Applied-motion ST10-C-CE Manual de usuario Pagina 1

920-0025 Rev K 3/5/2015Applied Motion Products CANopen ManualAPPLIED MOTION PRODUCTS, INC.

10920-0025 Rev K 3/5/2015CANopen User ManualWiring the CANopen Connector for CANopen DrivesPlease refer to Applied Motion Products CANopen Drive Hardw

100920-0025 Rev K 3/5/2015CANopen User ManualMultiple Move, Immediate Change in Motion$0603 $8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Prole Velocity

101920-0025 Rev K 3/5/2015CANopen User ManualNormal Q Mode**** Enable Motor Power - CiA 402 State Machine ****ID DLC Data$0603 $8 $2B $40 $60 $00

11920-0025 Rev K 3/5/2015CANopen User ManualThe Node-ID is congured using a 16-position switch to set the lower 4 bits of the Node-ID and a 8 positio

12920-0025 Rev K 3/5/2015CANopen User ManualSupported CiA 402 Modes of OperationMode ST STM/SWM STAC6 SVProle Velocity• • • •Prole Position• • • •Ho

13920-0025 Rev K 3/5/2015CANopen User ManualObject DictionaryThe Object Dictionary (OD) is the core of any CANopen node. It provides links to all the

14920-0025 Rev K 3/5/2015CANopen User ManualElectronic Data SheetThe EDS, available on Applied Motion Products website, lists all the properties of ev

15920-0025 Rev K 3/5/2015CANopen User ManualTable 3: CiA 301 Object DescriptionsFor more information: see Appendix A for detail decription of OD.Index

16920-0025 Rev K 3/5/2015CANopen User Manual605Ah 0 Quick Stop option code INTEGER16 RW6060h 0 Modes of Operation INTEGER8 WO Yes6061h 0 Modes of Oper

17920-0025 Rev K 3/5/2015CANopen User ManualTable 5: CiA 402 ObjectsFor more information: see Appendix A for detail decription of OD.Index Sub Comment

18920-0025 Rev K 3/5/2015CANopen User ManualGlobal Control Word and Status WordByte #Bit #Control Word Status WordHoming Position Velocity Torque Q Ho

19920-0025 Rev K 3/5/2015CANopen User ManualGeneral Purpose Registers Applied Motion Products CANopen products provide 23 general purpose registers.

2920-0025 Rev K 3/5/2015CANopen User ManualIntroductionThis manual describes Applied Motion Products CANopen implementation of CiA 301 and CiA 402 spe

20920-0025 Rev K 3/5/2015CANopen User ManualAppendix A - The Object DictionaryThe most important part of a device prole is the Object Dictionary desc

21920-0025 Rev K 3/5/2015CANopen User ManualCommunication Prole0x1000 - Device typeContains information about the device type. The object at index 10

22920-0025 Rev K 3/5/2015CANopen User Manual0x1002 –Manufacturer status register (not yet implemented)This object is a common status register for manu

23920-0025 Rev K 3/5/2015CANopen User Manual0x1005 COB-ID SYNC messageIndex 1005h denes the COB-ID of the Synchronisation Object (SYNC). Further, it

24920-0025 Rev K 3/5/2015CANopen User Manual0x1006 Communication cycle periodThis object denes the communication cycle period in ms. This period den

25920-0025 Rev K 3/5/2015CANopen User ManualName of the software version as string.0x1010 Store parametersThis object supports the saving of parameter

26920-0025 Rev K 3/5/2015CANopen User Manual0x500B notchFilterE_Tuning;0x500C notchFilterF_Tuning;0x500D notchFilterG_Tuning;0x500E

27920-0025 Rev K 3/5/2015CANopen User ManualDevices supporting the standard CAN frame type only, an attempt to set bit 29 is respond-ed with an abort

28920-0025 Rev K 3/5/2015CANopen User ManualObject Type Sub NumberRecord 5Subindex Name Data Type Access TypePDO MappingCOS Default value00 max sub-in

29920-0025 Rev K 3/5/2015CANopen User Manual0x1029 Error behaviorThis object contains the error information of the CANopen driver. Object Type Sub Num

3920-0025 Rev K 3/5/2015CANopen User ManualContentsIntroduction ...

30920-0025 Rev K 3/5/2015CANopen User ManualObject Type Sub NumberRecord 3Subindex Name Data Type Access Type PDO Mapping COS Default value00 max sub-

31920-0025 Rev K 3/5/2015CANopen User ManualThe PDO valid/not valid bit allows for the selection of which PDOs are used in the opera-tional state. The

32920-0025 Rev K 3/5/2015CANopen User ManualSub-index 3h contains the inhibit time. This time is a minimum interval for PDO transmission. The value is

33920-0025 Rev K 3/5/2015CANopen User Manual0x1600~0x1603 RPDO mapping parameterContains the mapping for the PDOs the device is able to receive. The t

34920-0025 Rev K 3/5/2015CANopen User ManualA device that supports dynamic mapping of PDOs must support this during the PRE-OP-ERATIONAL state. If dyn

35920-0025 Rev K 3/5/2015CANopen User Manual0x1800~0x1803 TPDO communication parameterContains the communication parameters for the PDOs the device is

36920-0025 Rev K 3/5/2015CANopen User Manualevent timer bit 0-15: Time between periodic transmissions of the PDO in ms. Zero disables functionality. S

37920-0025 Rev K 3/5/2015CANopen User Manual0x1F80 NMT startup (Not implemented)The object set the NMT status when the device powerup.Object Type Data

38920-0025 Rev K 3/5/2015CANopen User ManualManufacturer Specic ObjectsThe objects described in this section are manufacturer-specic to congure or

39920-0025 Rev K 3/5/2015CANopen User Manual07 - ERROR_CAN_TX_BUS_PASSIVE - CAN transmit bus is passive. Communication or protocol errors from driver

4920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 3 ...

40920-0025 Rev K 3/5/2015CANopen User Manual2A - ERROR_MEMORY_ALLOCATION_ERROR - Unable to allocate memory for objects. 2B - ERROR_GENERIC_ERROR - Gen

41920-0025 Rev K 3/5/2015CANopen User Manual0x3000 switch value (for factory use only)The object addresses the rotary switch, such as NodeID and BitRa

42920-0025 Rev K 3/5/2015CANopen User Manual 0x5000 PositionGain_TuningThis object shall congure the proportional Gain in Position loop to step

43920-0025 Rev K 3/5/2015CANopen User Manual0x5005 AccFeedForward_TuningThis object adds a feed forward acceleration/deceleration to the torque comman

44920-0025 Rev K 3/5/2015CANopen User Manual0x5011 SmoothFilterThis object provides a lter to change in the position command to cause a smoother move

45920-0025 Rev K 3/5/2015CANopen User ManualDevice ProleThe objects described in this section are parameters for all motion control modes, includ-ing

46920-0025 Rev K 3/5/2015CANopen User ManualHere is the Command Structure:Object Type Data Type Access Type PDO Mapping COS Default valueVar UNSIGNED1

47920-0025 Rev K 3/5/2015CANopen User ManualThe following bits indicate the status of the device:State Bit 6Switch On DisableBit 5QuickStopBit 3FaultB

48920-0025 Rev K 3/5/2015CANopen User ManualGlobal Control Word and Status WordByte #Bit #Control Word Status WordHoming Position Velocity Torque Q Ho

49920-0025 Rev K 3/5/2015CANopen User Manual0x605A Quick_stop_option_codeThe parameter quick_stop_option_code determines what action should be taken i

5920-0025 Rev K 3/5/2015CANopen User ManualBuilding a CANopen NMT Data Frame - Example ...

50920-0025 Rev K 3/5/2015CANopen User Manual0x6061 Modes_of_operation_displayThe modes_of_operation_display shows the current mode of operation. The m

51920-0025 Rev K 3/5/2015CANopen User Manual0x6071 target_torqueThis parameter is the input value for the torque controller in Prole Torque Mode. Thi

52920-0025 Rev K 3/5/2015CANopen User Manual0x607C home_offsetThe home_offset object is the difference between the zero position for the application a

53920-0025 Rev K 3/5/2015CANopen User Manual0x607F max_prole_speedThis object congures the maximum speed allowed in either direction in a move prol

54920-0025 Rev K 3/5/2015CANopen User Manual0x6085 quick_stop_decelerationThis object congures deceleration used to stop the motor when the quick sto

55920-0025 Rev K 3/5/2015CANopen User Manual0x609A homing_accelerationThis object establishes the acceleration to be used for all accelerations and de

56920-0025 Rev K 3/5/2015CANopen User Manual0x6502 supported_drive_modesThis object provides information on the supported drive modes.Bit number Descr

57920-0025 Rev K 3/5/2015CANopen User Manual0x7003 drive_inputsThis object contains the information about drive’s digital inputs.Object Type Data Type

58920-0025 Rev K 3/5/2015CANopen User Manual0x700A position_actual_valueThis object represents the actual position value measured by the position sens

59920-0025 Rev K 3/5/2015CANopen User ManualAppendix B - Parameter Unit ScalingThe table below shows conversions from physical units to internal drive

6920-0025 Rev K 3/5/2015CANopen User ManualList of TablesTable 1: Bit Rate Switch Settings ...

60920-0025 Rev K 3/5/2015CANopen User ManualAppendix C - Response CodesTable 17: Object 603Fh CiA 402 Error CodesTable 18: Object 700Bh DSP Status Cod

61920-0025 Rev K 3/5/2015CANopen User ManualAppendix D - Prole Position ModeGeneral Mode DescriptionProle Position Mode is a point-to-point operatin

62920-0025 Rev K 3/5/2015CANopen User ManualFigure 12: Single Set-PointTable 19: Single Set-Point Prole Position MoveActualSpeed0000ttttNew Set Poin

63920-0025 Rev K 3/5/2015CANopen User ManualFigure 13: Multiple Set-Points, Stopping Between MovesIn this example, controlword bits 9 (Change of Set-

64920-0025 Rev K 3/5/2015CANopen User ManualFigure 14: Multiple Set-Points, Continuous MotionIn this example, controlword bit 9 (Change of Set-point)

65920-0025 Rev K 3/5/2015CANopen User ManualFigure 15: Multiple Set-Points, Immediate Change in MotionIn this example, controlword bit 9 (Change of S

66920-0025 Rev K 3/5/2015CANopen User ManualAppendix E - Prole Velocity ModeGeneral Mode DescriptionProle Velocity Mode is a relatively simple opera

67920-0025 Rev K 3/5/2015CANopen User ManualFigure 16: Prole Velocity ModeTable 23: Prole Velocity Mode ExampleGraph Point Target Speed Halt Bit Dr

68920-0025 Rev K 3/5/2015CANopen User ManualAppendix F - Homing MethodsSet Running ParametersSet the homing and index velocities, acceleration/deceler

69920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 2Homes to the rst index CW after the CCW limit switch is reached.Homing Method 3Homes to th

7920-0025 Rev K 3/5/2015CANopen User ManualList of FiguresFigure 1: ...

70920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 4Homes to the rst index CCW after the positive home switch changes state; the initial direc

71920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 6Homes to the rst index CW after the negative home switch changes state; the initial di-rec

72920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 8Starts moving CCW (or CW if the home switch is active), and homes to the rst index CCW of

73920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 10Starts moving CCW and homes to the rst index CCW of the home switch transition.Homing Met

74920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 12Starts moving CW (or CCW if the home switch is active), and homes to the rst index CW of

75920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 14Starts moving CW and homes to the rst index CW of the home switch transition shown above.

76920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 17Homes to the CW limit switch.Homing Method 18Homes to the CCW limit switch.

77920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 19 and 20Home to the home switch transition.

78920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 21 and 22Home to the home switch transition.

79920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 23 and 24Home to the home switch transition shown below, and “bounce off” the CCW limit, if

8920-0025 Rev K 3/5/2015CANopen User ManualReference DocumentsApplied Motion Products CANopen Drive Hardware ManualCiA 301CiA 303CiA 402Bosch CAN Phys

80920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 25 and 26Home to the home switch transition shown below, and “bounce off” the CCW limit, if

81920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 27 and 28Home to the home switch transition shown below, and “bounce off” the CW limit, if

82920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 29 and 30Home to the home switch transition shown below, and “bounce off” the CW limit, if

83920-0025 Rev K 3/5/2015CANopen User ManualHoming Methods 31 and 32Homing Methods 31 and 32 are reserved for future expansion.Homing Method 33Homes t

84920-0025 Rev K 3/5/2015CANopen User ManualHoming Method 34Homes to the next index pulse CCW from the current position. If the CCW limit is hit, the

85920-0025 Rev K 3/5/2015CANopen User ManualAppendix G - Prole Torque Mode (Servo Only)General Mode DescriptionProle Torque mode is a servo-control

86920-0025 Rev K 3/5/2015CANopen User ManualStarting/Stopping TorqueTo start and stop motion, toggle the controlword halt bit (bit 8). When the halt b

87920-0025 Rev K 3/5/2015CANopen User Manualbursts.Using the target torque and torque constant from the example above the current draw can be checked,

88920-0025 Rev K 3/5/2015CANopen User ManualAppendix H - Q Program ModeGeneral Mode DescriptionIn order to expand the functionality of Applied Motion

89920-0025 Rev K 3/5/2015CANopen User ManualSynchronous Q Program ExecutionTo execute a stored Q program on a single drive, a value of -2 (FEh) must b

9920-0025 Rev K 3/5/2015CANopen User ManualCANopen Network Topology Overview Applied Motion Products CANopen drives can be integrated into a CANopen s

90920-0025 Rev K 3/5/2015CANopen User ManualAppendix I - Understanding NMT StatesUnder normal operating conditions, a Network Management (NMT) state m

91920-0025 Rev K 3/5/2015CANopen User ManualAppendix J - SDO and PDO AccessEnable SDO UseTo enable Service Data Object (SDO) use, the NMT state must b

92920-0025 Rev K 3/5/2015CANopen User ManualTPDO Transmission TypesThere are several triggering options for Transmit PDOs, which are controlled by OD

93920-0025 Rev K 3/5/2015CANopen User ManualPDO Mapping Procedure Table 30: PDO Mapping ExampleDefault Mapping Example - Consumer PDO 2Figure 19: PDO

94920-0025 Rev K 3/5/2015CANopen User ManualDefault PDO Mapping - StepperTable 31: PDO Mapping - StepperDefault PDO Mapping - ServoTable 32: PDO Mappi

95920-0025 Rev K 3/5/2015CANopen User ManualPDO COB-IDBecause PDOs are directly mapped to OD entries, no overhead is required when working with them.

96920-0025 Rev K 3/5/2015CANopen User ManualAppendix K - Operation Mode Specic Control and Status WordControl Word of Prole Position ModeBit # Name

97920-0025 Rev K 3/5/2015CANopen User ManualControl Word of Prole Velocity ModeBit # Name Value Description8 Halt0 The motion shall be executed or co

98920-0025 Rev K 3/5/2015CANopen User ManualControl Word of Q ModeBit # Name Value Description4Q Program Start0Toggle this bit from 0->1 to run Q p

99920-0025 Rev K 3/5/2015CANopen User ManualAppendix L – Example ProgramsProle Position Mode**** Enable Motor Power - CiA 402 State Machine ****ID D