TR-Electronic encoTRive MD-025-CO-C Series Manuals

TR-Electronic encoTRive MD-025-CO-C Series Manuals

Manuals and User Guides for TR-Electronic encoTRive MD-025-CO-C Series. We have 1 TR-Electronic encoTRive MD-025-CO-C Series manual available for free PDF download: Manual

TR-Electronic encoTRive MD-025-CO-C Series Manual

TR-Electronic encoTRive MD-025-CO-C Series Manual (260 pages)

Decentralized positioning drives With CANopen interface

Brand: TR-Electronic | Category: DC Drives | Size: 6 MB

Table of Contents

Deutsch

4
English

134
- Contents
  
  134
- Revision Index
  
  139
- 1 General Information
  
  140
  - Target Group
    140
  - Applicability
    140
  - Abbreviations Used / Terminology
    141
- 2 Additional Safety Instructions
  
  143
  - Definition of Symbols and Instructions
    143
  - Organizational Measures
    143
- 3 DSP 402 Drive Profile
  
  144
  - Figure 1: Canopen Application Profiles
    144
    
    The Object Directory
    145
    
    Canopen Object Directory
    145
    
    Figure 2: Structure of the Object Directory
    145
    
    State Machine, Status and Control Word
    146
- 4 Canopen Communication
  
  147
  - Canopen Communication Profile
    147
  - Figure 3: Drives on the Field Bus
    147
  - Figure 4: Communication Profile
    147
  - Canopen
    149
    
    General Information on CAN and Canopen
    149
    
    Table 1: Identifier with Node ID and Function Code
    149
    
    Roles and Communication Relationships
    150
    
    Figure 5: Comparison of PDO/SDO Characteristics
    150
    
    SDO (Service Data Object)
    151
    
    Table 2: COB-Ids for Service Data Object (SDO)
    151
    
    SDO Message Format
    152
    
    Table 3: SDO Message
    152
    
    Table 4: Command Codes for SDO
    152
    
    Figure 6: PDO Mapping Parameters
    154
    
    PDO (Process Data Object), SYNC (Synchronization)
    154
    
    Request Pdos: Remote Transmission Request
    155
    
    Parameters / Objects for PDO Configuration
    156
    
    Table 5: Parameters for PDO Configuration
    156
    
    EMCY (Emergency Service)
    157
    
    Table 6: EMCY Message
    157
    
    Table 7: Parameters for EMCY
    157
    
    Heartbeat
    158
    
    Network Management Services
    158
    
    NMT Services for Device Control
    158
    
    Table 8: Parameters for Heartbeat
    158
    
    Table 9: NMT Message for Device Control
    158
    
    Figure 7: NMT Boot-Up Mechanism
    159
    
    Table 10: NMT Services for Device Control
    159
    
    NMT Services for Connection Monitoring
    160
    
    Table 11: Parameters for NMT Services
    160
    
    Drive-Specific Functions
    161
    
    DSP 402 State Machine
    161
    
    Figure 8: DSP 402 State Machine
    161
    
    Table 12: States
    162
    
    Control Word and Status Word
    164
    
    Table 13: State Transitions
    164
    
    Control Word
    165
    
    Positioning Ramp" Operating Mode
    165
    
    Table 14: Control Word (Object 0X6040), "Positioning Ramp" Operating Mode
    165
    
    Status Word
    166
    
    Table 15: Status Word (Object 0X6041), "Positioning Ramp" Operating Mode
    166
    
    Figure 9: Positioning Ramp
    167
    
    Perform Positioning
    167
    
    Absolute / Relative Positioning
    168
    
    Figure 10: Absolute Positioning (Top) and Relative Positioning (Bottom)
    168
    
    Relevant Parameters
    169
    
    Table 16: Positioning Parameter
    169
    
    Termination of a Positioning Movement
    169
    
    Transfer of New Movement Records
    169
    
    Control Word
    170
    
    Speed Ramp" Operating Mode
    170
    
    Table 17: Control Word (Object 0X6040), "Speed Ramp Operating Mode
    170
    
    Status Word
    171
    
    Table 18: Status Word (Object 0X6041), "Speed Ramp" Operating Mode
    171
    
    Execute Speed Ramp
    172
    
    Figure 11: Speed Ramp
    172
    
    Relevant Parameters
    173
    
    Table 19: Speed Ramp Parameter
    173
    
    Object 0X608F: Position Encoder Resolution
    174
    
    Object 0X6090: Speed Encoder Resolution
    174
    
    Units
    174
  - Formula 1: Position Encoder Resolution
    174
  - Formula 2: Default Value, Position Encoder Resolution
    174
  - Formula 3: Speed Encoder Resolution
    174
  - Formula 4: Default Value, Speed Encoder Resolution
    174
    
    Object 0X6093: Position Factor
    175
  - Formula 5: Position Factor
    175
  - Formula 6: Gear Ratio
    175
  - Formula 7: Default Value, Position Factor
    175
    
    Object 0X6094: Speed Factor
    177
  - Formula 8: Speed Factor
    177
  - Formula 9: Default Value, Speed Factor
    177
    
    Object 0X6097: Acceleration Factor
    179
  - Formula 10: Acceleration Factor
    179
  - Formula 11: Default for Acceleration Factor
    179
    
    The Object Directory
    184
    
    Object Types, Data Types
    184
    
    Table 20: Object Codes in Encotrive
    184
    
    Table 21: Attributes
    184
    
    Table 22: Canopen Data Types Used by Encotrive
    184
    
    EDS File
    185
    
    Figure 12: Excerpt from an Encotrive EDS
    185
    
    Explanations of the Parameter List
    186
    
    Object 0X1000: Device Type
    187
    
    Object 0X1001: Error Register
    187
    
    Objects of the Communication Profile DS 301
    187
    
    Object 0X1003: Predefined Error Field
    188
    
    Object 0X1004: Number of Supported Pdos
    189
    
    Object 0X1005: COB-ID of the SYNC Message
    190
    
    Object 0X1008: Manufacturer's Device Name
    190
    
    Object 0X1009: Manufacturer's Hardware Version
    191
    
    Object 0X100A: Manufacturer's Software Version
    191
    
    Object 0X100C: Guard Time
    191
    
    Object 0X100D: Life Time Factor
    192
    
    Object 0X1010: Store Parameters
    192
    
    Object 0X1011: Load Factory Settings
    194
    
    Object 0X1014: COB-ID of the EMCY Message
    195
    
    Object 0X1015: Inhibit Time for EMCY
    196
    
    Object 0X1016: Consumer Heartbeat Time
    196
    
    Object 0X1017: Heartbeat Producer Time
    197
    
    Object 0X1018: Identity Object Device Information
    198
    
    Objects 0X1400-0X1405: Communication, Receive Pdos
    200
    
    Table 23: Transmission Type (RPDO)
    201
    
    Objects 0X1600-0X1605: Mapping, Receive Pdos
    202
    
    Objects 0X1800-0X1805: Communication, Transmit Pdos
    204
    
    Table 24: Transmission Type (TPDO)
    205
    
    Objects 0X1A00-0X1A05: Mapping, Transmit Pdos
    207
    
    Manufacturer-Specific Objects
    209
    
    Object 0X2Dfe: Flash
    209
    
    Object 0X2E02: Temperature / Bus Address / Baud Rate
    210
    
    Object 0X2E04: Calibration Key
    212
    
    Object 0X2F02: Temperature Threshold Values
    213
    
    Object 0X2F04: Calibration Values
    215
    
    Object 0X6007: Abort Connection Code
    220
    
    Object 0X603F: Error Code
    220
    
    Object 0X6040: Control Word
    220
    
    Objects of the DSP 402 Device Profile
    220
    
    Object 0X6041: Status Word
    221
    
    Object 0X604D: Pole Pair Number
    221
    
    Object 0X605A: Quick Stop Behavior
    222
    
    Table 25: Values for Quick Stop Option Code
    222
    
    Object 0X605B: Shutdown Behavior
    223
    
    Object 0X605C: Disable Operation Behavior
    223
    
    Table 26: Values for Shutdown Option Code
    223
    
    Table 27: Values for Disable Operation Option Code
    223
    
    Object 0X605D: Stop Behavior
    224
    
    Table 28: Values for Halt Option Code
    224
    
    Object 0X605E: Fault Behavior
    225
    
    Object 0X6060: Operating Mode
    225
    
    Table 29: Values for Fault Reaction Option Code
    225
    
    Table 30: Values for Operating Mode
    225
    
    Object 0X6061: Operating Mode Display
    226
    
    Object 0X6062: Nominal Position
    226
    
    Object 0X6064: Actual Position
    226
    
    Object 0X6065: Tracking Error Window
    227
    
    Object 0X6066: Tracking Error Timeout
    227
    
    Object 0X6067: Position Window
    227
    
    Object 0X6068: Position Window Timeout
    228
    
    Object 0X6069: Measured Speed
    228
    
    Object 0X606B: Nominal Speed
    228
    
    Object 0X606C: Actual Speed
    229
    
    Object 0X6071: Target Torque
    229
    
    Object 0X6072: Maximum Torque
    229
    
    Object 0X6073: Maximum Current
    230
    
    Object 0X6074: Nominal Torque
    230
    
    Object 0X6075: Rated Motor Current
    230
    
    Object 0X6076: Rated Motor Torque
    231
    
    Object 0X6077: Actual Torque Value
    231
    
    Object 0X6078: Actual Value of Current
    231
    
    Object 0X6079: Voltage at DC Voltage Intermediate Circuit
    232
    
    Object 0X607A: Target Position
    232
    
    Object 0X607B: Position Range
    233
    
    Object 0X607D: Software Position Range
    234
    
    Object 0X607E: Direction Reversal
    235
    
    Object 0X607F: Maximum Speed
    235
    
    Table 31: Direction Reversal
    235
    
    Object 0X6080: Maximum Motor Speed
    236
    
    Object 0X6081: Speed
    236
    
    Object 0X6083: Acceleration
    236
    
    Object 0X6084: Deceleration
    237
    
    Object 0X6085: Deceleration for Quick Stop
    237
    
    Object 0X6087: Torque Increase
    237
    
    Object 0X608F: Position Encoder Resolution
    238
    
    Object 0X6090: Speed Encoder Resolution
    239
    
    Object 0X6093: Position Factor
    240
    
    Object 0X6094: Speed Factor
    241
    
    Object 0X6097: Acceleration Factor
    242
    
    Object 0X60C5: Maximum Acceleration
    243
    
    Object 0X60C6: Maximum Deceleration
    243
    
    Object 0X60Fd: Digital Inputs
    243
    
    Object 0X60Fe: Digital Outputs
    244
    
    Object 0X60Ff: Target Speed
    245
    
    Object 0X6402: Motor Type
    245
    
    Object 0X6502: Supported Operating Modes
    245
- 5 Example of a Positioning Movement with Frame Sequence
  
  246
  - Prerequisites
    246
  - Definitions
    246
  - Frame Sequence
    247
- 6 Troubleshooting and Diagnosis Options
  
  252

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