CANopen For Motor Controller CMMS/CMMD - Festo
CANopen for Motor Controller CMMS/CMMD Manual CANopen CMMS-ST CMMS-AS CMMD-AS Manual 554 352 en 1012a [757 730]
Original de Edition en 1012a Designation P.BE-CMMS-CO-SW-EN Order no. 554 352 (Festo AG & Co KG., D-73726 Esslingen, Germany, 2011) Internet: http://www.festo.com E-mail: service international@festo.com The reproduction of this document and disclosure to third parties and the utilisation or communication of its contents without explicit authorization is prohibited. Offenders will be held liable for compensation of damages. All rights reserved, in particular the right to carry out patent, utility model or ornamental design registrations. Festo P.BE-CMMS-CO-SW-EN 1012a 3
Index of revisions Author: Festo AG & Co. KG Name of manual: CANopen for Motor Controller CMMS/CMMD File name: File saved at: Consec. no. Description Index of revisions Date of amendment 001 Creation 0708NH 26.07.2007 002 Revision 1012a 17.02.2011 Trademarks CANopen and CiA are registered brand names of the respective brand holders in certain countries. 4 Festo P.BE-CMMS-CO-SW-EN 1012a
CONTENTS CONTENTS 1. General remarks . 8 1.1 Intended use . 8 1.2 Safety instructions . 8 1.3 Target group. 9 1.4 Service . 9 1.5 Important user instructions . 9 2. CANopen. 12 2.1 Overview . 12 2.2 Cabling and Plug Assignment . 13 2.2.1 Pin allocations . 13 2.2.2 Cabling Note . 14 2.3 Activation of CANopen. 15 3. Access Procedure . 17 3.1 Introduction. 17 3.2 SDO Access . 18 3.2.1 SDO Sequences for Reading and Writing . 19 3.2.2 SDO Error Messages . 20 3.2.3 Simulation of SDO Access via RS232 . 21 3.3 PDO Message . 22 3.3.1 Description of the Objects . 23 3.3.2 Objects for PDO Parameter Setting . 26 3.3.3 Activation of PDOs . 30 3.4 SYNC-Message . 30 3.5 EMERGENCY-Message . 31 3.5.1 Structure of the EMERGENCY-Message. 31 3.5.2 Description of the Objects . 43 3.6 Heartbeat / Bootup (Error Control Protocol). 45 3.6.1 Structure of the Heartbeat Message . 45 3.6.2 Structure of the Bootup Message . 46 3.6.3 Description of the Objects . 46 3.7 Network Management (NMT Service) . 47 3.8 Nodeguarding (Error Control Protocol) . 49 3.8.1 Overview. 49 3.8.2 Structure of the Nodeguarding Messages. 49 3.8.3 Description of the Objects . 50 3.9 Table of Identifiers . 51 Festo P.BE-CMMS-CO-SW-EN 1012a 5
CONTENTS 4. Setting Parameters . 52 4.1 Load and Save Parameter Sets . 52 4.1.1 Overview. 52 4.1.2 Description of the Objects . 53 4.2 Conversion Factors (Factor Group) . 55 4.2.1 Overview. 55 4.2.2 Description of the Objects . 56 4.3 Output stage parameter . 67 4.3.1 Overview. 67 4.3.2 Description of the Objects . 67 4.4 Current Regulator and Motor Adjustment. 69 4.4.1 Overview. 69 4.4.2 Description of the Objects . 70 4.5 Speed regulator. 75 4.5.1 Overview. 75 4.5.2 Description of the Objects . 75 4.6 Position Controller (Position Control Function). 77 4.6.1 Overview. 77 4.6.2 Description of the Objects . 79 4.7 Setpoint value limitation . 85 4.7.1 Description of the objects . 85 4.8 Digital inputs and outputs . 87 4.8.1 Overview. 87 4.8.2 Description of the Objects . 87 4.9 Limit switch . 89 4.9.1 Overview. 89 4.9.2 Description of the Objects . 89 4.10 Sampling of positions. 90 4.10.1 Overview. 90 4.10.2 Description of the Objects . 90 4.11 Device Information . 91 4.11.1 Description of the Objects . 92 4.12 Error management. 95 4.12.1 Overview. 95 4.12.2 Description of the Objects . 95 6 Festo P.BE-CMMS-CO-SW-EN 1012a
CONTENTS 5. Device Control . 97 5.1 Status Diagram (State Machine). 97 5.1.1 Overview. 97 5.1.2 Status diagram of the motor controller (State Machine) . 98 5.1.3 controlword (control word) . 102 5.1.4 Read-out of the motor controller status. 105 5.1.5 statusword (Status words). 106 6. Operating modes . 111 6.1 Setting the operating mode. 111 6.1.1 Overview. 111 6.1.2 Description of the Objects . 111 6.2 Operating mode homing (Homing Mode) . 113 6.2.1 Overview. 113 6.2.2 Description of the Objects . 114 6.2.3 Reference Travel Processes . 117 6.2.4 Control of Reference Travel. 121 6.3 Positioning Operating Mode (Profile Position Mode). 122 6.3.1 Overview. 122 6.3.2 Description of the Objects . 123 6.3.3 Functional description . 127 6.4 Interpolated Position Mode . 129 6.4.1 Overview. 129 6.4.2 Description of the Objects . 130 6.4.3 Functional description . 135 6.5 Speed adjustment operating mode (Profile Velocity Mode) . 137 6.5.1 Overview. 137 6.5.2 Description of the Objects . 139 6.6 Torque regulation operating mode (Profile Torque Mode) . 144 6.6.1 Overview. 144 6.6.2 Description of the Objects . 145 7. Index . 149 Festo P.BE-CMMS-CO-SW-EN 1012a 7
1. General remarks 1. General remarks 1.1 Intended use This manual describes how the motor controller of the CMMS/CMMD series can be integrated into a CANopen network environment. It describes setting of the physical parameters, activation of CANopen protocol, integration into the CAN network and communication with the motor controller. It is directed at people who are already familiar with this motor controller series. It contains safety instructions which must be followed. The complete set of information can be found in the documentation for the motor controller in question: - Description P.BE-CMM.-HW-.: Mechanics – electrical engineering – function range overview Note Always observe the safety-related instructions listed in the product manual for the motor controller being used. 1.2 Safety instructions When commissioning and programming positioning systems, you must always observe the safety regulations in this manual as well as those in the operating instructions for the other components used. The user must make sure that nobody is within the sphere of influence of the connected actuators or axis system. Access to the potential danger area must be prevented by suitable measures such as barriers and warning signs. Warning Axes can move with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. Make sure that nobody can reach into the sphere of influence of the axes or other connected actuators and that no items are within the positioning range while the system is connected to energy sources. 8 Festo P.BE-CMMS-CO-SW-EN 1012a
1. General remarks Warning Faults in the parametrisation can cause injury to human beings and damage to property. Enable the controller only if the axis system has been correctly installed and parametrised. 1.3 Target group This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing positioning systems. 1.4 Service Please consult your local Festo Service or write to the following e-mail address if you have any technical problems: service international@festo.com 1.5 Important user instructions Danger categories This description contains instructions on the possible dangers which can occur if the product is not used correctly. These instructions are marked (Warning, Caution, etc), printed on a shaded background and marked additionally with a pictogram. A distinction is made between the following danger warnings: Warning . Means that failure to observe this instruction may result in serious personal injury or damage to property. Caution . Means that failure to observe this instruction may result in personal injury or damage to property. Note . Means that failure to observe this instruction may result in damage to property. Festo P.BE-CMMS-CO-SW-EN 1012a 9
1. General remarks The following pictogram marks passages in the text which describe activities with electrostatically sensitive devices: Electrostatically sensitive devices: Incorrect handling can result in damage to components. Identification of specific information The following pictograms designate texts that contain special information. Pictograms Information: Recommendations, tips and references to other sources of information Accessories: information on necessary or useful accessories for the Festo product. Environment: information on environmentally friendly use of Festo products. Text designations Bullet points indicate activities that may be carried out in any order. 1. Numerals denote activities which must be carried out in the numerical order specified. - Arrowheads indicate general lists. About the Version This description refers to versions corresponding to Table 1.1 10 Festo P.BE-CMMS-CO-SW-EN 1012a
1. General remarks You can find the specifications on the version status as follows: - Hardware version and firmware version in the Festo Configuration Tool (FCT) with active device connection under "Controller" Controller Firmware Comment CMMS-ST-. From Version 1.3.0.1.14 Standard motor controller for stepper motors CMMS-AS-. From Version 1.3.0.1.16 Standard motor controller for servo motors CMMD-AS-. From Version 1.4.0.3.2 Standard double motor controller for servo motors Table 1.1 Controller and firmware versions For older versions: Use the related older version of this document, if applicable. Note With newer firmware versions, check whether there is a newer version of this description available: www.festo.com Festo P.BE-CMMS-CO-SW-EN 1012a 11
2. CANopen 2. CANopen 2.1 Overview CANopen is a standard worked out by the "CAN in Automation" association. A number of device manufacturers are organised in this association. This standard has largely replaced the current manufacturer-specific CAN protocols. As a result, the end user has a manufacturer-independent communication interface. The following manuals, among others, can be obtained from this association: CiA Draft Standard 201-207: These documents cover the general principles and embedding of CANopen into the OSI layered architecture. The relevant points of this book are presented in this CANopen manual, so procurement of DS201 . 207 is generally not necessary. CiA Draft Standard 301: This book describes the fundamental design of the object directory of a CANopen device and access to it. The statements of DS201 . 207 are also made concrete. The elements of the object directory needed for the CMMS/CMMD motor controller families and the related access methods are described in this manual. Procurement of DS301 is recommended but not absolutely necessary. CiA Draft Standard 402: This book covers concrete implementation of CANopen in drive regulators. Although all implemented objects are also briefly documented and described in this CANopen manual, the user should have this book available. Source of supply: CAN in Automation (CiA) International Headquarters Am Weichselgarten 26 D-91058 Erlangen Tel.: 09131-601091 Fax: 09131-601092 www.can-cia.de The CANopen implementation of the motor controller is based on the following standards: 12 [1] CiA Draft Standard 301, Version 4.02, 13. February 2002 [2] CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002 Festo P.BE-CMMS-CO-SW-EN 1012a
2. CANopen 2.2 Cabling and Plug Assignment 2.2.1 Pin allocations For the CMMS/CMMD family of devices, the CAN interface is already integrated into the motor controller and thus is always available. The CAN bus connection is designed as a 9-pole DSUB plug (on the controller side) in accordance with standards. 1 CAN-L 2 CAN-GND 3 CAN-Shield 5 4 CAN-H 4 1 2 5 CAN-GND 3 Fig. 2.1 CAN plug connector for CMMS/CMMD Note CAN bus cabling When cabling the motor controller via the CAN bus, you should always comply with the following information and remarks to obtain a stable, malfunction-free system. If cabling is improperly done, malfunctions can occur on the CAN bus during operation. These can cause the motor controller to shut off with an error for safety reasons. Festo P.BE-CMMS-CO-SW-EN 1012a 13
2. CANopen 2.2.2 Cabling Note The CAN bus offers a simple, interference resistant method of networking all the components of a system together. But the prerequisite for this is that all subsequent cabling instructions are observed. Fig. 2.2 Cabling example - The individual nodes of the network are connected point-to-point to each other, so the CAN cable is looped from controller to controller (see Fig. 2.2). - At both ends of the CAN cable, there must be an end resistor of exactly 120 Ω /- 5 %. This is often already installed in CAN cards or PLCs and, if so, this must be taken into account. The end resistor is activated via DIP switch 12 (see Fig. 2.3). - For wiring, screened cable with exactly two twisted pairs of wires must be used. A twisted pair of wires is used for connection of CAN-H and CAN-L. The wires of the other pair are used together for CAN-GND. For all nodes, the screening of the cable is guided to the CAN-Shield connections. A table with the technical data of usable cables is located at the end of this chapter. - The use of intermediate plugs is not recommended for CAN bus cabling. If this is unavoidable, then metallic plug housings should be used to connect the cable screening. - To keep the disturbance coupling as low as possible, motor cable should not be laid parallel to signal lines. Motor cable carried out in accordance with specifications. The motor cables must be correctly screened and earthed. - - 14 For more information on constructing interference-free CAN bus cabling, refer to the Controller Area Network protocol specification, Version 2.0 from Robert Bosch GmbH, 1991. Technical data, CAN bus cable: 2 pairs of 2 twisted leads, d 0.22 mm2 Loop resistance 0.2 Ω/m Screened Impedance 100-120 Ω Festo P.BE-CMMS-CO-SW-EN 1012a
2. CANopen 2.3 Activation of CANopen The CAN interface is activated with the protocol CANopen, and the node number and baud rate are adjusted one time via the DIP switches of the motor controller. 1 DIP switches 1-7: Node number 2 DIP switches 9-10: Bitrate DIP switch 11: Activation DIP switch 12: Terminating resistor 1 2 Fig. 2.3 DIP switches EXAMPLE Node number: DIP switches 1 2 3 4 5 6 7 ON/OFF ON ON OFF ON ON OFF ON Significance DIP switch 1 is the lowest-value bit 1011011 91 DIP switches 9 ON/OFF ON 10 OFF Significance DIP switch 9 is the lowest-value bit 00 125 kBit/s 01 250 kBit/s (example) 10 500 kBit/s 11 1000 kBit/s Baud rate: Festo P.BE-CMMS-CO-SW-EN 1012a 15
2. CANopen A total of 2 different parameters must be set: - Base node number A node number, which may occur only once in the network, must be assigned to each participant for unambiguous identification. The device is addressed via this node number. - Bitrate This parameter determines the bitrate in kbit/s used on the CAN bus. Note that high baud rates require a low maximum cable length. All devices present in a CANopen network send a bootup message over the bus containing the node number of the transmitter. Finally, the CANopen protocol in the motor controller can be activated. Observe that the named parameters can only change if the CAN-bus is deactivated. Note that the parameter setting of the CANopen function remains intact after a reset if the parameter set of the motor controller was saved. CAN address for CMMD-AS The two axes have a separate CAN address. The address of axis 1 is set at the DIP switches. Axis 2 is always assigned the subsequent address: CAN address axis 2 CAN address axis 1 1 16 Festo P.BE-CMMS-CO-SW-EN 1012a
3. Access Procedure 3. Access Procedure 3.1 Introduction CANopen makes available a simple and standardised possibility to access the parameters of the motor controller (e.g. the maximum motor current). To achieve this, a unique number (index and subindex) is assigned to each parameter (CAN object). The totality of all adjustable parameters is designated an object directory. Essentially two methods are available for accessing CAN objects via the CAN bus: a confirmed access type, in which the motor controller acknowledges each parameter access (via so-called SDOs), and an unconfirmed access type, in which no acknowledgement is made (via so-called PDOs). Control Assignment of control CMMS/ CMMD CMMS/ CMMD Control SDO PDO (transmit PDO) Confirmation from the controller Confirmation from the controller Control Data from controller CMMS/ CMMD PDO (receive PDO) Fig. 3.1 Access Procedure As a rule, the motor controller is parametrised and also controlled via SDO access. In addition, other types of messages (so-called communication objects), which are sent either by the motor controller or the higher-level controller, are defined for special application cases: SDO Service Data Object Are used for normal parameter setting of the motor controller. PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible. SYNC Synchronization Message Synchronisation of multiple CAN nodes EMCY Emergency Message Transmission of error messages. Festo P.BE-CMMS-CO-SW-EN 1012a 17
3. Access Procedure NMT Network Management Network service: All CAN nodes can be worked on simultaneously, for example. HEARTBEAT Error Control Protocol Monitoring of the communications participants through regular messages. Every message sent on the CAN bus contains a type of address which is used to determine the bus participant for which the message is meant. This number is designated the identifier. The lower the identifier, the greater the priority of the message. Identifiers are established for the above-named communication objects. The following sketch shows the basic design of a CANopen message: Number of data bytes (here 8) Data bytes 0 7 601h Len D0 D1 D2 D3 D4 D5 D6 D7 Identifier 3.2 SDO Access The Service Data Objects (SDO) permit access to the object directory of the motor controller. This access is especially simple and clear. It is therefore recommended to build up the application at first only with SDOs and only later to convert to the faster but also more complicated Process Data Objects (PDOs). SDO access always starts from the higher-level controller (Host). This either sends the motor controller a write command to modify a parameter in the object directory, or a read command (READ) to read out a parameter. For each command, the host receives an answer that either contains the read-out value or – in the case of a write command – serves as an acknowledgement. For the motor controller to recognise that the command is meant for it, the host must send the command with a specific identifier. This consists of the base 600h node number of the motor controller involved. The motor controller answers accordingly with the identifier 580h node number. The design of the commands or answers depends on the data type of the object to be read or written, since either 1, 2 or 4 data bytes must be sent or received. The following data types are supported: 18 UINT8 8 bit value without algebraic sign 0 255 INT8 8 bit value with algebraic sign -128 127 UINT16 16 bit value without algebraic sign 0 65535 INT16 16 bit value with algebraic sign -32768 32767 UINT32 32 bit value without algebraic sign 0 (232-1) INT32 32 bit value with algebraic sign -(231) (231-1) Festo P.BE-CMMS-CO-SW-EN 1012a
3. Access Procedure 3.2.1 SDO Sequences for Reading and Writing To read out or describe objects of these number types, the following listed sequences are used. The commands for writing a value into the motor controller begin with a different identifier, depending on the data type. The answer identifier, in contrast, is always the same. Read commands always start with the same identifier, and the motor controller answers differently, depending on the data type returned. All numbers are kept in hexadecimal form. Read commands Low byte of the main index (hex) Write commands Identifier for 8 bit High byte of the main index (hex) UINT8 / INT8 Subindex (hex) Command 40h IX0 IX1 SU 2Fh IX0 IX1 SU DO Answer: 4Fh IX0 IX1 SU D0 60h IX0 IX1 SU UINT16 / INT16 Identifier for 16 bit Identifier for 8 bit Command 40h IX0 IX1 SU 2Bh IX0 IX1 SU DO D1 Answer: 4Bh IX0 IX1 SU D0 D1 60h IX0 IX1 SU UINT32 / INT32 Identifier for 32 bit Identifier for 16 bit Command 40h IX0 IX1 SU 23h IX0 IX1 SU DO D1 D2 D3 Answer: 43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU Identifier for 32 bit EXAMPLE Reading obj. 6061 00h Writing obj. 1401 02h Return data: 01h Data: EFh Command 40h 61h 60h 00h 2Fh 01h 14h 02h EFh Answer: 4Fh 61h 60h 00h 01h 60h 01h 14h 02h Reading obj. 6041 00h Writing obj. 6040 00h Return data: 1234h Data: 03E8h Command 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h Answer: 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h Reading obj. 6093 01h Writing obj. 6093 01h Return data: 12345678h Data: 12345678h Command 40h 93h 60h 01h 23h 93h 60h 01h 78h 56h 34h 12h Answer: 43h 93h 60h 01h 78h 56h 34h 12h 60h 93h 60h 01h UINT8 / INT8 UINT16 / INT16 UINT32 / INT32 Festo P.BE-CMMS-CO-SW-EN 1012a 19
3. Access Procedure Caution The acknowledgement from the motor controller must always be waited for. Only when the motor controller has acknowledged the request may additional requests be sent. 3.2.2 SDO Error Messages In case of an error when reading or writing (for example, because the written value is too large), the motor controller answers with an error message instead of the acknowledgement: Command IX0 IX1 SU Answer: 80h IX0 IX1 SU F0 F1 F2 F3 Error identifier Error code (4 byte) Error code F3 F2 F1 F0 Significance 06 01 00 00h Access type is not supported. 06 02 00 00h The addressed object does not exist in the object directory 06 04 00 41h The object must not be entered into a PDO 06 04 00 42h The length of the objects entered in the PDO exceeds the PDO length 06 07 00 10h Protocol error: Length of the service parameter does not agree 06 07 00 12h Protocol error: Length of the service parameter is too large 06 07 00 13h Protocol error: Length of the service parameter is too small 06 09 00 11h The addressed subindex does not exist 06 01 00 01h Read access to an object that can only be written 06 01 00 02h Write access to an object that can only be read 06 04 00 47h Overfl
Controller Firmware Comment CMMS-ST-. From Version 1.3.0.1.14 Standard motor controller for stepper motors CMMS-AS-. From Version 1.3.0.1.16 Standard motor controller for servo motors CMMD-AS-. From Version 1.4.0.3.2 Standard double motor controller for servo motors Table 1.1 Controller and firmware versions For older versions:
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