Faulhaber MCLM 300x CO Series Motion Manuals

Manuals and User Guides for Faulhaber MCLM 300x CO Series Motion. We have 1 Faulhaber MCLM 300x CO Series Motion manual available for free PDF download: Communication Function Manual

Faulhaber MCLM 300x CO Series Communication Function Manual

Faulhaber MCLM 300x CO Series Communication Function Manual (109 pages)

CANopen Motion Control

Brand: Faulhaber | Category: Controller | Size: 4.06 MB

Table of Contents

Table of Contents
3
1 About this Document

6
2 Quick Start

8
3 Canopen Protocol Description

14
- Introduction
  14
- Communication Services
  15
- Identifier Distribution
  16
- PDO (Process Data Object)
  17
- SDO (Service Data Object)
  21
  - Expedited Transfer
    21
  - SDO Error Description
    23
- Emergency Object (Error Message)
  24
- SYNC Object
  26
  - Triggering Synchronous Pdos
    26
- NMT (Network Management)
  27
  - Boot up
    29
  - Monitoring Functions
    29
    
    Node Guarding
    30
    
    Heartbeat
    31
  - Settings for the Monitoring Functions
    32
- Entries in the Object Dictionary
  32
- Error Handling
  33
  - CAN Error
    33
  - Equipment Faults
    33
4 Functional Description

35
- Drive Data
  35
- Device Control
  37
  - State Machine of the Drive
    37
  - Controlword
    39
    
    Example: Enable Operation
    40
    
    Example: Resetting the Fault State
    40
  - Quick Stop
    41
  - Statusword
    41
  - Selecting the Operating Mode
    43
- Factor Group
  44
- Profile Position Mode and Position Control Function
  47
- Homing Mode
  52
  - Homing Methods
    52
  - Homing Reference Run
    59
- Profile Velocity Mode
  60
  - Overview of Operating Mode
    60
  - Notification of the Higher Level Control
    60
  - Basic Settings
    61
  - Actual Velocity Value
    61
  - Additional Settings
    61
    
    Movement Limits
    61
    
    Ramp Generator
    61
    
    Current Limitation
    61
  - Motion Control Commands
    62
  - Complex Motion Profiles
    62
- Cyclic Synchronous Position Mode
  63
  - Overview of Operating Mode
    63
  - Inputs and Outputs
    63
  - Statusword and Controlword
    64
  - Settings
    65
- Inputs/Outputs
  66
- Query of the Device State
  70
- Technical Information
  71
  - Ramp Generator
    71
    
    Basic Settings
    71
    
    Ramp Generator in Profile Velocity Mode
    72
    
    Ramp Generator in Profile Position Mode
    73
  - Sinus Commutation
    74
  - Current Controller and I T Current Limitation
    74
  - Overtemperature Protection
    76
  - Under-Voltage Monitoring
    76
  - Overvoltage Regulation
    76
  - Setting the Controller Parameters
    76
    
    Default Behaviour
    76
    
    Available Controller Parameters
    77
    
    Possible Procedure
    78
5 Commissioning

79
- Communication Settings
  79
  - Setting Via the CAN Network
    79
    
    Setting the Node Number
    80
    
    Setting the Baud Rate
    80
  - Reading the Node Number
    80
- Basic Settings
  81
- Configuration Using the Motion Manager
  82
  - Setting the Connection
    82
  - Selecting the Motor
    84
  - Configuring the Drive
    84
    
    Performing the Basic Settings
    85
    
    Factor Group
    86
    
    Setting the Controller Parameters
    86
    
    Error Handling
    87
    
    Setting Inputs/Outputs and Homing
    88
  - Managing the Data Set
    89
  - Diagnosis
    89
    
    Status Display
    89
    
    Trace Function
    89
6 Parameter Description

90

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