Inovance IS620P Series Application Manual

Servo drive canopen communication

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Application Guide - CANopen Communication

IS620P Series Servo Drive

Application Guide

A02

Data code 19010699

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Summary of Contents for Inovance IS620P Series

Page 1 Application Guide - CANopen Communication IS620P Series Servo Drive Application Guide Data code 19010699...
Page 2 Preface Preface...
Page 3 Revision History Revision History Version 2020 ...
Page 4 Contents Contents Preface 2 Wiring...
Page 5 Contents...
Page 6 Contents...
Page 7 Preface...
Page 8 Safety Instructions Safety Instructions Safety Precautions Safety Instructions ...
Page 9 Safety Instructions ...
Page 10 Safety Instructions Wiring ...
Page 11 Safety Instructions -10-...
Page 12 Safety Instructions Safety Signs Danger! DANGER Hazardous Voltage High Temperature -11-...
Page 13 21 A 26 A Servo drive MODEL IS620PS5R5I model INPUT 3PH AC 200-240V 3.7A 50/60Hz Rated input 1PH AC 200-240V 7.9A 50/60Hz OUTPUT 3PH AC 0-240V 5.5A 0~400Hz 750W Rated output Serial No. S/N: Suzhou Inovance Technology Co., Ltd. 1.2 Performance Parameters -12-...
Page 14 1 Product Information 1000 1000 1100 m 100 m...
Page 15 2 Wiring 2 Wiring NOTE...
Page 16 2 Wiring 2.1 CAN Communication Cable Type Type Type Type...
Page 17 2 Wiring 2.2 CAN Communication Bus and Multi-node Connection Mode CANopen master < 0.3 m < 0.3 m < 0.3 m < 0.3 m < 0.3 m CANopen master CANH CANL CGND CANH CANL CGND 1-CANH 2-CANL 3-CGND -16-...
Page 18 2 Wiring 2.3 Twisted Pair Cables Recommended for CAN Communication Cables...
Page 19 2 Wiring 2.5 Precautions for Grounding during CAN Communication 120 grounded Servo drive Servo drive recommended high-...
Page 20 2 Wiring NOTE grounded Servo drive Servo drive recommended devices 2.6 Description of Wiring of Other Devices without External CGND Port 2.6.1 Non-isolated CAN Devices Sharing GND or COM Port with Other Signals IS620P- 2.6.2 No CGND for CAN and Other Ports of Devices IS620P- Suspended > cm...
Page 21 2 Wiring 2.7 Recommended Layout of CAN Communication Cables Servo drive -20-...
Page 22 see 1 node NOTE 3.1 Overview of the CANopen Protocol -21-...
Page 23 3.1.1 Object Dictionary 0000h-0 1000h-1 2000 h- -defined servo drive 6000 h- area -22-...
Page 24 3.1.2 Common Communication Objects ...
Page 25 TPDO1 TPDO2 T_SDO 1200h 1200h...
Page 26 3.2 System Settings 3.3 Network Management (NMT) System 3.3.1 NMT Service...
Page 27 Pre- -26-...
Page 28 Service 3.3.2 NMT Error Control NOTE...
Page 29 Master NMT node Slave NMT Slave NMT Slave NMT Slave NMT node 1 node 2 node 3 node 4 NOTE...
Page 30 Master NMT node Slave NMT Slave NMT Slave NMT Slave NMT node 1 node 2 node 3 node 4...
Page 31 3.4 Service Data Object (SDO) 3.4.1 SDO Transmission Framework SDO server _SDO T_SDO _SDO T_SDO 3.4.2 SDO Transmission Packet code...
Page 32 NOTE...
Page 35 3.5 Process Data Object (PDO) 1 0 0 of mapping 0 3.5.1 PDO Transmission Framework...
Page 36 PDO PDO PDO PDO consumer 1 consumer 2 consumer producer 3.5.2 PDO 1600h 1601h 1602h TPDO 3.5.3 PDO Communication Parameters...
Page 37 Synchronous Synchronous...
Page 38 3.5.4 PDO Mapping Parameters 2006h- Three mapping 6060h-00h -00h...
Page 39 1600h 1600h 1600h 1600h 00 20 h 2006h 2006h 6060h 200B- h-00h TPDO2 1 01h 1 01h 200 B 1 01h 200Bh 200Bh...
Page 40 3.6 Synchronization Object (SYNC) h for period 1006h performed h of NOTE 3.6.1 Synchronization Generator -ID of 1006 h...
Page 41 h for IS620P servo drive -ID of h for IS620P servo drive 3.6.2 Synchronization Object Transmission Framework producer consumer 1 consumer 2 consumer Synchronous Synchronous TPDO Synchronous 1 Synchronous Synchronous and Synchronous and ...
Page 42 3.7 Emergency Object Service (EMCY) node 1001h Pre- -ID is 1 -ID of emergency -ID is 0...
Page 43 4 Motion Mode 4 Motion Mode 4.1 Keypad Display Occasion Servo drive running 4.2 Conversion Factor Setting ...
Page 44 4 Motion Mode Encoder User Reference -- - (Scaling ratio) -- - -- - (Gear ratio) -- - unit unit unit 4.2.1 Conversion factor setting 1 Gear ratio 6091h Motor revolutions Gear ratio = Load revolutions range Load shaft speed x Gear ratio 6091h Motor speed rpm x 60 Encoder resolution Load shaft acceleration x Gear ratio 6091h Motor acceleration x 1000/60 Encoder resolution...
Page 45 4 Motion Mode 2 NOTE 4.2.2 607Eh: Polarity 4.3 Servo Status Control 4.3.1 CiA402 State Machine...
Page 46 4 Motion Mode Servo ready Servo ready serve...
Page 47 4 Motion Mode [1] ...
Page 48 4 Motion Mode 4.3.2 Control Word 6040h Servo ready ...
Page 49 4 Motion Mode 4.3.3 Status Word 6041h TPDO Servo ready Warning 4.3.4 Stop Mode ...
Page 50 4 Motion Mode ...
Page 51 4 Motion Mode PT mode 4.4 Trial Running Steps...
Page 52 4 Motion Mode 4.5 Overview of Drive Mode 6060h mode mode mode IP mode 6061h TPDO mode mode mode IP mode ...
Page 53 4 Motion Mode 4.6.1 Control Block Diagram Torque Torque Speed Speed -16h gain reference rpm Speed gain -01h -02h Speed Torque Torque -06h 6062h reference rpm reference 606Bh...
Page 54 4 Motion Mode 6060h 6061h 6062h reference 606Bh 60 6h...
Page 55 4 Motion Mode Target position 607Ah Software position limit (Reference unit) Target position (p) Upper ( 607D - 1h) Lower ( 607D - 2h) Conversion factor 6091h...
Page 56 4 Motion Mode 4.6.2 Relevant Object Setting Type 0 ms Type Type TPDO TPDO 6060h 6061h TPDO 6062h TPDO TPDO TPDO 606Bh TPDO TPDO...
Page 57 4 Motion Mode Type 2 -1 TPDO TPDO 4.6.3 Control Commands in PP Mode of ...
Page 58 4 Motion Mode of [1] reference reference Type See See reference is ...
Page 59 4 Motion Mode [1] NOTE TPDO reference receiving reached see see reference drive can performed or reference reached [1] [2] ...
Page 60 4 Motion Mode reference reference Time Trigger reached NOTE...
Page 61 4 Motion Mode reference 200000000 p 2000 rpm 2000 rpm 2 100000000 p 1000 rpm 1000 rpm 1 Time h 0 h 0 12 of h 0 h 0 2 reached h 0 h 0 2 h 0 h 0 h 0 -60-...
Page 62 4 Motion Mode reference reference Time Trigger reached -61-...
Page 63 4 Motion Mode NOTE reference 200000000 p 2000 rpm V2 2000 rpm 100000000 p 1000 rpm V1 1000 rpm Time h 0 h 0 12 of h 0 h is 0 h 0 0 h 0 h 0 0 h 0 1 h 0 1 h 0 -62-...
Page 64 4 Motion Mode Start For the network con guration, see Section 3.4. Con gure PDOs. For related object dictionaries, see Section 4.6.2. For conversion factors, see Section 4.2. Modify basic For settings of related objects, see section 4.6.2. parameters. Parameters can be modi ed through SDO or panel.
Page 65 4 Motion Mode 1600h-00h 1600h-01h 1600h-02h 6060h-00h 1601h-00h 1601h-01h 1601h-02h 1602h-00h 1602h-01h 1602h-02h 6061h-00h ...
Page 66 4 Motion Mode 4.7 Homing Mode 4.7.1 Control Block Diagram Torque Torque Speed Speed -16h gain reference rpm Speed gain -01h -02h Speed h p Torque Torque -06h...
Page 67 4 Motion Mode reference 6062h h p reference rpm reference 606Bh 6061h 6060h 6062h reference 606Bh 60 6h -66-...
Page 68 4 Motion Mode Speed during search for switch 6099-01h (reference unit) Position reference per when running at a constant speed 6091h (reference unit) Max. motor speed Max. motor (reference unit) speed (RPM) factor 6091h Speed during search for zero 6099-02h (reference unit) Homing acceleration 609Ah (reference unit) Position reference increment per position control cycle at Homing deceleration 609Ah Acceleration limit speed change (reference unit) Conversion factor Max. value at acc.: 60C5h 6091h Max. value at dec.: 60C6h Quick stop deceleration 6085h (reference unit) 4.7.2 Relevant Object Setting...
Page 69 4 Motion Mode 0 ms...
Page 70 4 Motion Mode 100 rpm 10 rpm Type TPDO TPDO 6060h 6061h TPDO 6062h TPDO TPDO TPDO 606Bh TPDO TPDO 2 -1...
Page 71 4 Motion Mode Type Speed during search for 10 ms TPDO TPDO 4.7.3 Control Commands in Homing Mode required required...
Page 72 4 Motion Mode See See ...
Page 73 4 Motion Mode TPDO reached see see performed or occurs in homing reached drive mode and [1] [2] 4.7.4 Introduction to the Homing Mode 1 6098h=1 ...
Page 74 4 Motion Mode Speed h 10 rpm Time -01h -100 rpm h 0 0 -01h -02h -01h 2 NOTE Speed h 10 rpm Time h 0 0 -02h 2 6098h=2 ...
Page 75 4 Motion Mode Speed 100 rpm Time h -10 h 0 0 -01h -01h -02h 2 Speed Time -02h -10 rpm h 0 0 -02h 3 6098h=3 ...
Page 76 4 Motion Mode Speed h 100 rpm Time h -10 rpm h 0 0 -01h -01h -02h 2 Speed Time h -10 h 0 0 -02h ...
Page 77 4 Motion Mode 4 6098h = 4 Rising edge of deceleration point signal Speed 6099-01h 20 rpm Z signal Rising edge of deceleration point signal 10 rpm 6099-02 h -10 rpm Falling edge of deceleration point signal Trigger signal 6040h 0x0F 0x1F...
Page 78 4 Motion Mode Speed -02h 10 rpm Time -01h -100 rpm -01h -02h -01h 2 5 6098h=5 Speed -02h 10 rpm Time -01h -100 rpm h 0 0...
Page 79 4 Motion Mode -01h -01h -02h 2 Speed -02h 10 rpm Time h 0 0 -02h 6 6098h=6 ...
Page 80 4 Motion Mode Speed Falling edge of deceleration point signal 10 RPM 6099-01h - 20RPM Z signal Rising edge of deceleration point signal Rising edge of deceleration point signal Trigger signal: 6040h 0x0F 0x1F Speed -01h 100 rpm Time h -10 rpm h 0 0 -01h -01h -02h 2 ...
Page 81 4 Motion Mode 7 6098h= 7 Speed -01h 100 rpm Time -02h -10 rpm -01h -01h -02h 2 ...
Page 82 4 Motion Mode Rising edge of overtravel signal Speed 6099-01h 100 Rising edge of home signal Time 6099-02 h -10 Falling edge Falling edge -100 of home signal of home signal Signal Z Rising edge of home signal Trigger signal: 6040h 0x0F 0x1F 6099-01h -01h] - [ -02h] 6099-01h 6099-01h t = t = 2 ...
Page 83 4 Motion Mode -02h 8 6098h=8 Speed -01h 100 rpm Time h -10 rpm h 0 0 -01h -01h -02h -02h -02h 2 ...
Page 84 4 Motion Mode Speed -01h 100 10 Time h -10 rpm -100 h 0 0 -01h -01h -01h 2 -01h] - [ -02h] -02h -02h ...
Page 85 4 Motion Mode Speed 10 rpm Time -02h -10 rpm h 0 0 -02h -02h -02h 9 6098h=9 Speed -01h 100 rpm 10 rpm Time h -10 rpm h 0 0...
Page 86 4 Motion Mode -01h -02h -01h] - [ -02h] -02h Speed -01h 100 rpm 10 rpm Time h -10 rpm -100 rpm h 0 0 -01h -01h -01h -01h -02h -02h -02h ...
Page 87 4 Motion Mode Speed 10 rpm Time -02h -10 rpm h 0 0 -02h -02h -02h 10 6098h =10 ...
Page 88 4 Motion Mode Rising edge of deceleration point signal Speed Z signal 6099-01h 100 rpm Falling edge of deceleration point signal 6099-02h 10 rpm -10 rpm Rising edge of deceleration point signal Trigger signal: 6040h 0x0F 0x1F -01h -01h] - [ -02h] Speed -01h 100 rpm -02 h 10 Time -100 rpm h 0 0...
Page 89 4 Motion Mode -01h -01h -01h -02h -01h Speed -02h 10 rpm Time h 0 0 -02h 11 6098h = 11, 12, 13 or 14 12 6098h = 17 to 30...
Page 90 4 Motion Mode 13 6098h = 31 to 32 14 6098h = 33 and 34 15 6098h = 35...
Page 91 4 Motion Mode Start For the network con guration, see Section 3.4. Con gure PDOs. For related object dictionaries, see Section 4.7.2. For conversion factors, see Section 4.2. Modify basic For settings of related objects, see Section 4.7.2. parameters. Parameters can be modi ed through SDO or panel. Write a control word to enable Change the value of 6040h to 0x1F from 0x0F running of the and perform homing on the servo drive. servo. Adjust gain For details, see the parameters based on actual conditions. 1600h-00h 1600h-01h 1600h-02h 6060h-00h 1601h-00h 1601h-01h 1601h-02h 1602h-00h 1602h-01h 1602h-02h...
Page 92 4 Motion Mode 6061h-00h Servo ready...
Page 93 4 Motion Mode Speed -1h 100 rpm Time -2h -10 rpm h 0 0 4.8 Interpolated Position Mode...
Page 94 4 Motion Mode Time 60 1-1h P1 60 1-1h P2 60 1-1h P NOTE 4.8.1 Control Block Diagram Torque Torque Speed Speed -16h reference rpm Speed gain -01h -02h Speed Torque Torque Torque reference -06h...
Page 95 4 Motion Mode Position demand User position value 60FCh(p) reference 6062h Position actual User position value 6063h(p) feedback 6064h 6091h User position Motor position deviation 60F4h deviation (p) Motor speed User speed reference (rpm) reference 606Bh 6091h Motor speed User speed feedback (rpm) feedback 606Ch 6060h 6061h...
Page 96 4 Motion Mode 60 1-01h D-1h D-2h 4.8.2 Relevant Object Setting 0 ms Type TPDO TPDO 6060h 6061h TPDO 6062h TPDO...
Page 97 4 Motion Mode Type TPDO TPDO 606Bh TPDO TPDO 2 -1 Speed during search for Speed during search for TPDO TPDO TPDO...
Page 98 4 Motion Mode Type 4.8.3 Control Commands in Interpolated Position Mode See See ...
Page 99 4 Motion Mode TPDO IP mode used reached see performed or reached [1] [2] 1600h-00h 1600h-01h 1600h-02h 6060h-00h 1601h-00h 1601h-01h 1601h-01h...
Page 100 4 Motion Mode 6061h-00h...
Page 101 4 Motion Mode 4.9.1 Control Block Diagram gain -16h reference rpm Speed -01h -02h Speed h p Torque Torque -06h reference rpm reference 606Bh -100-...
Page 102 4 Motion Mode 6060h 6061h reference 606Bh 606Dh 60 6h D-1h D-2h -101-...
Page 103 4 Motion Mode reference during speed speed rpm Speed reference 60 6h 4.9.2 Relevant Object Setting 2006h 10 rpm 10 rpm -102-...
Page 104 4 Motion Mode 0 ms 606Dh 10 rpm 0 ms Type TPDO TPDO 6060h 6061h TPDO TPDO TPDO 606Bh TPDO TPDO 606Dh...
Page 105 4 Motion Mode Type 2 -1 Servo ready...
Page 106 4 Motion Mode TPDO used reached commands performed or reached [1] [2] ...
Page 107 4 Motion Mode Start For the network con guration, see Section 3.4. Con gure PDOs. For related object dictionaries, see Section 4.9.2. For conversion factors, see Section 4.1. Modify basic For settings of related objects, see Section 4.8.2. parameters. Parameters can be modi ed through SDO or panel. Write a control word to enable For details, see con guration running of the examples in Section 4.9.4. servo. Adjust gain parameters For details, see the based on actual conditions. 1600h-00h 1600h-01h 1600h-02h 6060h-00h 1601h-00h 1601h-01h 1601h-01h 1602h-00h 1602h-01h 1602h-02h -106-...
Page 108 4 Motion Mode 6061h-00h Speed 2000 rpm 1000 rpm Time h 0 0 1000 rpm 2000 rpm...
Page 109 4 Motion Mode 1 4.10.1 Control Block Diagram Speed h 01 h 02 Torque ramp Torque 6060h 6061h Torque ramp 4.10.2 Relevant Object Setting Servo ready Servo running...
Page 110 4 Motion Mode 6060 0-10 6061 0-10 Torque ramp 1-20000 reached...
Page 111 5 Troubleshooting 5 Troubleshooting 5.1 CANopen Communication Fault Codes -110-...
Page 112 5 Troubleshooting recovery -111-...
Page 113 5 Troubleshooting 5.2 Troubleshooting Mode Too many errors error -112-...
Page 114 5 Troubleshooting 5.3 SDO Transmission Abort Code 0601 0000 0601 0001 0601 0002 0602 0000 0606 0000...
Page 115 6 Object Dictionary 6 Object Dictionary 0002 0006 Type...
Page 116 6 Object Dictionary 6.2 Object Group 1000h 1000h 1001h 1006h IS620P Servo Drive 100Dh 1010h 1011h 1016h Device code 1200h...
Page 117 6 Object Dictionary 1600h 1601h 1602h of TPDO1 -116-...
Page 118 6 Object Dictionary of TPDO2 TPDO1 TPDO2 6.3 Object Group 2000h...
Page 119 6 Object Dictionary 2000h Servo Motor Parameters Index Sub-index Name Access Mapping Data Type Unit Data Range Default Motor No. Uint16 0 to 65535 Customized motor No. TPDO Uint32 2000h Encoder version TPDO Uint16 Bus motor model TPDO Uint16 parameters are activated after H02-31 is set to 1 (Restore default settings). NOTE 2001h Servo Drive Parameters Index Sub-index Name Access Mapping Data Type Unit Data Range Default TPDO Uint16 0 to 65535 2001h TPDO Uint16...
Page 120 6 Object Dictionary Type TPDO TPDO TPDO 2002h 2003h Terminal Input Parameters Type...
Page 121 6 Object Dictionary Type Times 2004h Output Terminal Parameters -120-...
Page 122 6 Object Dictionary 10000 Times 10000 Times 2005h Position Control Parameters Type 1000 10000 -121-...
Page 123 6 Object Dictionary Type 10000 Speed of searching for home Speed of searching for home 1000 during home searching 10000 -122-...
Page 124 6 Object Dictionary Type 2006h Speed Control Parameters Source of main speed reference B speed reference 2006h 6000 6000...
Page 125 6 Object Dictionary 6000 2006h 1000 reference B Torque reference source reference on keypad source...
Page 126 6 Object Dictionary reached reached reached 2008h Gain Control Parameters Type Based on Based on Times...
Page 127 6 Object Dictionary Type 2009h Automatic Adjustment Parameters Type mode resonance suppression mode TPDO -126-...
Page 128 6 Object Dictionary Type gain 200Ah Fault and Protection Parameters Type suppression...
Page 129 6 Object Dictionary encoder 200Bh Display Parameters TPDO Speed reference TPDO TPDO TPDO TPDO TPDO TPDO TPDO ° 200Bh TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO...
Page 130 6 Object Dictionary TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO 200Bh TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO TPDO round...
Page 131 6 Object Dictionary 200Ch Communication Parameters Type TPDO 200Dh Auxiliary Function Parameters 200Dh...
Page 132 6 Object Dictionary 200Fh Fully Closed-loop Parameters Type 10000 10000 TPDO TPDO TPDO 2011h Multi-position Parameters Type mode 2011h running 1 reference 10000 1 rpm...
Page 133 6 Object Dictionary Type 1 reference 10000 1 rpm 1 reference 10000 1 rpm 1 reference 10000 1 rpm 2011h 1 reference 10000 1 rpm 1 reference 10000 1 rpm 1 reference 10000...
Page 134 6 Object Dictionary Type 1 rpm 1 reference 10000 1 rpm 1 reference 10000 1 rpm 2011h 1 reference 10000 1 rpm 1 reference 10000 1 rpm 1 reference 10000 1 rpm...
Page 135 6 Object Dictionary Type 1 reference 10000 1 rpm 1 reference 10000 1 rpm 2011h 1 reference 10000 1 rpm 1 reference 10000 1 rpm 2012h Multi-speed Parameters Type 2012h running mode...
Page 136 6 Object Dictionary Type 1 ms 1 ms 1 ms 1 ms 1 ms 1 ms 1 ms 1 ms 1 rpm speed reference speed reference 2nd speed reference 1 rpm speed reference 2012h speed reference 1 rpm speed reference speed reference 1 rpm speed reference speed reference 1 rpm speed reference speed reference 1 rpm...
Page 137 6 Object Dictionary Type speed reference speed reference 1 rpm speed reference speed reference 1rpm speed reference speed reference 1rpm speed reference 2012h speed reference 1rpm -100 speed reference 1rpm speed reference 1rpm speed reference 1rpm speed reference...
Page 138 6 Object Dictionary Type 1 rpm speed reference 2012h 1 rpm -600 speed reference 1 rpm speed reference Type...
Page 139 6 Object Dictionary Type TPDO...
Page 140 6 Object Dictionary Type 202Dh CANopen Communication Parameters 1 Type 202Dh...
Page 141 6 Object Dictionary Type 202Dh...
Page 142 6 Object Dictionary Type 202Dh...
Page 143 6 Object Dictionary Type 202Dh 202Eh CANopen Communication Parameters 2 Type TPDO1 TPDO2...
Page 144 6 Object Dictionary Type TPDO1 TPDO2...
Page 145 6 Object Dictionary Type TPDO TPDO TPDO...
Page 146 6 Object Dictionary 203Fh Inovance Drive Fault Codes TPDO 6.4 Object Group 6000h TPDO TPDO 6060h 6061h TPDO 6062h TPDO TPDO TPDO 606Bh TPDO TPDO 606Dh...
Page 147 6 Object Dictionary TPDO TPDO Speed during search for Speed during search for ...
Page 148 6 Object Dictionary record TPDO TPDO TPDO TPDO 6.5 Details of Object Dictionary 6.5.1 Details of Communication Parameters Device Type 1000h 1001h...
Page 149 6 Object Dictionary 1006h IS620P Servo Drive...
Page 150 6 Object Dictionary 100Dh 1010h...
Page 151 6 Object Dictionary 1011h...
Page 152 6 Object Dictionary...
Page 153 6 Object Dictionary 1016h address Vendor-ID...
Page 154 6 Object Dictionary Primary revision Secondary revision...
Page 155 6 Object Dictionary SDO 1200h PDO ...
Page 156 6 Object Dictionary Transmission Type...
Page 157 6 Object Dictionary Transmission Type...
Page 158 6 Object Dictionary PDO mapping TPDO1 TPDO2...
Page 159 6 Object Dictionary range...
Page 160 6 Object Dictionary...
Page 161 6 Object Dictionary 20 k 100 k TPDO -160-...
Page 162 6 Object Dictionary Servo ready -161-...
Page 163 6 Object Dictionary TPDO servo Servo ready Warning -162-...
Page 164 6 Object Dictionary 6060h IP mode ...
Page 165 6 Object Dictionary 6061h TPDO IP mode 6062h TPDO TPDO TPDO ...
Page 166 6 Object Dictionary 0 ms 606Bh TPDO TPDO 606Dh 10 rpm...
Page 167 6 Object Dictionary 0 ms 606B 606D -606D 606D -606D 10 rpm 0 ms -166-...
Page 168 6 Object Dictionary 606B 606 -606 TPDO...
Page 169 6 Object Dictionary -2 p...
Page 170 6 Object Dictionary Speed Torque reference reference reference ...
Page 171 6 Object Dictionary ...
Page 172 6 Object Dictionary ...
Page 173 6 Object Dictionary 100 rpm 10 rpm...
Page 174 6 Object Dictionary TPDO ...
Page 175 6 Object Dictionary TPDO TPDO TPDO TPDO...
Page 176 6 Object Dictionary TPDO 0 rpm...
Page 177 7 Application Cases 7 Application Cases 6060h-00h Speed reference TPDO1 6061h-00h TPDO2 7.1 Connecting IS620P Servo Drive to Schneider 3S Master Create new machine Create Project...
Page 178 7 Application Cases Save...
Page 179 7 Application Cases Tools > Device Repository System Repository Install...
Page 180 7 Application Cases Open Device Repository Field Bus > CANopen > Remote Device Device Repository...
Page 181 7 Application Cases The Add device Schneider Electric for Supplier CANopen Optimized Add and close...
Page 182 7 Application Cases Add Device Inovance for Supplier IS620P Servo Drive Add and close...
Page 183 7 Application Cases Program IS620P_Servo_Driver Enable Expert Settings...
Page 184 7 Application Cases PDO Mapping RPDO1 PDO Properties Transmission Type Type 255...
Page 185 7 Application Cases Receive PDO Mapping receive PDO parameter Add Mapping Edit...
Page 186 7 Application Cases Send PDO Mapping...
Page 187 7 Application Cases Service Data Object...
Page 188 7 Application Cases Edit or press F11...
Page 189 7 Application Cases MAST Add POU...
Page 190 7 Application Cases of IS620P_Servo_driver É ...
Page 191 7 Application Cases MyController Set active path...
Page 192 7 Application Cases Alt F Online > Login...
Page 193 7 Application Cases Online > Start...
Page 194 7 Application Cases under IS620P_Servo_driver > 10485760 6 7 47(0x2f) and 63(0x3f) NOTE Online > Stop Shift F8 Online > Exit Ctrl F8...
Page 195 7 Application Cases 1600h-00h 1600h-01h 1600h-02h 6060h-00h 1601h-00h 1601h-01h 1601h-02h 6061h-00h...
Page 196 7 Application Cases Properties > AMS Router > AMS Net Choose Target...
Page 197 7 Application Cases ÉlocalÉ Search (Ethernet) IP Address in 1 Broadcast Search...
Page 198 7 Application Cases Add Route Host Name...
Page 199 7 Application Cases Close Choose Target System 4 and choose Scan Devices...
Page 200 7 Application Cases...
Page 201 7 Application Cases Baud rate 500 Kbps Insert Disabled -200-...
Page 202 7 Application Cases TPDO1 > Inputs UINT16 for -201-...
Page 203 7 Application Cases Inputs INT8 Byte of Start Address -202-...
Page 204 7 Application Cases TPDO1 > Inputs Recalc Address...
Page 205 7 Application Cases Shift F4...
Page 206 7 Application Cases Inputs > NodeState is 0 Online...
Page 207 7 Application Cases -206-...
Page 208 7 Application Cases Online > Choose Run-time System Append PLC Project Linked to...
Page 209 7 Application Cases ...
Page 210 7 Application Cases Generate mapping...
Page 211 7 Application Cases Online > Login or press F11 Online > Run or press F5 -210-...
Page 212 7 Application Cases NOTE Online > Stop Online > Logout -211-...
Page 213 7 Application Cases 7.3 Connecting to Inovance H3U CANopen Master CAN (CANopen) Enable synchronous production -212-...
Page 214 7 Application Cases Import EDS Open CANopen device list CANopen device list...
Page 215 7 Application Cases Set the axis parameters and Set the homing Pulses per motor revolution (1) Pulse = x moving distance (display unit) Distance per motor revolution (3) Pulses per motor revolution (1) x Motor gear ratio (5) Pulse = x moving distance (display unit) Distance per motor revolution (3) x Working gear ratio (4) Pulses per motor revolution (1) x Motor gear ratio (5) x Software tool setpoint (display unit) Object dictionary value = Distance per motor revolution (3) x Working gear ratio (4)
Page 216 7 Application Cases NOTE 328 x Number of axes + 79 Network load rate = x 100% Baud rate x Synchronization cycle...
Page 217 7 Application Cases 6060h -216-...
Page 218 7 Application Cases NOTE...
Page 219 7 Application Cases 60fdh 6061h 606ch [1] [2] Enable expert setting in Slave Node...
Page 220 7 Application Cases...
Page 221 Shenzhen Inovance Technology Co., Ltd. http Suzhou Inovance Technology Co., Ltd. ...

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