence Fig. 4: Controller off Drive System SD2 - CAN Bus Connection...

  • Page 31: Fault Reset Sequence

    Device Control Acc. to Drive Profile DS402 5.7.3 Fault Reset Sequence fault reset is mapped via the device control commands as follows: The sequence Fig. 5: Fault reset Drive System SD2 - CAN Bus Connection...
  • Page 32 Device Control Acc. to Drive Profile DS402 Drive System SD2 - CAN Bus Connection...

  • Page 33: Example

    Byte 1: 1 = node-ID of the drive to be addressed Set reference values PDO 0 ▶ Control word: 0x0006 switch drive to the state ready for operation ▶ Reference speed value: 0x3fff * 30000/50000 = 0x2665 Drive System SD2 - CAN Bus Connection...
  • Page 34 Control word: 0x0006 switch off The host sends: COB-ID Byte 0 Byte 1 Byte 2 Byte 3 0x201 0x06 0x00 0x65 0x26 Now the drive decelerates to 0 rpm and switches the controller off. Drive System SD2 - CAN Bus Connection...

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